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 b9ad29ad29ceb..7cbda1137614b 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
@@ -22,12 +22,14 @@
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
     max_area_matrix:
+      # NOTE(yukke42): The size of truck is 12 m length x 3 m width with a margin.
+      # NOTE(yukke42): Trailer uses the large value not to be filtered.
       #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
         [100.00,   100.00,   100.00,   100.00,   100.00,    100.00,    100.00,   100.00,   #UNKNOWN
-          12.10,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #CAR
-          70.00,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRUCK
-          40.00,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #BUS
-          40.00,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRAILER
+          12.10,    12.10,    36.00,    40.00,  3600.00,  10000.00,  10000.00, 10000.00,   #CAR
+          36.00,    12.10,    36.00,    40.00,  3600.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          40.00,    12.10,    36.00,    40.00,  3600.00,  10000.00,  10000.00, 10000.00,   #BUS
+        3600.00,    12.10,    36.00,    40.00,  3600.00,  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 27c4c0ab477ba..5a95c7b8a77c0 100644
--- a/perception/multi_object_tracker/config/data_association_matrix.param.yaml
+++ b/perception/multi_object_tracker/config/data_association_matrix.param.yaml
@@ -22,12 +22,14 @@
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
     max_area_matrix:
+      # NOTE(yukke42): The size of truck is 12 m length x 3 m width with a margin.
+      # NOTE(yukke42): Trailer uses the large value not to be filtered.
       #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,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #CAR
-          70.00,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRUCK
-          40.00,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #BUS
-          40.00,    12.10,    70.00,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRAILER
+          12.10,    12.10,    36.00,    40.00,  3600.00,  10000.00,  10000.00, 10000.00,   #CAR
+          36.00,    12.10,    36.00,    40.00,  3600.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          40.00,    12.10,    36.00,    40.00,  3600.00,  10000.00,  10000.00, 10000.00,   #BUS
+        3600.00,    12.10,    36.00,    40.00,  3600.00,  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