diff --git a/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml b/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
index 433ac428fe73e..9f5e6e6949aef 100644
--- a/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
+++ b/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
@@ -17,7 +17,7 @@
         longitudinal_margin: 3.0
         max_lateral_offset: 0.5
         lateral_offset_interval: 0.25
-        ignore_distance_from_lane_start: 15.0
+        ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.5
 
       # occupancy grid map
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
index 0a78787c559d7..65447d0c1d618 100644
--- a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
+++ b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
@@ -174,7 +174,7 @@ searched for in certain range of the shoulder lane.
 | longitudinal_margin             | [m]  | double | margin between ego-vehicle at the goal position and obstacles                                                                                                                                                            | 3.0            |
 | max_lateral_offset              | [m]  | double | maximum offset of goal search in the lateral direction                                                                                                                                                                   | 0.5            |
 | lateral_offset_interval         | [m]  | double | distance interval of goal search in the lateral direction                                                                                                                                                                | 0.25           |
-| ignore_distance_from_lane_start | [m]  | double | distance from start of pull over lanes for ignoring goal candidates                                                                                                                                                      | 15.0           |
+| ignore_distance_from_lane_start | [m]  | double | distance from start of pull over lanes for ignoring goal candidates                                                                                                                                                      | 0.0            |
 
 ## **Path Generation**