diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 25808ea688..8a5c933775 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1914,6 +1914,18 @@ Visualization Manager:
                                 Reliability Policy: Reliable
                                 Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall
                               Value: true
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: SlowDownVirtualWall
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall
+                              Value: true
                             - Class: rviz_default_plugins/MarkerArray
                               Enabled: true
                               Name: DebugMarker