diff --git a/planning/obstacle_avoidance_planner/src/debug_marker.cpp b/planning/obstacle_avoidance_planner/src/debug_marker.cpp
index 8bf46c697104a..59fd976a0feb4 100644
--- a/planning/obstacle_avoidance_planner/src/debug_marker.cpp
+++ b/planning/obstacle_avoidance_planner/src/debug_marker.cpp
@@ -47,21 +47,22 @@ MarkerArray getFootprintsMarkerArray(
 
     const auto & traj_point = mpt_traj.at(i);
 
-    const double half_width = vehicle_info.vehicle_width_m / 2.0;
+    const double base_to_right = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
+    const double base_to_left = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
     const double base_to_front = vehicle_info.vehicle_length_m - vehicle_info.rear_overhang_m;
     const double base_to_rear = vehicle_info.rear_overhang_m;
 
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, -half_width, 0.0)
+      tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, base_to_left, 0.0)
         .position);
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, half_width, 0.0)
+      tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, -base_to_right, 0.0)
         .position);
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, half_width, 0.0)
+      tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_right, 0.0)
         .position);
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -half_width, 0.0)
+      tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, base_to_left, 0.0)
         .position);
     marker.points.push_back(marker.points.front());
 
@@ -71,7 +72,7 @@ MarkerArray getFootprintsMarkerArray(
 }
 
 MarkerArray getBoundsWidthMarkerArray(
-  const std::vector<ReferencePoint> & ref_points, const double vehicle_width,
+  const std::vector<ReferencePoint> & ref_points, const vehicle_info_util::VehicleInfo & vehicle_info,
   const size_t sampling_num)
 {
   const auto current_time = rclcpp::Clock().now();
@@ -105,8 +106,9 @@ MarkerArray getBoundsWidthMarkerArray(
         }
 
         const geometry_msgs::msg::Pose & pose = ref_points.at(i).pose_on_constraints.at(bound_idx);
+        const double base_to_right = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
         const double lb_y =
-          ref_points.at(i).bounds_on_constraints.at(bound_idx).lower_bound - vehicle_width / 2.0;
+          ref_points.at(i).bounds_on_constraints.at(bound_idx).lower_bound - base_to_right;
         const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
 
         lb_marker.points.push_back(pose.position);
@@ -125,8 +127,9 @@ MarkerArray getBoundsWidthMarkerArray(
         }
 
         const geometry_msgs::msg::Pose & pose = ref_points.at(i).pose_on_constraints.at(bound_idx);
+        const double base_to_left = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
         const double ub_y =
-          ref_points.at(i).bounds_on_constraints.at(bound_idx).upper_bound + vehicle_width / 2.0;
+          ref_points.at(i).bounds_on_constraints.at(bound_idx).upper_bound + base_to_left;
         const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
 
         ub_marker.points.push_back(pose.position);
@@ -140,7 +143,7 @@ MarkerArray getBoundsWidthMarkerArray(
 }
 
 MarkerArray getBoundsLineMarkerArray(
-  const std::vector<ReferencePoint> & ref_points, const double vehicle_width)
+  const std::vector<ReferencePoint> & ref_points, const vehicle_info_util::VehicleInfo & vehicle_info)
 {
   MarkerArray marker_array;
 
@@ -158,12 +161,13 @@ MarkerArray getBoundsLineMarkerArray(
 
   for (size_t i = 0; i < ref_points.size(); i++) {
     const geometry_msgs::msg::Pose & pose = ref_points.at(i).pose;
-
-    const double ub_y = ref_points.at(i).bounds.upper_bound + vehicle_width / 2.0;
+    const double base_to_right = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
+    const double base_to_left = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
+    const double ub_y = ref_points.at(i).bounds.upper_bound + base_to_left;
     const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
     ub_marker.points.push_back(ub);
 
-    const double lb_y = ref_points.at(i).bounds.lower_bound - vehicle_width / 2.0;
+    const double lb_y = ref_points.at(i).bounds.lower_bound - base_to_right;
     const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
     lb_marker.points.push_back(lb);
   }
@@ -175,7 +179,8 @@ MarkerArray getBoundsLineMarkerArray(
 
 MarkerArray getVehicleCircleLinesMarkerArray(
   const std::vector<ReferencePoint> & ref_points,
-  const std::vector<double> & vehicle_circle_longitudinal_offsets, const double vehicle_width,
+  const std::vector<double> & vehicle_circle_longitudinal_offsets,
+  const vehicle_info_util::VehicleInfo & vehicle_info,
   const size_t sampling_num, const std::string & ns)
 {
   const auto current_time = rclcpp::Clock().now();
@@ -206,11 +211,12 @@ MarkerArray getVehicleCircleLinesMarkerArray(
       auto base_pose = tier4_autoware_utils::calcOffsetPose(pose_with_deviation, d, 0.0, 0.0);
       base_pose.orientation =
         tier4_autoware_utils::createQuaternionFromYaw(ref_point.getYaw() + ref_point.alpha);
-
+      const double base_to_right = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
+      const double base_to_left = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
       const auto ub =
-        tier4_autoware_utils::calcOffsetPose(base_pose, 0.0, vehicle_width / 2.0, 0.0).position;
+        tier4_autoware_utils::calcOffsetPose(base_pose, 0.0, base_to_left, 0.0).position;
       const auto lb =
-        tier4_autoware_utils::calcOffsetPose(base_pose, 0.0, -vehicle_width / 2.0, 0.0).position;
+        tier4_autoware_utils::calcOffsetPose(base_pose, 0.0, -base_to_right, 0.0).position;
 
