diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml
index aa7f5fe41c295..14ad8a22a52e2 100644
--- a/common/tier4_state_rviz_plugin/package.xml
+++ b/common/tier4_state_rviz_plugin/package.xml
@@ -14,6 +14,7 @@
 
   <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_motion_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
diff --git a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp b/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
index 70f35ed3793ab..81677a69eb66f 100644
--- a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
+++ b/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
@@ -17,11 +17,10 @@
 #ifndef VELOCITY_STEERING_FACTORS_PANEL_HPP_
 #define VELOCITY_STEERING_FACTORS_PANEL_HPP_
 
+#include <QDoubleSpinBox>
 #include <QGroupBox>
 #include <QLabel>
 #include <QLayout>
-#include <QPushButton>
-#include <QSpinBox>
 #include <QTableWidget>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
@@ -29,6 +28,8 @@
 #include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
 #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
 #include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
+#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
+#include <nav_msgs/msg/odometry.hpp>
 
 #include <memory>
 
@@ -49,6 +50,11 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel
   void onInitialize() override;
 
 protected:
+  static constexpr double JERK_DEFAULT = 1.0;
+  static constexpr double DECEL_LIMIT_DEFAULT = 1.0;
+
+  static constexpr QColor COLOR_FREAK_PINK = {255, 0, 108};
+
   // Layout
   QGroupBox * makeVelocityFactorsGroup();
   QGroupBox * makeSteeringFactorsGroup();
@@ -58,7 +64,14 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel
   // Planning
   QTableWidget * velocity_factors_table_{nullptr};
   QTableWidget * steering_factors_table_{nullptr};
+  QDoubleSpinBox * jerk_input_{nullptr};
+  QDoubleSpinBox * decel_limit_input_{nullptr};
+
+  nav_msgs::msg::Odometry::ConstSharedPtr kinematic_state_;
+  geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr acceleration_;
 
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_kinematic_state_;
+  rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_acceleration_;
   rclcpp::Subscription<VelocityFactorArray>::SharedPtr sub_velocity_factors_;
   rclcpp::Subscription<SteeringFactorArray>::SharedPtr sub_steering_factors_;
 
diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
index b7ea26e2c6895..fab40fe5a2214 100644
--- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
+++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
@@ -21,6 +21,7 @@
 #include <QHeaderView>
 #include <QString>
 #include <QVBoxLayout>
+#include <autoware/motion_utils/distance/distance.hpp>
 #include <rviz_common/display_context.hpp>
 
 #include <memory>
@@ -46,7 +47,8 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup()
   auto vertical_header = new QHeaderView(Qt::Vertical);
   vertical_header->hide();
   auto horizontal_header = new QHeaderView(Qt::Horizontal);
-  horizontal_header->setSectionResizeMode(QHeaderView::Stretch);
+  horizontal_header->setSectionResizeMode(QHeaderView::ResizeToContents);
+  horizontal_header->setStretchLastSection(true);
 
   auto header_labels = QStringList({"Type", "Status", "Distance [m]", "Detail"});
   velocity_factors_table_ = new QTableWidget();
@@ -54,7 +56,27 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup()
   velocity_factors_table_->setHorizontalHeaderLabels(header_labels);
   velocity_factors_table_->setVerticalHeader(vertical_header);
   velocity_factors_table_->setHorizontalHeader(horizontal_header);
-  grid->addWidget(velocity_factors_table_, 0, 0);
+  grid->addWidget(velocity_factors_table_, 0, 0, 4, 1);
+
+  auto * jerk_label = new QLabel("Jerk");
+  grid->addWidget(jerk_label, 0, 1);
+
+  jerk_input_ = new QDoubleSpinBox;
+  jerk_input_->setMinimum(0.0);
+  jerk_input_->setValue(JERK_DEFAULT);
+  jerk_input_->setSingleStep(0.1);
+  jerk_input_->setSuffix(" [m/s\u00B3]");
+  grid->addWidget(jerk_input_, 1, 1);
+
+  auto * decel_limit_label = new QLabel("Decel limit");
+  grid->addWidget(decel_limit_label, 2, 1);
+
+  decel_limit_input_ = new QDoubleSpinBox;
+  decel_limit_input_->setMinimum(0.0);
+  decel_limit_input_->setValue(DECEL_LIMIT_DEFAULT);
+  decel_limit_input_->setSingleStep(0.1);
+  decel_limit_input_->setSuffix(" [m/s\u00B2]");
+  grid->addWidget(decel_limit_input_, 3, 1);
 
   group->setLayout(grid);
   return group;
@@ -90,6 +112,17 @@ void VelocitySteeringFactorsPanel::onInitialize()
   raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
 
   // Planning
+  sub_kinematic_state_ = raw_node_->create_subscription<nav_msgs::msg::Odometry>(
+    "/localization/kinematic_state", 10,
+    [this](const nav_msgs::msg::Odometry::ConstSharedPtr msg) { kinematic_state_ = msg; });
+
+  sub_acceleration_ =
+    raw_node_->create_subscription<geometry_msgs::msg::AccelWithCovarianceStamped>(
+      "/localization/acceleration", 10,
+      [this](const geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr msg) {
+        acceleration_ = msg;
+      });
+
   sub_velocity_factors_ = raw_node_->create_subscription<VelocityFactorArray>(
     "/api/planning/velocity_factors", 10,
     std::bind(&VelocitySteeringFactorsPanel::onVelocityFactors, this, _1));
@@ -155,6 +188,26 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray::
       label->setAlignment(Qt::AlignCenter);
       velocity_factors_table_->setCellWidget(i, 3, label);
     }
+
+    const auto row_background = [&]() -> QBrush {
+      if (!kinematic_state_ || !acceleration_) {
+        return {};
+      }
+      const auto & current_vel = kinematic_state_->twist.twist.linear.x;
+      const auto & current_acc = acceleration_->accel.accel.linear.x;
+      const auto acc_min = -decel_limit_input_->value();
+      const auto jerk_acc = jerk_input_->value();
+      const auto decel_dist = autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints(
+        current_vel, 0., current_acc, acc_min, jerk_acc, -jerk_acc);
+      if (decel_dist > e.distance && e.distance >= 0 && e.status == VelocityFactor::APPROACHING) {
+        return COLOR_FREAK_PINK;
+      }
+      return {};
+    }();
+    for (int j = 0; j < velocity_factors_table_->columnCount(); j++) {
+      velocity_factors_table_->setItem(i, j, new QTableWidgetItem);
+      velocity_factors_table_->item(i, j)->setBackground(row_background);
+    }
   }
   velocity_factors_table_->update();
 }