diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
index 75e3c87f5f569..f6d8f903fb734 100644
--- a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
+++ b/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
@@ -55,8 +55,8 @@
     error_deriv_lpf_cutoff_hz: 5.0
 
     # stop state
-    stop_state_entry_ego_speed: 0.2
-    stop_state_entry_target_speed: 0.5
+    stop_state_entry_ego_speed: 0.0
+    stop_state_entry_target_speed: 0.0
 
     # vehicle parameters
     mass_kg: 2400.0
@@ -66,4 +66,3 @@
     mass_rr: 600.0
     cf: 155494.663
     cr: 155494.663
-
diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
index d2928e02dd6ec..6f4a7d214d89b 100644
--- a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
+++ b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
@@ -55,8 +55,8 @@
     error_deriv_lpf_cutoff_hz: 5.0
 
     # stop state
-    stop_state_entry_ego_speed: 0.2
-    stop_state_entry_target_speed: 0.5
+    stop_state_entry_ego_speed: 0.0
+    stop_state_entry_target_speed: 0.0
 
     # vehicle parameters
     vehicle: