diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
index 5a272a67e0..fdab3a382a 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -15,6 +15,21 @@
     enable_delay_compensation: true
     consider_odometry_uncertainty: false
 
+    # tracker parameters
+    tracker_lifetime: 1.0  # [s]
+    min_known_object_removal_iou: 0.1  # [ratio]
+    min_unknown_object_removal_iou: 0.001  # [ratio]
+    distance_threshold: 5.0  # [m]
+    confident_count_threshold:
+      UNKNOWN: 3
+      CAR: 3
+      TRUCK: 3
+      BUS: 3
+      TRAILER: 3
+      MOTORBIKE: 3
+      BICYCLE: 3
+      PEDESTRIAN: 3
+
     # debug parameters
     publish_processing_time: true
     publish_tentative_objects: false