diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index f3f04270d6..d3032ffdd3 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -146,6 +146,10 @@
               front_distance: 30.0                       # [m]
               behind_distance: 30.0                      # [m]
 
+        # params for filtering objects that are in intersection
+        intersection:
+          yaw_deviation: 0.349                           # [rad] (default 20.0deg)
+
       # For safety check
       safety_check:
         # safety check configuration