diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index bf9c815405..506589ffef 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -28,10 +28,12 @@
         cut_in_object:
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
+          min_object_vel: 0.5 # [m/s]
 
         cut_out_object:
           max_time_from_outside_ego_path: 2.0 # [s]
           min_object_lat_vel: 0.3 # [m/s]
+          min_object_vel: 0.5 # [m/s]
 
         crossing_object:
           min_overtaking_object_vel: 1.0
@@ -41,6 +43,7 @@
 
         front_object:
           max_object_angle: 0.785
+          min_object_vel: -0.5 # [m/s]
 
       drivable_area_generation:
         object_path_base: