diff --git a/control/latlon_muxer/include/latlon_muxer/node.hpp b/control/latlon_muxer/include/latlon_muxer/node.hpp
index e9aac6d25889d..e7ed815712717 100644
--- a/control/latlon_muxer/include/latlon_muxer/node.hpp
+++ b/control/latlon_muxer/include/latlon_muxer/node.hpp
@@ -30,6 +30,7 @@ class LatLonMuxer : public rclcpp::Node
   void latCtrlCmdCallback(const autoware_control_msgs::msg::ControlCommandStamped::SharedPtr msg);
   void lonCtrlCmdCallback(const autoware_control_msgs::msg::ControlCommandStamped::SharedPtr msg);
   void publishCmd();
+  bool checkTimeout();
 
   rclcpp::Publisher<autoware_control_msgs::msg::ControlCommandStamped>::SharedPtr control_cmd_pub_;
   rclcpp::Subscription<autoware_control_msgs::msg::ControlCommandStamped>::SharedPtr
@@ -39,6 +40,7 @@ class LatLonMuxer : public rclcpp::Node
 
   std::shared_ptr<autoware_control_msgs::msg::ControlCommandStamped> lat_cmd_;
   std::shared_ptr<autoware_control_msgs::msg::ControlCommandStamped> lon_cmd_;
+  double timeout_thr_sec_;
 };
 
 #endif  // LATLON_MUXER__NODE_HPP_
diff --git a/control/latlon_muxer/src/node.cpp b/control/latlon_muxer/src/node.cpp
index 978af0780b4cb..6f6baac821b5c 100644
--- a/control/latlon_muxer/src/node.cpp
+++ b/control/latlon_muxer/src/node.cpp
@@ -35,6 +35,21 @@ LatLonMuxer::LatLonMuxer(const rclcpp::NodeOptions & node_options)
     create_subscription<autoware_control_msgs::msg::ControlCommandStamped>(
     "input/longitudinal/control_cmd", rclcpp::QoS{1},
     std::bind(&LatLonMuxer::lonCtrlCmdCallback, this, std::placeholders::_1));
+  timeout_thr_sec_ = declare_parameter("timeout_thr_sec", 0.5);
+}
+
+bool LatLonMuxer::checkTimeout()
+{
+  const auto now = this->now();
+  if ((now - lat_cmd_->header.stamp).seconds() > timeout_thr_sec_) {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000/*ms*/, "lat_cmd_ timeout failed.");
+    return false;
+  }
+  if ((now - lon_cmd_->header.stamp).seconds() > timeout_thr_sec_) {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000/*ms*/, "lon_cmd_ timeout failed.");
+    return false;
+  }
+  return true;
 }
 
 void LatLonMuxer::publishCmd()
@@ -42,6 +57,10 @@ void LatLonMuxer::publishCmd()
   if (!lat_cmd_ || !lon_cmd_) {
     return;
   }
+  if (!checkTimeout()) {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000/*ms*/, "timeout failed. stop publish command.");
+    return;
+  }
 
   autoware_control_msgs::msg::ControlCommandStamped out;
   out.header.stamp = rclcpp::Node::now();