diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index d6152c4f56..ffd99df533 100644
--- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -37,3 +37,11 @@
       only_behind_solutions: false
       use_back: true
       distance_heuristic_weight: 1.0
+
+    # -- RRT* search Configurations --
+    rrtstar:
+      enable_update: true
+      use_informed_sampling: true
+      max_planning_time: 150.0
+      neighbor_radius: 8.0
+      margin: 0.1