diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index fbed63fde7..c285e79fe3 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -54,3 +54,5 @@
     publish_processing_time: true
     publish_processing_time_detail: true
     publish_debug_markers: true
+    processing_time_tolerance: 0.5 #[s]
+    processing_time_consecutive_excess_tolerance: 1.0 #[s]