diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index 12f0eece1e477..698d4a8403069 100644
--- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -646,10 +646,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
 
   // in EMERGENCY state
   if (m_control_state == ControlState::EMERGENCY) {
+    if (stopped_condition) {
+      return changeState(ControlState::STOPPED);
+    }
+
     if (!emergency_condition) {
-      if (stopped_condition) {
-        return changeState(ControlState::STOPPED);
-      }
       if (!is_under_control) {
         // NOTE: On manual driving, no need stopping to exit the emergency.
         return changeState(ControlState::DRIVE);