diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index 5c5d65a13b..8101f7aa95 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -53,7 +53,7 @@
 
     # stopped state
     stopped_vel: 0.0
-    stopped_acc: -3.4 # denotes pedal position
+    stopped_acc: -2.49 # denotes pedal position
 
     # emergency state
     emergency_vel: 0.0
@@ -65,8 +65,8 @@
     acc_feedback_gain: 0.0
 
     # acceleration limit
-    max_acc: 3.0
-    min_acc: -5.0
+    max_acc: 1.5
+    min_acc: -2.49
 
     # jerk limit
     max_jerk: 2.0
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 4edbbf2d35..6f31086378 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -11,7 +11,7 @@
 
     # constraints to be observed
     limit:
-      min_acc: -2.5         # min deceleration limit [m/ss]
+      min_acc: -2.49         # min deceleration limit [m/ss]
       max_acc: 1.0          # max acceleration limit [m/ss]
       min_jerk: -1.5        # min jerk limit [m/sss]
       max_jerk: 1.5         # max jerk limit [m/sss]