diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index 497c0eef02..2d0d6e8848 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -23,44 +23,44 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.3                            # [m]
+            soft_margin: 0.7                            # [m]
             hard_margin: 0.2                            # [m]
             hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
-          envelope_buffer_margin: 0.5                   # [m] FOR DEVELOPER
+          envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.3
+            soft_margin: 0.7
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.3
+            soft_margin: 0.7
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.3
+            soft_margin: 0.7
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
         unknown:
           th_moving_speed: 0.28