diff --git a/perception/autoware_radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md
index cf52c33eba274..a5a5c4ee68e5a 100644
--- a/perception/autoware_radar_object_clustering/README.md
+++ b/perception/autoware_radar_object_clustering/README.md
@@ -65,61 +65,4 @@ So `is_fixed_size` parameter is recommended to set `true`, and size parameters i
 
 ### Parameter
 
-- `angle_threshold` (double) [rad]
-  - Default parameter is 0.174.
-- `distance_threshold` (double) [m]
-  - Default parameter is 4.0.
-- `velocity_threshold` (double) [m/s]
-  - Default parameter is 2.0.
-
-These parameter are thresholds for angle, distance, and velocity to judge whether radar detections come from one object in "clustering" processing, which is written in detail at algorithm section.
-If all of the difference in angle/distance/velocity from two objects is less than the thresholds, then the two objects are merged to one clustered object.
-If these parameter is larger, more objects are merged to one clustered object.
-
-These are used in `isSameObject` function as below.
-
-```cpp
-
-bool RadarObjectClusteringNode::isSameObject(
-  const DetectedObject & object_1, const DetectedObject & object_2)
-{
-  const double angle_diff = std::abs(autoware::universe_utils::normalizeRadian(
-    tf2::getYaw(object_1.kinematics.pose_with_covariance.pose.orientation) -
-    tf2::getYaw(object_2.kinematics.pose_with_covariance.pose.orientation)));
-  const double velocity_diff = std::abs(
-    object_1.kinematics.twist_with_covariance.twist.linear.x -
-    object_2.kinematics.twist_with_covariance.twist.linear.x);
-  const double distance = autoware::universe_utils::calcDistance2d(
-    object_1.kinematics.pose_with_covariance.pose.position,
-    object_2.kinematics.pose_with_covariance.pose.position);
-
-  if (
-    distance < node_param_.distance_threshold && angle_diff < node_param_.angle_threshold &&
-    velocity_diff < node_param_.velocity_threshold) {
-    return true;
-  } else {
-    return false;
-  }
-}
-```
-
-- `is_fixed_label` (bool)
-  - Default parameter is false.
-- `fixed_label` (string)
-  - Default parameter is "UNKNOWN".
-
-`is_fixed_label` is the flag to use fixed label.
-If it is true, the label of a clustered object is overwritten by the label set by `fixed_label` parameter.
-If the radar objects do not have label information, then it is recommended to use fixed label.
-
-- `is_fixed_size` (bool)
-  - Default parameter is false.
-- `size_x` (double) [m]
-  - Default parameter is 4.0.
-- `size_y` (double) [m]
-  - Default parameter is 1.5.
-- `size_z` (double) [m]
-  - Default parameter is 1.5.
-
-`is_fixed_size` is the flag to use fixed size parameters.
-If it is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters.
+{{ json_to_markdown("perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml/schema/radar_object_clustering.schema.json") }}
diff --git a/perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml b/perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml
index 2abbf14622a3f..a7b2392f89ba5 100644
--- a/perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml
+++ b/perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml
@@ -2,14 +2,14 @@
   ros__parameters:
     # clustering parameter
     angle_threshold: 0.174 # [rad] (10 deg)
-    distance_threshold: 10.0 # [m]
-    velocity_threshold: 4.0 # [m/s]
+    distance_threshold: 4.0 # [m]
+    velocity_threshold: 2.0 # [m/s]
 
     # output object settings
     # set false if you want to use the object information from radar
-    is_fixed_label: true
-    fixed_label: "CAR"
-    is_fixed_size: true
+    is_fixed_label: false
+    fixed_label: "UNKNOWN"
+    is_fixed_size: false
     size_x: 4.0 # [m]
     size_y: 1.5 # [m]
     size_z: 1.5 # [m]
diff --git a/perception/autoware_radar_object_clustering/schema/radar_object_clustering.schema.json b/perception/autoware_radar_object_clustering/schema/radar_object_clustering.schema.json
new file mode 100644
index 0000000000000..e4b6cb2bacb60
--- /dev/null
+++ b/perception/autoware_radar_object_clustering/schema/radar_object_clustering.schema.json
@@ -0,0 +1,83 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Radar Object Clustering Parameters",
+  "type": "object",
+  "definitions": {
+    "radar_object_clustering": {
+      "type": "object",
+      "properties": {
+        "angle_threshold": {
+          "type": "number",
+          "description": "Threshold for angle to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
+          "default": 0.174
+        },
+        "distance_threshold": {
+          "type": "number",
+          "description": "Threshold for distance to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
+          "default": 4.0
+        },
+        "velocity_threshold": {
+          "type": "number",
+          "description": "Threshold for velocity to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
+          "default": 2.0
+        },
+        "is_fixed_label": {
+          "type": "boolean",
+          "description": "Flag to use a fixed label. If true, the label of a clustered object is overwritten by the `fixed_label` parameter.",
+          "default": false
+        },
+        "fixed_label": {
+          "type": "string",
+          "description": "The fixed label to use when `is_fixed_label` is true.",
+          "default": "UNKNOWN"
+        },
+        "is_fixed_size": {
+          "type": "boolean",
+          "description": "Flag to use fixed size parameters. If true, the size of a clustered object is overwritten by the `size_x`, `size_y`, and `size_z` parameters.",
+          "default": false
+        },
+        "size_x": {
+          "type": "number",
+          "description": "Size of the clustered object in the x-dimension, used if `is_fixed_size` is true.",
+          "default": 4.0
+        },
+        "size_y": {
+          "type": "number",
+          "description": "Size of the clustered object in the y-dimension, used if `is_fixed_size` is true.",
+          "default": 1.5
+        },
+        "size_z": {
+          "type": "number",
+          "description": "Size of the clustered object in the z-dimension, used if `is_fixed_size` is true.",
+          "default": 1.5
+        }
+      },
+      "required": [
+        "angle_threshold",
+        "distance_threshold",
+        "velocity_threshold",
+        "is_fixed_label",
+        "fixed_label",
+        "is_fixed_size",
+        "size_x",
+        "size_y",
+        "size_z"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/radar_object_clustering"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}