diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
index 38109bad5a..e0c545b690 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
@@ -13,8 +13,8 @@
       max_height: 2.0
 
     enable_single_frame_mode: false
-    map_length: 100.0
-    map_width: 100.0
+    map_length: 150.0
+    map_width: 150.0
     map_resolution: 0.5
 
     updater_type: "binary_bayes_filter" # binary_bayes_filter, etc.
diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
index 58475c22f1..8bd48c57df 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    map_length: 100.0     # [m]
+    map_length: 150.0     # [m]
     map_resolution: 0.5 # [m]
 
     height_filter: