diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 6650df56e1..c72033dd7c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -30,9 +30,9 @@
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
           lateral_margin:
-            soft_margin: 0.7                           # [m]
-            hard_margin: 0.3                           # [m]
-            hard_margin_for_parked_vehicle: 0.3        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
           safety_buffer_longitudinal: 0.0              # [m]
@@ -42,9 +42,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -54,9 +54,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -66,9 +66,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0