diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 1b820b2c2b..b90ddf20bd 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -12,8 +12,10 @@
 
       threshold_distance_object_is_on_center: 1.0 # [m]
       threshold_speed_object_is_stopped: 1.0      # [m/s]
+      threshold_time_object_is_moving: 1.0        # [s]
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+      object_envelope_buffer: 0.3                 # [m]
       lateral_collision_margin: 1.0               # [m]
       lateral_collision_safety_buffer: 0.7        # [m]