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 59388eccf9..b68395aefc 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
@@ -37,6 +37,7 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
       cruise_obstacle_type:
         inside:
@@ -68,8 +69,17 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
     behavior_determination:
+      pointcloud_search_radius: 5.0
+      pointcloud_voxel_grid_x: 0.05
+      pointcloud_voxel_grid_y: 0.05
+      pointcloud_voxel_grid_z: 100000.0
+      pointcloud_cluster_tolerance: 1.0
+      pointcloud_min_cluster_size: 1
+      pointcloud_max_cluster_size: 100000
+
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
 
       prediction_resampling_time_interval: 0.1