diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp
index 796928519e8d1..d51282cb33bb3 100644
--- a/control/autoware_control_validator/src/control_validator.cpp
+++ b/control/autoware_control_validator/src/control_validator.cpp
@@ -191,9 +191,7 @@ void ControlValidator::validate(
   const Odometry & kinematics)
 {
   if (predicted_trajectory.points.size() < 2) {
-    RCLCPP_ERROR_THROTTLE(
-      get_logger(), *get_clock(), 1000,
-      "predicted_trajectory size is less than 2. Cannot validate.");
+    RCLCPP_DEBUG(get_logger(), "predicted_trajectory size is less than 2. Cannot validate.");
     return;
   }
   if (reference_trajectory.points.size() < 2) {
diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
index 8d954517f552d..366b84a1f6131 100644
--- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
+++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -252,8 +252,7 @@ bool LaneDepartureCheckerNode::isDataValid()
   }
 
   if (predicted_trajectory_->points.empty()) {
-    RCLCPP_ERROR_THROTTLE(
-      get_logger(), *get_clock(), 5000, "predicted_trajectory is empty. Not expected!");
+    RCLCPP_DEBUG(get_logger(), "predicted_trajectory is empty. Not expected!");
     return false;
   }
 
diff --git a/control/autoware_mpc_lateral_controller/README.md b/control/autoware_mpc_lateral_controller/README.md
index 1b3af44343208..7585e7db140b3 100644
--- a/control/autoware_mpc_lateral_controller/README.md
+++ b/control/autoware_mpc_lateral_controller/README.md
@@ -75,6 +75,12 @@ Return LateralOutput which contains the following to the controller node
 - LateralSyncData
   - steer angle convergence
 
+Publish the following messages.
+
+| Name                            | Type                               | Description                                                                                                                                                                |
+| ------------------------------- | ---------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `~/output/predicted_trajectory` | autoware_planning_msgs::Trajectory | Predicted trajectory calculated by MPC. The trajectory size will be empty when the controller is in an emergency such as too large deviation from the planning trajectory. |
+
 ### MPC class
 
 The `MPC` class (defined in `mpc.hpp`) provides the interface with the MPC algorithm.