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 708009d4bc..2e5b96116d 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
@@ -98,9 +98,8 @@
         # avoidance lateral parameters
         lateral:
           lateral_collision_margin: 1.0                 # [m]
-          lateral_passable_safety_buffer: 1.0           # [m]
+          lateral_execution_threshold: 0.499            # [m]
           road_shoulder_safety_margin: 0.3              # [m]
-          avoidance_execution_lateral_threshold: 0.499
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
         # avoidance distance parameters
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
index 815301d55a..62aac0b9b4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
@@ -7,3 +7,4 @@
       min_shifting_distance: 5.0
       min_shifting_speed: 5.56
       shift_request_time_limit: 1.0
+      publish_debug_marker: false