diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
index a96b1dc6c0..989336e4db 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -35,3 +35,5 @@
 
     # debug parameters
     publish_processing_time_detail: false
+    processing_time_tolerance_ms: 50.0 # [ms]
+    processing_time_consecutive_excess_tolerance_ms: 1000.0 # [ms]