diff --git a/perception/object_range_splitter/README.md b/perception/object_range_splitter/README.md
index 89d266a666219..19c571962c0dc 100644
--- a/perception/object_range_splitter/README.md
+++ b/perception/object_range_splitter/README.md
@@ -43,9 +43,7 @@ Example:
 
 ## Parameters
 
-| Name          | Type  | Description                                          |
-| ------------- | ----- | ---------------------------------------------------- |
-| `split_range` | float | the distance boundary to divide detected objects [m] |
+{{ json_to_markdown("perception/object_range_splitter/schema/object_range_splitter.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/perception/object_range_splitter/schema/object_range_splitter.schema.json b/perception/object_range_splitter/schema/object_range_splitter.schema.json
new file mode 100644
index 0000000000000..ed5ba3a96c18b
--- /dev/null
+++ b/perception/object_range_splitter/schema/object_range_splitter.schema.json
@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for object_range_splitter",
+  "type": "object",
+  "definitions": {
+    "object_range_splitter": {
+      "type": "object",
+      "properties": {
+        "split_range": {
+          "type": "number",
+          "description": "object_range_splitter is a package to divide detected objects into two messages by the distance from the origin",
+          "default": "30.0"
+        }
+      },
+      "required": ["split_range"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/object_range_splitter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}