diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
index cacfd76fad3e7..0eacba8399438 100644
--- a/control_launch/config/trajectory_follower/mpc_follower.param.yaml
+++ b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
@@ -54,9 +54,9 @@
     steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz]
     error_deriv_lpf_cutoff_hz: 5.0
 
-    # stop state: steering command is kept in the previous value in the stop state.
-    stop_state_entry_ego_speed: 0.001
-    stop_state_entry_target_speed: 0.001
+    # stop state
+    stop_state_entry_ego_speed: 0.2
+    stop_state_entry_target_speed: 0.5
 
     # vehicle parameters
     vehicle: