diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 29a83837fb..b45fbd3393 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2433,6 +2433,19 @@ Visualization Manager:
             Constant Color: false
             Scale: 0.30000001192092896
             Value: false
+        - Class: rviz_default_plugins/Marker
+          Enabled: false
+          Name: Stop Reason
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/trajectory_follower/longitudinal/stop_reason
+          Value: false
         - Class: rviz_default_plugins/MarkerArray
           Enabled: false
           Name: Debug/MPC