diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml
index f9a2f02b58abb..4d77edbb8ab9f 100644
--- a/control_launch/config/velocity_controller/velocity_controller.param.yaml
+++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml
@@ -29,6 +29,8 @@
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
     current_velocity_threshold_pid_integration: 0.5
+    enable_brake_keeping_before_stop: false
+    brake_keeping_acc: -0.2
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5