diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 95f8f4afd50b2..286c6f2c8fe75 100644
--- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -10,13 +10,19 @@
       enable_avoidance_over_same_direction: true
       enable_avoidance_over_opposite_direction: true
 
-      threshold_distance_object_is_on_center: 1.0 # [m]
+      # For target object filtering
       threshold_speed_object_is_stopped: 1.0      # [m/s]
       threshold_time_object_is_moving: 1.0        # [s]
+
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+
+      threshold_distance_object_is_on_center: 1.0 # [m]
+
       object_check_shiftable_ratio: 0.6           # [-]
       object_check_min_road_shoulder_width: 0.5   # [m]
+
+      # For lateral margin
       object_envelope_buffer: 0.3                 # [m]
       lateral_collision_margin: 1.0               # [m]
       lateral_collision_safety_buffer: 0.7        # [m]