diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md
index b0c7912d138e2..1ada09290a475 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md
@@ -342,7 +342,7 @@ Then there is the concept of soft and hard margins. Although not currently param
 | Name                                                         | Unit | Type           | Description                                                                                              | Default value   |
 | :----------------------------------------------------------- | :--- | :------------- | :------------------------------------------------------------------------------------------------------- | :-------------- |
 | use_object_recognition                                       | [-]  | bool           | flag whether to use object recognition for collision check                                               | true            |
-| object_recognition_collision_check_soft_margins              | [m]  | vector[double] | soft margins for collision check when path generation. It is not strictly the distance between footprints, but the maximum distance when ego and objects are oriented.                                                    | [3.0, 2.5, 2.0, 1.5, 1.0] |
+| object_recognition_collision_check_soft_margins              | [m]  | vector[double] | soft margins for collision check when path generation. It is not strictly the distance between footprints, but the maximum distance when ego and objects are oriented.                                                    | [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  |
 | object_recognition_collision_check_hard_margins              | [m]  | vector[double] | hard margins for collision check when path generation                                                    | [0.6]           |
 | object_recognition_collision_check_max_extra_stopping_margin | [m]  | double         | maximum value when adding longitudinal distance margin for collision check considering stopping distance | 1.0             |
 | detection_bound_offset                                       | [m]  | double         | expand pull over lane with this offset to make detection area for collision check of path generation     | 15.0            |
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml
index 0d8d9c29304f8..d3d23ae69dc1a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml
@@ -36,8 +36,8 @@
       # object recognition
       object_recognition:
         use_object_recognition: false
-        collision_check_soft_margins: [2.0, 1.5, 1.0]
-        collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
+        collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  # the maximum margin when ego and objects are oriented.
+        collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker.
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
         detection_bound_offset: 15.0