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 4222082d40..217968a2c1 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -61,8 +61,6 @@
     # stop state: steering command is kept in the previous value in the stop state.
     stop_state_entry_ego_speed: 0.001
     stop_state_entry_target_speed: 0.001
-    converged_steer_rad: 0.1
-    keep_steer_control_until_converged: true
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3
     mpc_converged_threshold_rps:  0.01 # threshold of mpc convergence check [rad/s]
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
index 0b8b464e9f..3b075cce32 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
@@ -6,7 +6,6 @@
     long_ld_lateral_error_threshold: 0.5
     min_lookahead_distance: 4.35
     max_lookahead_distance: 15.0
-    converged_steer_rad: 0.1
     reverse_min_lookahead_distance: 7.0
     prediction_ds: 0.3
     prediction_distance_length: 21.0
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index bc3213081d..810f524daf 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -6,7 +6,6 @@
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5