diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp
index 309704596086e..23235fe445e24 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -244,7 +244,7 @@ void MPC::setReferenceTrajectory(
 
 void MPC::resetPrevResult(const SteeringReport & current_steer)
 {
-  // Consider limit. The prev value larger than limitation brakes the optimization constraint and
+  // Consider limit. The prev value larger than limitation breaks the optimization constraint and
   // results in optimization failure.
   const float steer_lim_f = static_cast<float>(m_steer_lim);
   m_raw_steer_cmd_prev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f);
diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
index 6aedb74e87c83..04ae688e0e54f 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -260,7 +260,7 @@ trajectory_follower::LateralOutput MpcLateralController::run(
   // the vehicle will return to the path by re-planning the trajectory or external operation.
   // After the recovery, the previous value of the optimization may deviate greatly from
   // the actual steer angle, and it may make the optimization result unstable.
-  if (!is_mpc_solved) {
+  if (!is_mpc_solved || !is_under_control) {
     m_mpc->resetPrevResult(m_current_steering);
   } else {
     setSteeringToHistory(ctrl_cmd);