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 9cc038352e..522cc3a1ca 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
@@ -9,6 +9,7 @@
     emergency_acceleration: -2.4
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
+    stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
       lon_acc_lim: 5.0