diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
index 8ccd469786..3abaffb243 100755
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
@@ -26,7 +26,7 @@
       iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
-      score_threshold: 0.4
+      score_threshold: 0.35
     omp_params:
       # omp params
       num_threads: 1
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 66542e1bf1..eea6d0acdc 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
@@ -35,7 +35,8 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
+        collision_check_soft_margins: [2.0, 1.5, 1.0]
+        collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
         detection_bound_offset: 15.0