diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index b367fef386..b2a8be6e85 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -9,8 +9,8 @@
       parameters:
         min_x: -100.0
         max_x: 150.0
-        min_y: -70.0
-        max_y: 70.0
+        min_y: -90.0
+        max_y: 90.0
         max_z: 2.5
         min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
index 4f730a9460..a36d6f24a6 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 0.5
+    v_ratio: 1.5