       marker.points.push_back(ub);
       marker.points.push_back(lb);
@@ -260,8 +266,8 @@ MarkerArray getCurrentVehicleCirclesMarkerArray(
 MarkerArray getVehicleCirclesMarkerArray(
   const std::vector<TrajectoryPoint> & mpt_traj_points,
   const std::vector<double> & vehicle_circle_longitudinal_offsets,
-  const std::vector<double> & vehicle_circle_radiuses, const size_t sampling_num,
-  const std::string & ns, const double r, const double g, const double b)
+  const std::vector<double> & vehicle_circle_radiuses, const vehicle_info_util::VehicleInfo & vehicle_info,
+  const size_t sampling_num, const std::string & ns, const double r, const double g, const double b)
 {
   MarkerArray msg;
 
@@ -369,19 +375,19 @@ MarkerArray getDebugMarker(
 
   // bounds line
   appendMarkerArray(
-    getBoundsLineMarkerArray(debug_data.ref_points, vehicle_info.vehicle_width_m), &marker_array);
+    getBoundsLineMarkerArray(debug_data.ref_points, vehicle_info), &marker_array);
 
   // bounds width
   appendMarkerArray(
     getBoundsWidthMarkerArray(
-      debug_data.ref_points, vehicle_info.vehicle_width_m, debug_data.mpt_visualize_sampling_num),
+      debug_data.ref_points, vehicle_info, debug_data.mpt_visualize_sampling_num),
     &marker_array);
 
   // current vehicle circles
   appendMarkerArray(
     getCurrentVehicleCirclesMarkerArray(
       debug_data.ego_pose, debug_data.vehicle_circle_longitudinal_offsets,
-      debug_data.vehicle_circle_radiuses, "current_vehicle_circles", 1.0, 0.3, 0.3),
+      debug_data.vehicle_circle_radiuses, vehicle_info, "current_vehicle_circles", 1.0, 0.3, 0.3),
     &marker_array);
 
   // NOTE: Default debug marker is limited for less calculation time
@@ -405,7 +411,7 @@ MarkerArray getDebugMarker(
     appendMarkerArray(
       getVehicleCircleLinesMarkerArray(
         debug_data.ref_points, debug_data.vehicle_circle_longitudinal_offsets,
-        vehicle_info.vehicle_width_m, debug_data.mpt_visualize_sampling_num,
+        vehicle_info, debug_data.mpt_visualize_sampling_num,
         "vehicle_circle_lines"),
       &marker_array);
 
diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
index 359485fadcfff..9a81cf7201a88 100644
--- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
+++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
@@ -36,9 +36,11 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesByUniform
   const vehicle_info_util::VehicleInfo & vehicle_info, const size_t circle_num,
   const double radius_ratio)
 {
+  const double lateral_offset =
+    abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m) / 2.0;
   const double radius = std::hypot(
                           vehicle_info.vehicle_length_m / static_cast<double>(circle_num) / 2.0,
-                          vehicle_info.vehicle_width_m / 2.0) *
+                          vehicle_info.vehicle_width_m / 2.0 + lateral_offset) *
                         radius_ratio;
   const std::vector<double> radiuses(circle_num, radius);
 
@@ -59,16 +61,17 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesByBicycle
   if (circle_num < 2) {
     throw std::invalid_argument("circle_num is less than 2.");
   }
-
+  const double lateral_offset =
+    abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m) / 2.0;
   // 1st circle (rear wheel)
-  const double rear_radius = vehicle_info.vehicle_width_m / 2.0 * rear_radius_ratio;
+  const double rear_radius = vehicle_info.vehicle_width_m / 2.0 + lateral_offset * rear_radius_ratio;
   const double rear_lon_offset = 0.0;
 
   // 2nd circle (front wheel)
   const double front_radius =
     std::hypot(
       vehicle_info.vehicle_length_m / static_cast<double>(circle_num) / 2.0,
-      vehicle_info.vehicle_width_m / 2.0) *
+      vehicle_info.vehicle_width_m / 2.0 + lateral_offset) *
     front_radius_ratio;
 
   const double unit_lon_length = vehicle_info.vehicle_length_m / static_cast<double>(circle_num);
@@ -84,8 +87,9 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesByFitting
   if (circle_num < 2) {
     throw std::invalid_argument("circle_num is less than 2.");
   }
-
-  const double radius = vehicle_info.vehicle_width_m / 2.0;
+  const double lateral_offset =
+    abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m) / 2.0;
+  const double radius = vehicle_info.vehicle_width_m / 2.0 + lateral_offset;
   std::vector<double> radiuses(circle_num, radius);
 
   const double unit_lon_length =