diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
index d3032ffdd3b99..27f6a0df63cec 100644
--- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
+++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
@@ -27,7 +27,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -38,7 +37,6 @@
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -49,7 +47,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -60,7 +57,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -71,7 +67,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -82,7 +77,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -93,7 +87,6 @@
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -104,7 +97,6 @@
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -119,6 +111,16 @@
 
       # For target object filtering
       target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: true                                  # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # detection range
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
@@ -152,6 +154,16 @@
 
       # For safety check
       safety_check:
+        # safety check target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: false                                 # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # safety check configuration
         enable: true                                     # [-]
         check_current_lane: false                        # [-]
diff --git a/planning/behavior_path_planner/config/avoidance_by_lc/avoidance_by_lc.param.yaml b/planning/behavior_path_planner/config/avoidance_by_lc/avoidance_by_lc.param.yaml
index 5ea50f90ab62c..9518185d30d63 100644
--- a/planning/behavior_path_planner/config/avoidance_by_lc/avoidance_by_lc.param.yaml
+++ b/planning/behavior_path_planner/config/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 2                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -16,7 +15,6 @@
           avoid_margin_lateral: 1.0                    # [m]
           safety_buffer_lateral: 0.7                   # [m]
         truck:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -25,7 +23,6 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
         bus:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -34,7 +31,6 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
         trailer:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -43,7 +39,6 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -52,7 +47,6 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.0
         bicycle:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -61,7 +55,6 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
         motorcycle:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -70,7 +63,6 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
         pedestrian:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -80,3 +72,16 @@
           safety_buffer_lateral: 1.0
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
+
+      # For target object filtering
+      target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                    # [-]
+          truck: true                                  # [-]
+          bus: true                                    # [-]
+          trailer: true                                # [-]
+          unknown: true                                # [-]
+          bicycle: false                               # [-]
+          motorcycle: false                            # [-]
+          pedestrian: false                            # [-]
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
index 6c223bff39ef0..191c3acf1bdf8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
@@ -54,7 +54,9 @@ using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
 
 struct ObjectParameter
 {
-  bool is_target{false};
+  bool is_avoidance_target{false};
+
+  bool is_safety_check_target{false};
 
   size_t execute_num{1};
 
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
index f4807223503fa..d82a105930b99 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
@@ -65,7 +65,6 @@ AvoidanceModuleManager::AvoidanceModuleManager(
   {
     const auto get_object_param = [&](std::string && ns) {
       ObjectParameter param{};
-      param.is_target = getOrDeclareParameter<bool>(*node, ns + "is_target");
       param.execute_num = getOrDeclareParameter<int>(*node, ns + "execute_num");
       param.moving_speed_threshold =
         getOrDeclareParameter<double>(*node, ns + "moving_speed_threshold");
@@ -105,7 +104,24 @@ AvoidanceModuleManager::AvoidanceModuleManager(
 
   // target filtering
   {
+    const auto set_target_flag = [&](const uint8_t & object_type, const std::string & ns) {
+      if (p.object_parameters.count(object_type) == 0) {
+        return;
+      }
+      p.object_parameters.at(object_type).is_avoidance_target =
+        getOrDeclareParameter<bool>(*node, ns);
+    };
+
     std::string ns = "avoidance.target_filtering.";
+    set_target_flag(ObjectClassification::CAR, ns + "target_type.car");
+    set_target_flag(ObjectClassification::TRUCK, ns + "target_type.truck");
+    set_target_flag(ObjectClassification::TRAILER, ns + "target_type.trailer");
+    set_target_flag(ObjectClassification::BUS, ns + "target_type.bus");
+    set_target_flag(ObjectClassification::PEDESTRIAN, ns + "target_type.pedestrian");
+    set_target_flag(ObjectClassification::BICYCLE, ns + "target_type.bicycle");
+    set_target_flag(ObjectClassification::MOTORCYCLE, ns + "target_type.motorcycle");
+    set_target_flag(ObjectClassification::UNKNOWN, ns + "target_type.unknown");
+
     p.object_check_goal_distance =
       getOrDeclareParameter<double>(*node, ns + "object_check_goal_distance");
     p.threshold_distance_object_is_on_center =
@@ -147,7 +163,24 @@ AvoidanceModuleManager::AvoidanceModuleManager(
 
