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 3423bfa22..d881c1033 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
@@ -23,11 +23,11 @@
 
     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: -2.0
-    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 fc8b314b0..2a008647c 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
@@ -5,7 +5,7 @@
       lane_changing_duration: 8.0               # [s]
       minimum_lane_change_prepare_distance: 2.0 # [m]
       lane_change_finish_judge_buffer: 3.0      # [m]
-      minimum_lane_change_velocity: 5.6         # [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