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 0183c227bc..e2918e0e68 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
@@ -75,7 +75,7 @@
         # detection range
         object_check_force_avoidance_clearance: 30.0    # [m]
         object_check_forward_distance: 150.0            # [m]
-        object_check_backward_distance: 2.0             # [m]
+        object_check_backward_distance: 100.0            # [m]
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index c54a67cb57..a4b63e4ab0 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -4,7 +4,6 @@
       prepare_duration: 4.0         # [s]
 
       minimum_prepare_length: 10.0 # [m]
-      minimum_lane_changing_length: 16.5          # [m]
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       lane_change_finish_judge_buffer: 2.0      # [m]
 
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index 5586de985d..01a8dfb483 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -23,6 +23,8 @@
     # replanning & trimming trajectory param outside algorithm
     replan:
       max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]
+      max_path_shape_forward_lon_dist: 100.0   # forward point to check lateral distance difference [m]
+      max_path_shape_forward_lat_dist: 0.1     # threshold of path shape change around forward point [m]
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
@@ -102,6 +104,7 @@
 
       # avoidance
       avoidance:
+        max_bound_fixing_time: 3.0 # [s]
         max_longitudinal_margin_for_bound_violation: 1.0 # [m]
         max_avoidance_cost: 0.5                          # [m]
         avoidance_cost_margin: 0.0                       # [m]
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 8a5c933775..1b48b2b9db 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2075,6 +2075,7 @@ Visualization Manager:
             Color: 255; 255; 255
             Constant Color: true
             Value: true
+            Constant Width: true
             Width: 0.05000000074505806
           View Velocity:
             Alpha: 1