diff --git a/autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml
index 0077637d07..caf29ec637 100644
--- a/autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.3
     min_d_effort: -0.3
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml
index 8c98424e6a..f61d517028 100644
--- a/autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml
index 8c98424e6a..f61d517028 100644
--- a/autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml
index 85e729fe3b..7cc9856ea5 100644
--- a/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml
index be9e35ce4b..9fca8003d0 100644
--- a/autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.3
     min_d_effort: -0.3
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml
index 8c98424e6a..f61d517028 100644
--- a/autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml
index 0077637d07..caf29ec637 100644
--- a/autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.3
     min_d_effort: -0.3
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml
index 8c98424e6a..f61d517028 100644
--- a/autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml
index 8c98424e6a..f61d517028 100644
--- a/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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
 
diff --git a/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml
index 8c98424e6a..f61d517028 100644
--- a/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     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