diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 0acc3c52d1..a9b96abcd8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -105,10 +105,10 @@
       # For target object filtering
       target_filtering:
         # params for avoidance of not-parked objects
-        threshold_time_force_avoidance_for_stopped_vehicle: 10.0    # [s]
+        threshold_time_force_avoidance_for_stopped_vehicle: 1.0      # [s]
         object_ignore_section_traffic_light_in_front_distance: 100.0 # [m]
-        object_ignore_section_crosswalk_in_front_distance: 30.0     # [m]
-        object_ignore_section_crosswalk_behind_distance: 30.0       # [m]
+        object_ignore_section_crosswalk_in_front_distance: 30.0      # [m]
+        object_ignore_section_crosswalk_behind_distance: 30.0        # [m]
         # detection range
         object_check_forward_distance: 150.0            # [m]
         object_check_backward_distance: 10.0            # [m]