diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index 2a38048a66337..ff885543f8b5e 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -65,7 +65,8 @@
     # trajectory param for mpt
     num_curvature_sampling_points: 5 # number of sampling points when calculating curvature
     delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt[m]
-    forward_fixing_mpt_distance: 10 # number of fixing points around ego vehicle
+    forward_fixing_mpt_min_distance: 10 # number of fixing points around ego vehicle
+    forward_fixing_mpt_time: 1.0 # forward fixing time with current velocity [s]
 
     # optimization param for mpt
     is_hard_fixing_terminal_point: false # hard fixing terminal point