diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
index 078da4dff4675..38fbe161e8dbe 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
+++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -364,6 +364,8 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
   double applyVelocityFeedback(
     const Motion target_motion, const double dt, const double current_vel, const Shift & shift);
 
+  double applySlidingDownFeedback(const double current_vel, const ControlData & control_data) const;
+
   /**
    * @brief update variables for debugging about pitch
    * @param [in] pitch current pitch of the vehicle (filtered)
diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index f088a3a5cee56..b0645a5805b3e 100644
--- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -666,8 +666,12 @@ PidLongitudinalController::Motion PidLongitudinalController::calcCtrlCmd(
     m_debug_values.setValues(DebugValues::TYPE::PREDICTED_VEL, pred_vel_in_target);
 
     raw_ctrl_cmd.vel = target_motion.vel;
-    raw_ctrl_cmd.acc =
+
+    const double vel_feedback_acc =
       applyVelocityFeedback(target_motion, control_data.dt, pred_vel_in_target, control_data.shift);
+    const double sliding_down_feedback_acc = applySlidingDownFeedback(current_vel, control_data);
+    raw_ctrl_cmd.acc = vel_feedback_acc + sliding_down_feedback_acc;
+
     RCLCPP_DEBUG(
       node_->get_logger(),
       "[feedback control]  vel: %3.3f, acc: %3.3f, dt: %3.3f, v_curr: %3.3f, v_ref: %3.3f "
@@ -982,6 +986,15 @@ double PidLongitudinalController::applyVelocityFeedback(
   return feedback_acc;
 }
 
+double PidLongitudinalController::applySlidingDownFeedback(
+  const double current_vel, const ControlData & control_data) const
+{
+  if (control_data.shift != Shift::Forward || 0.0 < current_vel) {
+    return 0.0;
+  }
+  return 0.5;
+}
+
 void PidLongitudinalController::updatePitchDebugValues(
   const double pitch, const double traj_pitch, const double raw_pitch)
 {