diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index e6461fa2b..3af3a2683 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -18,6 +18,7 @@
 
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+      object_check_goal_distance: 20.0            # [m]
 
       threshold_distance_object_is_on_center: 1.0 # [m]
 
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 66d66fe78..891e54a54 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
@@ -9,21 +9,26 @@
       backward_length_buffer_for_end_of_lane: 2.0
       lane_change_finish_judge_buffer: 3.0      # [m]
 
-      double lane_changing_lateral_jerk: 0.5
-      double lane_changing_lateral_acc: 0.5
+      lane_changing_lateral_jerk: 0.5           # [m/s3]
+      lane_changing_lateral_acc: 0.5            # [m/s2]
 
       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
 
-      abort_lane_change_velocity_thresh: 0.5
-      abort_lane_change_angle_thresh: 10.0      # [deg]
-      abort_lane_change_distance_thresh: 0.3    # [m]
-      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
-
-      enable_abort_lane_change: true
+      # collision check
       enable_collision_check_at_prepare_phase: true
+      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
       use_predicted_path_outside_lanelet: true
       use_all_predicted_path: false
+
+      # abort
+      enable_cancel_lane_change: true
+      enable_abort_lane_change: false
+
+      abort_delta_time: 3.0                      # [s]
+      abort_max_lateral_jerk: 1000.0             # [m/s3]
+
+      # debug
       publish_debug_marker: false
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
index 31f75d7f7..5af1c99f8 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -6,3 +6,4 @@
       backward_length: 15.0 # [m]
       ignore_width_from_center_line: 0.7 # [m]
       max_future_movement_time: 10.0 # [second]
+      threshold_yaw_diff: 0.523 # [rad]