diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp
index eb5cb18ce697c..b9af50ce76eb5 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp
@@ -207,6 +207,8 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
       getOrDeclareParameter<double>(*node, ns + "max_velocity");
     p.ego_predicted_path_params.acceleration =
       getOrDeclareParameter<double>(*node, "avoidance.constraints.longitudinal.max_acceleration");
+    p.ego_predicted_path_params.time_horizon_for_front_object =
+      getOrDeclareParameter<double>(*node, ns + "time_horizon_for_front_object");
     p.ego_predicted_path_params.time_horizon_for_rear_object =
       getOrDeclareParameter<double>(*node, ns + "time_horizon_for_rear_object");
     p.ego_predicted_path_params.time_resolution =