diff --git a/control/autoware_trajectory_follower_node/README.md b/control/autoware_trajectory_follower_node/README.md
index ac05dd67f18e6..1c4d2f1e1619e 100644
--- a/control/autoware_trajectory_follower_node/README.md
+++ b/control/autoware_trajectory_follower_node/README.md
@@ -140,14 +140,7 @@ Giving the longitudinal controller information about steer convergence allows it
 
 #### Parameter
 
-- `ctrl_period`: control commands publishing period
-- `timeout_thr_sec`: duration in second after which input messages are discarded.
-  - Each time the node receives lateral and longitudinal commands from each controller, it publishes an `Control` if the following two conditions are met.
-    1. Both commands have been received.
-    2. The last received commands are not older than defined by `timeout_thr_sec`.
-- `lateral_controller_mode`: `mpc` or `pure_pursuit`
-  - (currently there is only `PID` for longitudinal controller)
-- `enable_control_cmd_horizon_pub`: publish `ControlHorizon` or not (default: false)
+{{ json_to_markdown("control/autoware_trajectory_follower_node/schema/simple_trajectory_follower.schema.json") }}
 
 ## Debugging
 
diff --git a/control/autoware_trajectory_follower_node/config/controller_node.param.yaml b/control/autoware_trajectory_follower_node/config/controller_node.param.yaml
new file mode 100644
index 0000000000000..0f66c6c38698b
--- /dev/null
+++ b/control/autoware_trajectory_follower_node/config/controller_node.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    ctrl_period: $(var ctrl_period)
+    timeout_thr_sec: $(var timeout_thr_sec)
+    enable_control_cmd_horizon_pub: $(var enable_control_cmd_horizon_pub)
+    lateral_controller_mode: $(var lateral_controller_mode)
+    longitudinal_controller_mode: $(var longitudinal_controller_mode)
diff --git a/control/autoware_trajectory_follower_node/schema/controller_node.scehma.json b/control/autoware_trajectory_follower_node/schema/controller_node.scehma.json
new file mode 100644
index 0000000000000..5d880d76d293f
--- /dev/null
+++ b/control/autoware_trajectory_follower_node/schema/controller_node.scehma.json
@@ -0,0 +1,56 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_trajectory_follower_node parameters",
+  "type": "object",
+  "definitions": {
+    "controller_node": {
+      "type": "object",
+      "properties": {
+        "ctrl_period": {
+          "type": "number",
+          "description": "Control period in seconds.",
+          "default": 0.0
+        },
+        "timeout_thr_sec": {
+          "type": "number",
+          "description": "Timeout threshold in seconds.",
+          "default": 0.0
+        },
+        "enable_control_cmd_horizon_pub": {
+          "type": "boolean",
+          "description": "Indicates whether to enable the publication of the control command horizon.",
+          "default": false
+        },
+        "lateral_controller_mode": {
+          "type": "string",
+          "description": "The mode of the lateral controller, e.g., 'mpc' or 'pure_pursuit'.",
+          "default": ""
+        },
+        "longitudinal_controller_mode": {
+          "type": "string",
+          "description": "The mode of the longitudinal controller, e.g., 'pid'.",
+          "default": ""
+        }
+      },
+      "required": [
+        "ctrl_period",
+        "timeout_thr_sec",
+        "enable_control_cmd_horizon_pub",
+        "lateral_controller_mode",
+        "longitudinal_controller_mode"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/controller_node"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/control/autoware_trajectory_follower_node/schema/simple_trajectory_follower.schema.json b/control/autoware_trajectory_follower_node/schema/simple_trajectory_follower.schema.json
new file mode 100644
index 0000000000000..c4120fbd05438
--- /dev/null
+++ b/control/autoware_trajectory_follower_node/schema/simple_trajectory_follower.schema.json
@@ -0,0 +1,40 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_trajectory_follower_node parameters",
+  "type": "object",
+  "definitions": {
+    "simple_trajectory_follower": {
+      "type": "object",
+      "properties": {
+        "use_external_target_vel": {
+          "type": "boolean",
+          "description": "Indicates whether to use an external target velocity.",
+          "default": false
+        },
+        "external_target_vel": {
+          "type": "number",
+          "description": "The value of the external target velocity in m/s.",
+          "default": 0.0
+        },
+        "lateral_deviation": {
+          "type": "number",
+          "description": "The allowed lateral deviation in meters.",
+          "default": 0.0
+        }
+      },
+      "required": ["use_external_target_vel", "external_target_vel", "lateral_deviation"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/simple_trajectory_follower"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}