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..dc3c44f16b 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -33,6 +33,7 @@
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
     current_vel_threshold_pid_integration: 0.5
+    time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2