diff --git a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
new file mode 100644
index 0000000000..6957040506
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    tracker_ignore_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index ddea1a9b56..4c9f84d5eb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -182,10 +182,19 @@
       labels:
         - "default"
       default:
-        min_lat_margin: 0.2
-        max_lat_margin: 1.0
-        min_ego_velocity: 2.0
-        max_ego_velocity: 8.0
+        moving:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
+        static:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
+
+      moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"
+      moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold
 
       time_margin_on_target_velocity: 1.5 # [s]
 
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5959d58e18..db79336fb5 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -64,6 +64,10 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_detection_by_tracker_param"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml"
+    />
     <arg
       name="object_recognition_detection_radar_lanelet_filtering_range_param"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"