diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual
index a27c2cc109..5415bc479e 100644
--- a/.github/CODEOWNERS-manual
+++ b/.github/CODEOWNERS-manual
@@ -1,7 +1,7 @@
 # /**
 # .github/**
 autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai
-autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp
 autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index b358e95f86..1d30a28d05 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -3,8 +3,6 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
-    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
-    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --
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 463bb2b11d..c011c67430 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -16,8 +16,6 @@
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
-    emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index aa633edcaf..3f029ff75d 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2464,6 +2464,18 @@ Visualization Manager:
                 Reliability Policy: Reliable
                 Value: /control/autonomous_emergency_braking/virtual_wall
               Value: true
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: VirtualWall (velocity control)
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /control/trajectory_follower/controller_node_exe/virtual_wall
+              Value: true
           Enabled: true
           Name: VirtualWall
         - Class: rviz_default_plugins/Marker