diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
index 945a37ca58..7485df43a5 100644
--- a/autoware_launch/config/control/control_validator/control_validator.param.yaml
+++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -9,5 +9,9 @@
 
     thresholds:
       max_distance_deviation: 1.0
-      max_reverse_velocity: 0.2
-      max_over_velocity_ratio: 0.1
+      rolling_back_velocity: 0.5
+      over_velocity_offset: 2.0
+      over_velocity_ratio: 0.2
+
+    vel_lpf_gain: 0.9 # Time constant 0.33
+    hold_velocity_error_until_stop: true