diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 135aecc56b..b358e95f86 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -5,6 +5,7 @@
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
+    use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing
@@ -75,4 +76,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
+    publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 18c391f0db..d9e60ca5e4 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2411,6 +2411,36 @@ Visualization Manager:
             Constant Color: false
             Scale: 0.30000001192092896
             Value: false
+        - Class: rviz_plugins/Trajectory
+          Color Border Vel Max: 3
+          Enabled: false
+          Name: Resampled Reference Trajectory
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory
+          Value: true
+          View Path:
+            Alpha: 1
+            Color: 153; 193; 241
+            Constant Color: true
+            Value: false
+            Constant Width: true
+            Width: 0.2
+          View Velocity:
+            Alpha: 1
+            Color: 0; 0; 0
+            Constant Color: false
+            Scale: 0.30000001192092896
+            Value: false
+          View Point:
+            Alpha: 1
+            Color: 0; 60; 255
+            Offset: 0
+            Radius: 0.10000000149011612
+            Value: true
         - Class: rviz_default_plugins/Marker
           Enabled: false
           Name: Stop Reason