diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml
index 5b2fea537d..4d5409cef2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml
@@ -1,3 +1,14 @@
 /**:
   ros__parameters:
     smooth_velocity_before_planning: true  # [-] if true, smooth the velocity profile of the input trajectory before planning
+
+    trajectory_polygon_collision_check:
+      decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
+      goal_extended_trajectory_length: 6.0
+
+      # consider the current ego pose (it is not the nearest pose on the reference trajectory)
+      # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
+      # The both errors decrease with constant rates against the time.
+      consider_current_pose:
+        enable_to_consider_current_pose: true
+        time_to_convergence: 1.5 #[s]