diff --git a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 4876699351..351ad877e1 100644
--- a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -12,9 +12,11 @@
       lon_jerk_lim: 5.0
       lat_acc_lim: 5.0
       lat_jerk_lim: 5.0
+      actual_steer_diff_lim: 1.0
     on_transition:
       vel_lim: 50.0
       lon_acc_lim: 1.0
       lon_jerk_lim: 0.5
       lat_acc_lim: 1.2
       lat_jerk_lim: 0.75
+      actual_steer_diff_lim: 0.05