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 bf9c815405..9ee86a06a4 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
@@ -41,6 +41,8 @@
 
         front_object:
           max_object_angle: 0.785
+          min_vel: -0.5                      # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
+          max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
       drivable_area_generation:
         object_path_base: