diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index fcdcf5c78c..adce0a5088 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -7,8 +7,12 @@
     backward_length_buffer_for_end_of_pull_out: 5.0
     minimum_lane_change_length: 12.0
     minimum_pull_over_length: 16.0
+
     drivable_area_resolution: 0.1
-    drivable_area_width: 100.0
-    drivable_area_height: 50.0
+    drivable_lane_forward_length: 50.0
+    drivable_lane_backward_length:  5.0
+    drivable_lane_margin: 1.0
+    drivable_area_margin: 6.0
+
     refine_goal_search_radius_range: 7.5
     intersection_search_distance: 30.0