diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
index 057308e4329d1..b77af629ad7c3 100644
--- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
+++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -786,8 +786,10 @@ MotionVelocitySmootherNode::calcInitialMotion(
       // We should plan from the current vehicle speed, but if the initial value is greater than the
       // velocity limit, the current planning algorithm decelerates with a very high deceleration.
       // To avoid this, we set the initial value of the vehicle speed to be below the speed limit.
+      const auto p = smoother_->getBaseParam();
       const auto v0 = std::min(target_vel, vehicle_speed);
-      const Motion initial_motion = {v0, vehicle_acceleration};
+      const auto a0 = std::clamp(vehicle_acceleration, p.min_decel, p.max_accel);
+      const Motion initial_motion = {v0, a0};
       return {initial_motion, InitializeType::EGO_VELOCITY};
     }
   }