diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
index b6a9574bb4..8263622f1d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
@@ -2,3 +2,7 @@
   ros__parameters:
     lane_following:
       lane_change_prepare_duration: 2.0
+
+      closest_lanelet:
+        distance_threshold: 5.0 # [m]
+        yaw_threshold: 0.79 # [rad]