diff --git a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp
index c9185a81..b4905cc5 100644
--- a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp
+++ b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp
@@ -56,7 +56,7 @@ class SimplePurePursuit : public rclcpp::Node {
   double external_target_vel_;
   double curve_param_max_steer_angle_;
   double curve_param_deceleration_vel_;
-  const double steering_tire_angle_gain_;
+  double steering_tire_angle_gain_;
   OnSetParametersCallbackHandle::SharedPtr reset_param_handler_;
 
 
diff --git a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp
index b8f4db96..a983249e 100644
--- a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp
+++ b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp
@@ -187,6 +187,10 @@ rcl_interfaces::msg::SetParametersResult SimplePurePursuit::parameter_callback(c
       external_target_vel_ = parameter.as_double();
       RCLCPP_INFO(SimplePurePursuit::get_logger(), "external_target_vel changed to %f", external_target_vel_);
     } 
+    else if (parameter.get_name() == "steering_tire_angle_gain") {
+      steering_tire_angle_gain_ = parameter.as_double();
+      RCLCPP_INFO(SimplePurePursuit::get_logger(), "steering_tire_angle_gain changed to %f", steering_tire_angle_gain_);
+    } 
   }
   return result;
 }