diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md
index db27ca1b4f699..5ccd2f0709009 100644
--- a/control/autoware_autonomous_emergency_braking/README.md
+++ b/control/autoware_autonomous_emergency_braking/README.md
@@ -58,7 +58,7 @@ We do not activate AEB module if it satisfies the following conditions.
 
 - Ego vehicle is not in autonomous driving state
 
-- When the ego vehicle is not moving (Current Velocity is very low)
+- When the ego vehicle is not moving (Current Velocity is below a 0.1 m/s threshold)
 
 ### 2. Generate a predicted path of the ego vehicle
 
@@ -202,6 +202,10 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t
 | voxel_grid_x                      | [m]    | double | down sampling parameters of x-axis for voxel grid filter                                                                                                                                        | 0.05          |
 | voxel_grid_y                      | [m]    | double | down sampling parameters of y-axis for voxel grid filter                                                                                                                                        | 0.05          |
 | voxel_grid_z                      | [m]    | double | down sampling parameters of z-axis for voxel grid filter                                                                                                                                        | 100000.0      |
+| cluster tolerance                 | [m]    | double | maximum allowable distance between any two points to be considered part of the same cluster                                                                                                     | 0.15          |
+| cluster_minimum_height            | [m]    | double | at least one point in a cluster must be higher than this value for the cluster to be included in the set of possible collision targets                                                          | 0.1           |
+| minimum_cluster_size              | [-]    | int    | minimum required amount of points contained by a cluster for it to be considered as a possible target obstacle                                                                                  | 10            |
+| maximum_cluster_size              | [-]    | int    | maximum amount of points contained by a cluster for it to be considered as a possible target obstacle                                                                                           | 10000         |
 | min_generated_path_length         | [m]    | double | minimum distance for a predicted path generated by sensors                                                                                                                                      | 0.5           |
 | expand_width                      | [m]    | double | expansion width of the ego vehicle for the collision check                                                                                                                                      | 0.1           |
 | longitudinal_offset               | [m]    | double | longitudinal offset distance for collision check                                                                                                                                                | 2.0           |