diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 400bc926a1..0bd5f74fd9 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -19,12 +19,12 @@
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)
     mpc_prediction_horizon: 50                   # prediction horizon step
     mpc_prediction_dt: 0.1                       # prediction horizon period [s]
-    mpc_weight_lat_error: 0.1                    # lateral error weight in matrix Q
+    mpc_weight_lat_error: 1.0                    # lateral error weight in matrix Q
     mpc_weight_heading_error: 0.0                # heading error weight in matrix Q
     mpc_weight_heading_error_squared_vel: 0.3    # heading error * velocity weight in matrix Q
     mpc_weight_steering_input: 1.0               # steering error weight in matrix R
     mpc_weight_steering_input_squared_vel: 0.25  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk weight in matrix R
+    mpc_weight_lat_jerk: 0.1                     # lateral jerk weight in matrix R
     mpc_weight_steer_rate: 0.0                   # steering rate weight in matrix R
     mpc_weight_steer_acc: 0.000001               # steering angular acceleration weight in matrix R
     mpc_low_curvature_weight_lat_error: 0.1                    # lateral error weight in matrix Q in low curvature point
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index 3e390d855d..6d19b61995 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,5 +16,6 @@
 
       drivable_area_generation:
         lat_offset_from_obstacle: 0.8 # [m]
-        time_to_avoid: 5.0 # [s]
+        time_to_avoid_same_directional_object: 5.0 # [s]
+        time_to_avoid_opposite_directional_object: 6.0 # [s]
         max_lat_offset_to_avoid: 0.5 # [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 01a8dfb483..3f4655b782 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
@@ -110,6 +110,7 @@
         avoidance_cost_margin: 0.0                       # [m]
         avoidance_cost_band_length: 5.0                  # [m]
         avoidance_cost_decrease_rate: 0.05               # decreased cost per point interval
+        min_drivable_width: 0.2                          # [m] The vehicle width and this parameter is guaranteed to keep for collision free constraint.
 
         weight:
           lat_error_weight: 0.0     # weight for lateral error