diff --git a/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
index de194a8902a7d..b358e95f86f99 100644
--- a/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
+++ b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
@@ -47,7 +47,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.27     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]
@@ -76,13 +76,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    # vehicle parameters
-    mass_kg: 2400.0
-    mass_fl: 600.0
-    mass_fr: 600.0
-    mass_rl: 600.0
-    mass_rr: 600.0
-    cf: 155494.663
-    cr: 155494.663
-
     publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose