diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
index a0ddef6e36..a86443f5ca 100644
--- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
+++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -3,6 +3,8 @@
     transition_timeout: 10.0
     frequency_hz: 10.0
     check_engage_condition: false # set false if you do not want to care about the engage condition.
+    nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
+    nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
       dist_threshold: 1.5