diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 75b54fe547..f7548536be 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -7,7 +7,8 @@
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
-    min_generated_path_length: 0.5
+    min_generated_imu_path_length: 0.5
+    max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
     mpc_prediction_time_horizon: 4.5
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
index 26b027f007..15f03fb959 100644
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -15,3 +15,4 @@
     min_y: -200.0
     max_z: 2.0
     min_z: -10.0
+    negative: false