diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
index 93e3cb4e..70874366 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
@@ -316,10 +316,12 @@ void DeviationEstimator::timer_callback()
   stddev_vx_msg.data = stddev_vx;
   pub_stddev_vx_->publish(stddev_vx_msg);
 
-  double stddev_angvel_imu = 0.0;
-  stddev_angvel_imu = std::max(stddev_angvel_imu, stddev_angvel_base.x);
-  stddev_angvel_imu = std::max(stddev_angvel_imu, stddev_angvel_base.y);
-  stddev_angvel_imu = std::max(stddev_angvel_imu, stddev_angvel_base.z);
+  // For IMU link standard deviation, we use the yaw standard deviation in base_link.
+  // This is because the standard deviation estimation of x and y in base_link may not be accurate
+  // especially when the data contains a motion when the people are getting on/off the vehicle,
+  // which causes the vehicle to tilt in roll and pitch. In this case, we would like to use the
+  // standard deviation of yaw axis in base_link.
+  double stddev_angvel_imu = stddev_angvel_base.z;
   geometry_msgs::msg::Vector3 stddev_angvel_imu_msg =
     createVector3(stddev_angvel_imu, stddev_angvel_imu, stddev_angvel_imu);
   pub_stddev_angvel_->publish(stddev_angvel_imu_msg);