diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index c2282509ca..36bf7252d7 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1010,6 +1010,20 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_default_plugins/MarkerArray
+                      Enabled: true
+                      Name: Bound
+                      Namespaces:
+                        left_bound: true
+                        right_bound: true
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        Filter size: 10
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound
+                      Value: true
                     - Class: rviz_common/Group
                       Displays:
                         - Class: rviz_default_plugins/MarkerArray