   // safety check general params
   {
+    const auto set_target_flag = [&](const uint8_t & object_type, const std::string & ns) {
+      if (p.object_parameters.count(object_type) == 0) {
+        return;
+      }
+      p.object_parameters.at(object_type).is_safety_check_target =
+        getOrDeclareParameter<bool>(*node, ns);
+    };
+
     std::string ns = "avoidance.safety_check.";
+    set_target_flag(ObjectClassification::CAR, ns + "target_type.car");
+    set_target_flag(ObjectClassification::TRUCK, ns + "target_type.truck");
+    set_target_flag(ObjectClassification::TRAILER, ns + "target_type.trailer");
+    set_target_flag(ObjectClassification::BUS, ns + "target_type.bus");
+    set_target_flag(ObjectClassification::PEDESTRIAN, ns + "target_type.pedestrian");
+    set_target_flag(ObjectClassification::BICYCLE, ns + "target_type.bicycle");
+    set_target_flag(ObjectClassification::MOTORCYCLE, ns + "target_type.motorcycle");
+    set_target_flag(ObjectClassification::UNKNOWN, ns + "target_type.unknown");
+
     p.enable_safety_check = getOrDeclareParameter<bool>(*node, ns + "enable");
     p.check_current_lane = getOrDeclareParameter<bool>(*node, ns + "check_current_lane");
     p.check_shift_side_lane = getOrDeclareParameter<bool>(*node, ns + "check_shift_side_lane");
@@ -346,7 +379,6 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector<rclcpp::Parame
   const auto update_object_param = [&p, &parameters](
                                      const auto & semantic, const std::string & ns) {
     auto & config = p->object_parameters.at(semantic);
-    updateParam<bool>(parameters, ns + "is_target", config.is_target);
     updateParam<double>(parameters, ns + "moving_speed_threshold", config.moving_speed_threshold);
     updateParam<double>(parameters, ns + "moving_time_threshold", config.moving_time_threshold);
     updateParam<double>(parameters, ns + "max_expand_ratio", config.max_expand_ratio);
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
index 3a0b7527e4184..56410dd8ba4ca 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
@@ -285,7 +285,6 @@ AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager(
   {
     const auto get_object_param = [&](std::string && ns) {
       ObjectParameter param{};
-      param.is_target = getOrDeclareParameter<bool>(*node, ns + "is_target");
       param.execute_num = getOrDeclareParameter<int>(*node, ns + "execute_num");
       param.moving_speed_threshold =
         getOrDeclareParameter<double>(*node, ns + "moving_speed_threshold");
@@ -321,7 +320,24 @@ AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager(
 
   // target filtering
   {
+    const auto set_target_flag = [&](const uint8_t & object_type, const std::string & ns) {
+      if (p.object_parameters.count(object_type) == 0) {
+        return;
+      }
+      p.object_parameters.at(object_type).is_avoidance_target =
+        getOrDeclareParameter<bool>(*node, ns);
+    };
+
     std::string ns = "avoidance.target_filtering.";
+    set_target_flag(ObjectClassification::CAR, ns + "target_type.car");
+    set_target_flag(ObjectClassification::TRUCK, ns + "target_type.truck");
+    set_target_flag(ObjectClassification::TRAILER, ns + "target_type.trailer");
+    set_target_flag(ObjectClassification::BUS, ns + "target_type.bus");
+    set_target_flag(ObjectClassification::PEDESTRIAN, ns + "target_type.pedestrian");
+    set_target_flag(ObjectClassification::BICYCLE, ns + "target_type.bicycle");
+    set_target_flag(ObjectClassification::MOTORCYCLE, ns + "target_type.motorcycle");
+    set_target_flag(ObjectClassification::UNKNOWN, ns + "target_type.unknown");
+
     p.object_check_goal_distance =
       getOrDeclareParameter<double>(*node, ns + "object_check_goal_distance");
     p.threshold_distance_object_is_on_center =
diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
index cee60f08ca79e..f47ee90d0ad52 100644
--- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -235,7 +235,7 @@ void pushUniqueVector(T & base_vector, const T & additional_vector)
 
 namespace filtering_utils
 {
-bool isTargetObjectType(
+bool isAvoidanceTargetObjectType(
   const PredictedObject & object, const std::shared_ptr<AvoidanceParameters> & parameters)
 {
   const auto object_type = utils::getHighestProbLabel(object.classification);
@@ -244,7 +244,19 @@ bool isTargetObjectType(
     return false;
   }
 
-  return parameters->object_parameters.at(object_type).is_target;
+  return parameters->object_parameters.at(object_type).is_avoidance_target;
+}
+
+bool isSafetyCheckTargetObjectType(
+  const PredictedObject & object, const std::shared_ptr<AvoidanceParameters> & parameters)
+{
+  const auto object_type = utils::getHighestProbLabel(object.classification);
+
+  if (parameters->object_parameters.count(object_type) == 0) {
+    return false;
+  }
+
+  return parameters->object_parameters.at(object_type).is_safety_check_target;
 }
 
 bool isVehicleTypeObject(const ObjectData & object)
@@ -500,7 +512,7 @@ bool isSatisfiedWithCommonCondition(
   const std::shared_ptr<AvoidanceParameters> & parameters)
 {
   // Step1. filtered by target object type.
-  if (!isTargetObjectType(object.object, parameters)) {
+  if (!isAvoidanceTargetObjectType(object.object, parameters)) {
     object.reason = AvoidanceDebugFactor::OBJECT_IS_NOT_TYPE;
     return false;
   }
@@ -1705,10 +1717,12 @@ std::vector<ExtendedPredictedObject> getSafetyCheckTargetObjects(
     });
   };
 
-  const auto to_predicted_objects = [&p](const auto & objects) {
+  const auto to_predicted_objects = [&p, &parameters](const auto & objects) {
     PredictedObjects ret{};
-    std::for_each(objects.begin(), objects.end(), [&p, &ret](const auto & object) {
-      ret.objects.push_back(object.object);
+    std::for_each(objects.begin(), objects.end(), [&p, &ret, &parameters](const auto & object) {
+      if (filtering_utils::isSafetyCheckTargetObjectType(object.object, parameters)) {
+        ret.objects.push_back(object.object);
+      }
     });
     return ret;
   };