diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index f298406792..da42efc7f9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -162,6 +162,8 @@
             lateral_distance_max_threshold: 1.0
             longitudinal_distance_min_threshold: 1.0
             longitudinal_velocity_delta_time: 1.0
+          # hysteresis factor to expand/shrink polygon with the value
+          hysteresis_factor_expand_rate: 1.0
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index b62262423f..586676fbbb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -129,6 +129,8 @@
             lateral_distance_max_threshold: 1.0
             longitudinal_distance_min_threshold: 1.0
             longitudinal_velocity_delta_time: 1.0
+          # hysteresis factor to expand/shrink polygon
+          hysteresis_factor_expand_rate: 1.0
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0