diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml
index cd2a51851fe5f..5a81d7d972a0e 100644
--- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml
+++ b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml
@@ -4,9 +4,6 @@
     avoidance:
       resample_interval_for_planning: 0.3               # [m]
       resample_interval_for_output: 4.0                 # [m]
-      drivable_area_right_bound_offset: 0.0             # [m]
-      drivable_area_left_bound_offset: 0.0              # [m]
-
       # avoidance module common setting
       enable_bound_clipping: false
       enable_yield_maneuver: true
diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
index 0c5dbc082c9b9..f3f6870085e02 100644
--- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
+++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
@@ -25,11 +25,6 @@
     input_path_interval: 2.0
     output_path_interval: 2.0
 
-    lane_following:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
-
     closest_lanelet:
       distance_threshold: 5.0 # [m]
       yaw_threshold: 0.79 # [rad]