diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt
index 6ee21c45d03fc..b40bd8f16a626 100644
--- a/control/trajectory_follower_nodes/CMakeLists.txt
+++ b/control/trajectory_follower_nodes/CMakeLists.txt
@@ -43,7 +43,8 @@ if(BUILD_TESTING)
 
   find_package(autoware_testing REQUIRED)
   add_smoke_test(${PROJECT_NAME} ${CONTROLLER_NODE}_exe
-    PARAM_FILENAMES "lateral_controller_defaults.param.yaml longitudinal_controller_defaults.param.yaml test_vehicle_info.param.yaml"
+    PARAM_FILENAMES "lateral_controller_defaults.param.yaml longitudinal_controller_defaults.param.yaml
+test_vehicle_info.param.yaml test_nearest_search.param.yaml"
   )
 endif()
 
diff --git a/control/trajectory_follower_nodes/param/test_nearest_search.param.yaml b/control/trajectory_follower_nodes/param/test_nearest_search.param.yaml
new file mode 100644
index 0000000000000..eb6709764ce3e
--- /dev/null
+++ b/control/trajectory_follower_nodes/param/test_nearest_search.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    # ego
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
diff --git a/control/trajectory_follower_nodes/test/test_controller_node.cpp b/control/trajectory_follower_nodes/test/test_controller_node.cpp
index ddc4fb1fe817f..d0a2b96302124 100644
--- a/control/trajectory_follower_nodes/test/test_controller_node.cpp
+++ b/control/trajectory_follower_nodes/test/test_controller_node.cpp
@@ -55,7 +55,8 @@ std::shared_ptr<Controller> makeNode()
   node_options.arguments(
     {"--ros-args", "--params-file", share_dir + "/param/lateral_controller_defaults.param.yaml",
      "--params-file", share_dir + "/param/longitudinal_controller_defaults.param.yaml",
-     "--params-file", share_dir + "/param/test_vehicle_info.param.yaml"});
+     "--params-file", share_dir + "/param/test_vehicle_info.param.yaml", "--params-file",
+     share_dir + "/param/test_nearest_search.param.yaml"});
   std::shared_ptr<Controller> node = std::make_shared<Controller>(node_options);
 
   // Enable all logging in the node
diff --git a/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp b/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
index 38bca887d8630..0bd94c92cad92 100644
--- a/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
+++ b/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
@@ -51,7 +51,8 @@ std::shared_ptr<LateralController> makeLateralNode()
   rclcpp::NodeOptions node_options;
   node_options.arguments(
     {"--ros-args", "--params-file", share_dir + "/param/lateral_controller_defaults.param.yaml",
-     "--params-file", share_dir + "/param/test_vehicle_info.param.yaml"});
+     "--params-file", share_dir + "/param/test_vehicle_info.param.yaml", "--params-file",
+     share_dir + "/param/test_nearest_search.param.yaml"});
   std::shared_ptr<LateralController> node = std::make_shared<LateralController>(node_options);
 
   // Enable all logging in the node
diff --git a/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp b/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
index 26e00d417276f..676a9a4acfa5c 100644
--- a/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
+++ b/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
@@ -48,7 +48,8 @@ std::shared_ptr<LongitudinalController> makeLongitudinalNode()
   node_options.arguments(
     {"--ros-args", "--params-file",
      share_dir + "/param/longitudinal_controller_defaults.param.yaml", "--params-file",
-     share_dir + "/param/test_vehicle_info.param.yaml"});
+     share_dir + "/param/test_vehicle_info.param.yaml", "--params-file",
+     share_dir + "/param/test_nearest_search.param.yaml"});
   std::shared_ptr<LongitudinalController> node =
     std::make_shared<LongitudinalController>(node_options);