diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index f31003da09e95..78abda6861593 100644
--- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -58,7 +58,7 @@
       option:
         steer_limit_constraint: true
         fix_points_around_ego: true
-        plan_from_ego: false
+        plan_from_ego: true
         max_plan_from_ego_length: 10.0
         visualize_sampling_num: 1
         enable_manual_warm_start: true
diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
index f31003da09e95..78abda6861593 100644
--- a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
+++ b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
@@ -58,7 +58,7 @@
       option:
         steer_limit_constraint: true
         fix_points_around_ego: true
-        plan_from_ego: false
+        plan_from_ego: true
         max_plan_from_ego_length: 10.0
         visualize_sampling_num: 1
         enable_manual_warm_start: true
diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp
index a06844d554c77..fe9c91ff22c65 100644
--- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp
+++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp
@@ -127,7 +127,7 @@ struct ReferencePoint
   //       one is fixing points around ego for stability
   //       second is fixing current ego pose when no velocity for planning from ego pose
   boost::optional<Eigen::Vector2d> fix_kinematic_state = boost::none;
-  bool plan_from_ego = false;
+  bool plan_from_ego = true;
   Eigen::Vector2d optimized_kinematic_state;
   double optimized_input;