diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 42943fb91..e34fa49cb 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -21,11 +21,11 @@
 
     lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
-    expected_front_deceleration: -0.5
+    expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0
 
-    expected_front_deceleration_for_abort: -1.5
-    expected_rear_deceleration_for_abort: -2.5
+    expected_front_deceleration_for_abort: -1.0
+    expected_rear_deceleration_for_abort: -2.0
 
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 2.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 075bf2a87..66d66fe78 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -12,7 +12,7 @@
       double lane_changing_lateral_jerk: 0.5
       double lane_changing_lateral_acc: 0.5
 
-      minimum_lane_change_velocity: 2.778       # [m/s]
+      minimum_lane_change_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
       lane_change_sampling_num: 10