diff --git a/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
index 94882fae4f..15ca8dd713 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
@@ -3,3 +3,6 @@
     distance_threshold_list:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
       [9.0,     9.0, 9.0,   9.0,  9.0,     9.0,       9.0,    9.0]         #UNKNOWN
+
+    generalized_iou_threshold:
+      [-0.1,   -0.1,-0.1, -0.6,  -0.6, -0.1, -0.1, -0.1]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 11184eedf4..4b0a1ffc43 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -36,10 +36,13 @@
 
       # param for pass judge logic
       pass_judge:
-        ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
-        ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
+        max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding