diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
index 253737609b..3094edf914 100644
--- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -16,6 +16,7 @@
 
     # Core
     footprint_margin_scale: 1.0
+    footprint_extra_margin: 0.0
     resample_interval: 0.3
     max_deceleration: 2.8
     delay_time: 1.3