diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
index 0fdfc62..61dc957 100644
--- a/src/signage/src/signage/route_handler.py
+++ b/src/signage/src/signage/route_handler.py
@@ -125,7 +125,8 @@ def announce_engage_when_starting(self):
 
             if (
                 self._autoware.information.localization_init_state
-                == LocalizationInitializationState.UNINITIALIZED
+                == LocalizationInitializationState.UNINITIALIZED or
+                self._autoware.information.autoware_control == False
             ):
                 self._prev_motion_state = 0
                 return
@@ -281,7 +282,7 @@ def route_checker_callback(self):
                 ):
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
-                if not self._announce_engage and self._parameter.signage_stand_alone:
+                if not self._announce_engage and self._parameter.signage_stand_alone and self._autoware.information.autoware_control:
                     self._announce_interface.send_announce("engage")
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True