diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 6d1e0a5fe9..94cc54dfa9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -57,6 +57,7 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
         parked:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -65,6 +66,7 @@
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -73,6 +75,7 @@
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 2.5
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
         stuck:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
@@ -81,6 +84,7 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
 
         # lane expansion for object filtering
         lane_expansion:
@@ -111,7 +115,8 @@
           intersection: true
           turns: true
         prediction_time_resolution: 0.5
-        yaw_diff_threshold: 3.1416
+        th_incoming_object_yaw: 2.3562 # [rad]
+        yaw_diff_threshold: 3.1416 # [rad]
         check_current_lanes: false
         check_other_lanes: false
         use_all_predicted_paths: false