diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
index 2188a5bc09..19d5671924 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
@@ -26,6 +26,7 @@ nodes:
       - { type: link, link: /control/001-topic_status/control_command-error }
       - { type: link, link: /control/004-lane_departure-error }
       - { type: link, link: /control/005-trajectory_deviation-error }
+      - { type: link, link: /control/009-aeb_emergency_stop }
       - { type: link, link: /control/010-max_distance_deviation-error }
       - { type: link, link: /control/011-slip_detection }
 
@@ -94,6 +95,11 @@ nodes:
     type: diag
     timeout: 1.0
 
+  - path: /control/009-aeb_emergency_stop
+    diag: "autonomous_emergency_braking: aeb_emergency_stop"
+    type: diag
+    timeout: 1.0
+
   - path: /control/010-max_distance_deviation
     diag: "control_validator: control_validation_max_distance_deviation"
     type: diag