diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
index 04c0cc435860a..0d144726a0866 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
@@ -412,9 +412,9 @@ class MPC
   //!< @brief steering rate limit list depending on velocity [m/s], [rad/s]
   std::vector<std::pair<double, double>> m_steer_rate_lim_map_by_velocity{};
 
-  bool m_use_steer_prediction;        // Flag to use predicted steer instead of measured steer.
-  double ego_nearest_dist_threshold;  // Threshold for nearest index search based on distance.
-  double ego_nearest_yaw_threshold;   // Threshold for nearest index search based on yaw.
+  bool m_use_steer_prediction;  // Flag to use predicted steer instead of measured steer.
+  double ego_nearest_dist_threshold = 3.0;  // Threshold for nearest index search based on distance.
+  double ego_nearest_yaw_threshold = M_PI_2;  // Threshold for nearest index search based on yaw.
 
   //!< Constructor.
   MPC() = default;