diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index 86bcf34382..4839bd5ca3 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -30,7 +30,7 @@
         std_dev_multiplier: 1.96  # [-] min and max velocity of the obstacles are calculated from this value and covariance
         diameter: 0.1             # [m] diameter of obstacles. used for creating dynamic obstacles from points
         height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
-        max_prediction_time: 10.0 # [sec] create predicted path until this time
+        max_prediction_time: 3.0  # [sec] create predicted path until this time
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
@@ -56,4 +56,4 @@
       # prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
-        time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
+        time_threshold: 0.5  # [sec] ignores detections that persist for less than this duration