diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
index 2541ab0367cad..69af202e7ac48 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -14,10 +14,10 @@
     max_dist_matrix:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
       [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
@@ -55,12 +55,12 @@
        3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
 
     min_iou_matrix: # If value is negative, it will be ignored.
-      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.0001,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
-          0.1,  0.1,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
-          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
-          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
-          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
-          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
-          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
-          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,  0.0001]       #PEDESTRIAN
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
+          0.1,  0.1,   0.2,   0.2,    0.2,       0.1,       0.1,     0.1,       #CAR
+          0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRUCK
+          0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #BUS
+          0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRAILER
+          0.1,  0.1,   0.1,   0.1,    0.1,      -1.0,       0.1,     0.1,       #MOTORBIKE
+          0.1,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #BICYCLE
+          0.1,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,  0.0001]       #PEDESTRIAN