diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 81a7761e76..ec12b836e3 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -8,8 +8,10 @@
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       lane_change_finish_judge_buffer: 2.0      # [m]
 
-      lane_changing_lateral_jerk: 0.5           # [m/s3]
-      lane_changing_lateral_acc: 0.5            # [m/s2]
+      lane_changing_lateral_jerk: 0.5              # [m/s3]
+      lane_changing_lateral_acc: 0.315             # [m/s2]
+      lane_changing_lateral_acc_at_low_velocity: 0.15 # [m/s2]
+      lateral_acc_switching_velocity: 4.0          #[m/s]
 
       minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]