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 948fcaf829..ff52b70eae 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
@@ -4,8 +4,6 @@
     avoidance:
       resample_interval_for_planning: 0.3               # [m]
       resample_interval_for_output: 4.0                 # [m]
-      detection_area_right_expand_dist: 0.0             # [m]
-      detection_area_left_expand_dist: 1.0              # [m]
       drivable_area_right_bound_offset: 0.0             # [m]
       drivable_area_left_bound_offset: 0.0              # [m]
 
@@ -145,13 +143,12 @@
         time_horizon: 10.0                               # [s]
         safety_check_backward_distance: 100.0            # [m]
         safety_check_hysteresis_factor: 2.0              # [-]
-        safety_check_ego_offset: 1.0                     # [m]
         # rss parameters
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
         rear_vehicle_safety_time_margin: 1.0             # [s]
-        lateral_distance_max_threshold: 2.0              # [m]
+        lateral_distance_max_threshold: 0.75             # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
         longitudinal_velocity_delta_time: 0.8            # [s]