diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
index 5f44dffca0..9df584a35c 100644
--- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
index 0d54bb29d5..3e5a6ef2b7 100644
--- a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
index 738b921b6b..f66fe2a33b 100644
--- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
index 5f44dffca0..9df584a35c 100644
--- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
index df78ffbb3e..b8e82bec07 100644
--- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
index 12fa33a546..7b2e9f7b19 100644
--- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
index 738b921b6b..f66fe2a33b 100644
--- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
index a1982f986d..baa4e0f7ea 100644
--- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml
index 7ab78d105f..a6e750cbd5 100644
--- a/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
index 8c7c1e94e4..1287392647 100644
--- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
index c667d06064..b37f82b64d 100644
--- a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
diff --git a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
index a0661336b4..9569639e5b 100644
--- a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: true    # flag for path smoothing
+    enable_path_smoothing: false    # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)