diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
index 62b3074c15..318633e057 100644
--- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -24,3 +24,6 @@
 
     # radius map for dynamic map loading
     map_loader_radius: 150.0
+
+    # Threshold of grid size to split map pointcloud
+    max_map_grid_size: 100.0