diff --git a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp b/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
index c0b1ddb5beef7..63ac84f91136d 100644
--- a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
+++ b/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
@@ -123,7 +123,7 @@ struct DynamicAvoidanceParameters
   double max_overtaking_crossing_object_angle{0.0};
   double min_oncoming_crossing_object_vel{0.0};
   double max_oncoming_crossing_object_angle{0.0};
-  double max_pedestrians_crossing_vel{0.0};
+  double max_pedestrian_crossing_vel{0.0};
   double max_stopped_object_vel{0.0};
 
   // drivable area generation
diff --git a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp
index 6f10566f33591..52c13cb2e2e9a 100644
--- a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp
@@ -616,7 +616,7 @@ void DynamicAvoidanceModule::registerUnregulatedObjects(
     }
 
     // 1.c. Check if object' lateral velocity is small enough to be avoid.
-    if (obj_normal_vel > parameters_->max_pedestrians_crossing_vel) {
+    if (obj_normal_vel > parameters_->max_pedestrian_crossing_vel) {
       RCLCPP_INFO_EXPRESSION(
         getLogger(), parameters_->enable_debug_info,
         "[DynamicAvoidance] Ignore obstacle (%s) since it crosses the ego's path with its normal "