diff --git a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
index f79d0b27425b1..a0c8fd7752717 100644
--- a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
+++ b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
@@ -20,7 +20,7 @@
       steer_lim: [1.0, 1.0, 1.0, 0.8]
       steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
       lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
-      lon_jerk_lim: [80.0, 5.0, 5.0, 4.0]
+      lon_jerk_lim: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting on a slope.
       lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
       lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
       actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]