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 3cd6b1e8c7..135c2e84f6 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -68,5 +68,6 @@
     steering_offset:
       enable_auto_steering_offset_removal: true
       steer_offset_filter_cutoff_hz: 0.3 # cutoff frequency of lowpass filter for steering offset [Hz]
+      max_update_th: 0.01 # maximum change in steering offset [rad]
 
     publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose