diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 99ca4d4ef5..b23c3bbdd4 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -4,6 +4,7 @@
     use_predicted_trajectory: true
     use_imu_path: true
     limit_imu_path_lat_dev: false
+    limit_imu_path_length: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
@@ -39,7 +40,7 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 1.0
+    longitudinal_offset_margin: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0