diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index bc7eb2bc99..9cc038352e 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -7,6 +7,7 @@
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
+    moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
     nominal:
       vel_lim: 25.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 5668f02bab..fe24eca17d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -15,6 +15,10 @@
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
 
+      # longitudinal acceleration
+      min_longitudinal_acc: -1.0
+      max_longitudinal_acc: 1.0
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]