diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 55a21d6cd7b20..8954a46ab1828 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -4,6 +4,9 @@
     lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
     max_velocity: 20.0                       # max velocity [m/s]
     enable_slow_down: False                  # whether to use slow down planner [-]
+    voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
+    voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
+    voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]
 
     stop_planner:
       # params for stop position