diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp
index 1a90a55c73187..434009eb69d30 100644
--- a/system/system_error_monitor/src/system_error_monitor_core.cpp
+++ b/system/system_error_monitor/src/system_error_monitor_core.cpp
@@ -478,8 +478,16 @@ void AutowareErrorMonitor::onTimer()
     }
     return;
   }
-
+  // Heartbeat in AutowareState,diag_array times out during AutowareState INITIALIZING due to high
+  // processing load,add a disable function to avoid Emergencies in isDataHeartbeatTimeout() in
+  // AutowareState INITIALIZING.
   if (isDataHeartbeatTimeout()) {
+    if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) {
+      RCLCPP_WARN_THROTTLE(
+        get_logger(), *get_clock(), std::chrono::milliseconds(1000).count(),
+        "ignore heartbeat timeout in initializing state");
+      return;
+    }
     updateTimeoutHazardStatus();
     publishHazardStatus(hazard_status_);
     return;