diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index 0a563498be..c1f4646ef7 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -12,9 +12,9 @@
         bus: true
         trailer: true
         unknown: false
-        bicycle: false
+        bicycle: true
         motorcycle: true
-        pedestrian: false
+        pedestrian: true
 
         max_obstacle_vel: 100.0 # [m/s]
         min_obstacle_vel: 0.0 # [m/s]
@@ -40,6 +40,7 @@
           max_overtaking_object_angle: 1.05
           min_oncoming_object_vel: 1.0
           max_oncoming_object_angle: 0.523
+          max_pedestrian_crossing_vel: 0.8
 
         front_object:
           max_object_angle: 0.785
@@ -55,6 +56,10 @@
           min_longitudinal_polygon_margin: 3.0 # [m]
 
         lat_offset_from_obstacle: 1.0 # [m]
+        margin_distance_around_pedestrian: 2.0 # [m]
+        predicted_path:
+          end_time_to_consider: 3.0 # [s]
+          threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]