diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
index 730bc3053e7a3..8e77420dd4ae9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -35,3 +35,13 @@
     # nearest search
     ego_nearest_dist_threshold: 3.0 # [m]
     ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+    # replanning & trimming trajectory param outside algorithm
+    replan:
+      enable: true  # if true, only perform smoothing when the input changes significantly
+      max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]
+      max_path_shape_forward_lon_dist: 100.0   # forward point to check lateral distance difference [m]
+      max_path_shape_forward_lat_dist: 0.1     # threshold of path shape change around forward point [m]
+      max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
+      # make max_goal_moving_dist long to keep start point fixed for pull over
+      max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
+      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]