diff --git a/launch/tier4_perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/launch/tier4_perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
index 5dcc3dba4aac7..5dbf32baf7a53 100644
--- a/launch/tier4_perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
+++ b/launch/tier4_perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -24,10 +24,10 @@
     max_area_matrix:
       #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
       [10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,  10000.00, 10000.00,   #UNKNOWN
-          12.10,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #CAR
-          19.75,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRUCK
-          32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #BUS
-          32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRAILER
+          12.10,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #CAR
+          19.75,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          40.00,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #BUS
+          40.00,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRAILER
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
            2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
diff --git a/perception/multi_object_tracker/config/data_association_matrix.param.yaml b/perception/multi_object_tracker/config/data_association_matrix.param.yaml
index 5dcc3dba4aac7..5dbf32baf7a53 100644
--- a/perception/multi_object_tracker/config/data_association_matrix.param.yaml
+++ b/perception/multi_object_tracker/config/data_association_matrix.param.yaml
@@ -24,10 +24,10 @@
     max_area_matrix:
       #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
       [10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,  10000.00, 10000.00,   #UNKNOWN
-          12.10,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #CAR
-          19.75,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRUCK
-          32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #BUS
-          32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRAILER
+          12.10,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #CAR
+          19.75,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          40.00,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #BUS
+          40.00,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRAILER
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
            2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN