diff --git a/modules/control/controller/lat_controller.cc b/modules/control/controller/lat_controller.cc
index 988213754975fef98895a62cac92b8badaf6b7f5..828bc222d2910e5c48f9d3991c7c4af04b735092 100644
--- a/modules/control/controller/lat_controller.cc
+++ b/modules/control/controller/lat_controller.cc
@@ -533,8 +533,11 @@ Status LatController::ComputeControlCommand(
     if (mrac_model_order > 1) {
       steer_state(1, 0) = (steering_position - pre_steering_position_) / ts_;
     }
-    steer_angle = mrac_controller_.Control(
-        steer_angle, steer_state, steer_limit, steer_diff_with_max_rate / ts_);
+    bool enable_adapt = (std::fabs(vehicle_state->linear_velocity()) >
+                         control_conf_->minimum_speed_resolution());
+    steer_angle =
+        mrac_controller_.Control(steer_angle, steer_state, steer_limit,
+                                 steer_diff_with_max_rate / ts_, enable_adapt);
     // Set the steer mrac debug message
     MracDebug *mracdebug = debug->mutable_steer_mrac_debug();
     Matrix steer_reference = mrac_controller_.CurrentReferenceState();