diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp
index b6ddba60490d6..c8e2da6daf7f4 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -766,9 +766,10 @@ VectorXd MPC::calcSteerRateLimitOnTrajectory(
   };
 
   // when the vehicle is stopped, no steering rate limit.
+  constexpr double steer_rate_lim = 5.0;
   const bool is_vehicle_stopped = std::fabs(current_velocity) < 0.01;
   if (is_vehicle_stopped) {
-    return VectorXd::Zero(m_param.prediction_horizon);
+    return steer_rate_lim * VectorXd::Ones(m_param.prediction_horizon);
   }
 
   // calculate steering rate limit