diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
index efa17e5236907..a42f6b7fc0d2d 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -524,7 +524,7 @@ bool MpcLateralController::isMpcConverged()
 
   // Find the maximum and minimum values of the steering angle in the past 1 second.
   double min_steering_value = m_mpc_steering_history[0].first.steering_tire_angle;
-  double max_steering_value = m_mpc_steering_history[0].first.steering_tire_angle;
+  double max_steering_value = min_steering_value;
   for (size_t i = 1; i < m_mpc_steering_history.size(); i++) {
     if (m_mpc_steering_history.at(i).first.steering_tire_angle < min_steering_value) {
       min_steering_value = m_mpc_steering_history.at(i).first.steering_tire_angle;