diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
index a07a9416c2..b811c6031b 100644
--- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
@@ -1,5 +1,9 @@
 /**:
   ros__parameters:
     use_down_sample_filter: False
+    use_dynamic_map_loading: True
     down_sample_voxel_size: 0.1
     distance_threshold: 0.5
+    timer_interval_ms: 100
+    map_update_distance_threshold: 10.0
+    map_loader_radius: 150.0
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]