diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index cc5aa910e5..92844c61f6 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -14,15 +14,17 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      lon_acc_lim: 5.0
-      lon_jerk_lim: 5.0
-      lat_acc_lim: 5.0
-      lat_jerk_lim: 5.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      lon_acc_lim: [5.0, 4.0]
+      lon_jerk_lim: [5.0, 4.0]
+      lat_acc_lim: [5.0, 4.0]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]
     on_transition:
       vel_lim: 50.0
-      lon_acc_lim: 1.0
-      lon_jerk_lim: 0.5
-      lat_acc_lim: 2.0
-      lat_jerk_lim: 7.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]