diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 40f10f4805..fe9c37d200 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -118,8 +118,6 @@
         object_ignore_section_crosswalk_in_front_distance: 30.0      # [m]
         object_ignore_section_crosswalk_behind_distance: 30.0        # [m]
         # detection range
-        object_check_forward_distance: 150.0            # [m]
-        object_check_backward_distance: 10.0            # [m]
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
@@ -128,6 +126,13 @@
         # lost object compensation
         object_last_seen_threshold: 2.0
 
+        # detection area generation parameters
+        detection_area:
+          static: false                                  # [-]
+          min_forward_distance: 50.0                     # [m]
+          max_forward_distance: 150.0                    # [m]
+          backward_distance: 10.0                        # [m]
+
       # For safety check
       safety_check:
         # safety check configuration