diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 09db0feb34..1a870aff7a 100644
--- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
     voxel_grid_x: 0.05
@@ -11,7 +12,9 @@
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    prediction_time_horizon: 1.5
-    prediction_time_interval: 0.1
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
     collision_keeping_sec: 0.0
     aeb_hz: 10.0