diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 49156fba51..3a968f0f27 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -127,8 +127,9 @@
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
-    <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
+    <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
-    <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
   </include>
 </launch>