diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index f3393ff5a4..2e4984afe7 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -10,6 +10,7 @@
       enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+      min_bound_interval: 1.0  # [m] minimum interval between two consecutive bound points (before expansion)
       smoothing:
         curvature_average_window: 3  # window size used for smoothing the curvatures using a moving window average
         max_bound_rate: 1.0  # [m/m] maximum rate of change of the bound lateral distance over its arc length