diff --git a/perception/autoware_traffic_light_arbiter/README.md b/perception/autoware_traffic_light_arbiter/README.md
index 2c38df96fcef4..b9ede05057658 100644
--- a/perception/autoware_traffic_light_arbiter/README.md
+++ b/perception/autoware_traffic_light_arbiter/README.md
@@ -43,7 +43,7 @@ The table below outlines how the matching process determines the output based on
 
 | Name                              | Type   | Default Value | Description                                                                                                                                                                    |
 | --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| `external_current_time_tolerance` | double | 5.0           | The duration in seconds an external message is considered valid for merging in comparison with current time                                                                    |
+| `external_delay_tolerance`        | double | 5.0           | The duration in seconds an external message is considered valid for merging in comparison with current time                                                                    |
 | `external_time_tolerance`         | double | 5.0           | The duration in seconds an external message is considered valid for merging in comparison with a timestamp of perception message                                               |
 | `perception_time_tolerance`       | double | 1.0           | The duration in seconds a perception message is considered valid for merging in comparison with a timestamp of external message                                                |
 | `external_priority`               | bool   | false         | Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria                                               |
diff --git a/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml b/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml
index 16498d602c57c..36e1b8593bebc 100644
--- a/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml
+++ b/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    external_current_time_tolerance: 5.0
+    external_delay_tolerance: 5.0
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
     external_priority: false
diff --git a/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp b/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp
index 24675c34f009c..916bd04a6bdd0 100644
--- a/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp
+++ b/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp
@@ -51,7 +51,7 @@ class TrafficLightArbiter : public rclcpp::Node
 
   std::unique_ptr<std::unordered_set<lanelet::Id>> map_regulatory_elements_set_;
 
-  double external_current_time_tolerance_;
+  double external_delay_tolerance_;
   double external_time_tolerance_;
   double perception_time_tolerance_;
   bool external_priority_;
diff --git a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
index 335391b29c864..3a5345eca47ce 100644
--- a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
+++ b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
@@ -70,8 +70,8 @@ namespace autoware
 TrafficLightArbiter::TrafficLightArbiter(const rclcpp::NodeOptions & options)
 : Node("traffic_light_arbiter", options)
 {
-  external_current_time_tolerance_ =
-    this->declare_parameter<double>("external_current_time_tolerance", 5.0);
+  external_delay_tolerance_ =
+    this->declare_parameter<double>("external_delay_tolerance", 5.0);
   external_time_tolerance_ = this->declare_parameter<double>("external_time_tolerance", 5.0);
   perception_time_tolerance_ = this->declare_parameter<double>("perception_time_tolerance", 1.0);
   external_priority_ = this->declare_parameter<bool>("external_priority", false);
@@ -131,7 +131,7 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP
 
 void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr msg)
 {
-  if ((this->now() - rclcpp::Time(msg->stamp)).seconds() > external_current_time_tolerance_) {
+  if ((this->now() - rclcpp::Time(msg->stamp)).seconds() > external_delay_tolerance_) {
     RCLCPP_WARN_THROTTLE(
       get_logger(), *get_clock(), 5000, "Received outdated V2X traffic signal messages");
     return;