diff --git a/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
index 15ca8dd713..b1a4057d09 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
@@ -1,8 +1,15 @@
 /**:
   ros__parameters:
-    distance_threshold_list:
+    unknown_obj_distance_threshold_list:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
       [9.0,     9.0, 9.0,   9.0,  9.0,     9.0,       9.0,    9.0]         #UNKNOWN
 
-    generalized_iou_threshold:
-      [-0.1,   -0.1,-0.1, -0.6,  -0.6, -0.1, -0.1, -0.1]
+    unknown_obj_generalized_iou_threshold:
+      [-0.1, -0.1, -0.1, -0.6,  -0.6, -0.1, -0.1, -0.1]
+
+    known_obj_distance_threshold_list:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [9.0,     9.0, 9.0,   9.0,  9.0,     9.0,       9.0,    9.0]         #KNOWN
+
+    known_obj_generalized_iou_threshold:
+      [-0.1, -0.1, -0.1, -0.6,  -0.6, -0.1, -0.1, -0.1]