DTC P1572: ICC Brake Switch: Description
WARNING: This page is about a different car, the 2013 Infiniti FX50. However, it is still accessible from the selected car via links, so may be relevant.
When the brake pedal is depressed, ICC brake switch is turned OFF and stop lamp switch is turned ON. ECM detects the state of the brake pedal by those two types of input (ON/OFF signal).
Refer to "SYSTEM DESCRIPTION " for the ICC function.