diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
index ca1eb740be..83a548bb46 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 100.0
+      minimum_request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
@@ -9,7 +9,8 @@
       pull_over_minimum_velocity: 1.38
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      maximum_deceleration: 0.5
+      maximum_deceleration: 1.0
+      maximum_jerk: 1.0
       # goal research
       enable_goal_research: true
       search_priority: "efficient_path" # "efficient_path" or "close_goal"