diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
index e96e3b3b05..41a59c1fa4 100644
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
@@ -9,3 +9,8 @@
           path: vehicle_errors
           contains: [": vehicle_errors"]
           timeout: 1.0
+        vehicle_heartbeat_errors:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: vehicle_heartbeat_errors
+          contains: [": vehicle_heartbeat_errors"]
+          timeout: 1.0
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index 852b1bea59..f0673e1390 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -52,6 +52,7 @@
 
         # Vehicle (from vehicle.param.yaml in universe and vehicle.param.yaml in system_launch)
         /autoware/vehicle/node_alive_monitoring: default
+        /autoware/vehicle/vehicle_heartbeat_errors: default
         /autoware/vehicle/vehicle_errors: default
 
       external_control: