diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index 5d7e200bde..0e1c2ba075 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -15,7 +15,7 @@
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
-    emergency_state_overshoot_stop_dist: 1.5
+    emergency_state_overshoot_stop_dist: 0.8
     emergency_state_traj_trans_dev: 3.0
     emergency_state_traj_rot_dev: 0.7854