diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
index 3d0a334cedf84..b2f6aca20d533 100644
--- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
+++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
@@ -186,11 +186,18 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          remain_buffer_distance: 30.0                  # [m]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]
           nominal_avoidance_speed: 8.33                 # [m/s]
+        # return dead line
+        return_dead_line:
+          goal:
+            enable: true                                # [-]
+            buffer: 30.0                                # [m]
+          traffic_light:
+            enable: true                                # [-]
+            buffer: 3.0                                 # [m]
 
       # For yield maneuver
       yield:
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
index e881c8a0d3b18..9bed99d529899 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
@@ -112,6 +112,14 @@ struct AvoidanceParameters
   // use intersection area for avoidance
   bool use_intersection_areas{false};
 
+  // consider avoidance return dead line
+  bool enable_dead_line_for_goal{false};
+  bool enable_dead_line_for_traffic_light{false};
+
+  // module try to return original path to keep this distance from edge point of the path.
+  double dead_line_buffer_for_goal{0.0};
+  double dead_line_buffer_for_traffic_light{0.0};
+
   // max deceleration for
   double max_deceleration{0.0};
 
@@ -217,9 +225,6 @@ struct AvoidanceParameters
   // nominal avoidance sped
   double nominal_avoidance_speed{0.0};
 
-  // module try to return original path to keep this distance from edge point of the path.
-  double remain_buffer_distance{0.0};
-
   // The margin is configured so that the generated avoidance trajectory does not come near to the
   // road shoulder.
   double soft_road_shoulder_margin{1.0};
@@ -514,6 +519,10 @@ struct AvoidancePlanningData
   bool found_avoidance_path{false};
 
   double to_stop_line{std::numeric_limits<double>::max()};
+
+  double to_start_point{std::numeric_limits<double>::lowest()};
+
+  double to_return_point{std::numeric_limits<double>::max()};
 };
 
 /*
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
index 7988239e68071..d3537bdc81dab 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
@@ -219,13 +219,23 @@ AvoidanceModuleManager::AvoidanceModuleManager(
     std::string ns = "avoidance.avoidance.longitudinal.";
     p.prepare_time = getOrDeclareParameter<double>(*node, ns + "prepare_time");
     p.min_prepare_distance = getOrDeclareParameter<double>(*node, ns + "min_prepare_distance");
-    p.remain_buffer_distance = getOrDeclareParameter<double>(*node, ns + "remain_buffer_distance");
     p.min_slow_down_speed = getOrDeclareParameter<double>(*node, ns + "min_slow_down_speed");
     p.buf_slow_down_speed = getOrDeclareParameter<double>(*node, ns + "buf_slow_down_speed");
     p.nominal_avoidance_speed =
       getOrDeclareParameter<double>(*node, ns + "nominal_avoidance_speed");
   }
 
+  // avoidance maneuver (return shift dead line)
+  {
+    std::string ns = "avoidance.avoidance.return_dead_line.";
+    p.enable_dead_line_for_goal = getOrDeclareParameter<bool>(*node, ns + "goal.enable");
+    p.enable_dead_line_for_traffic_light =
+      getOrDeclareParameter<bool>(*node, ns + "traffic_light.enable");
+    p.dead_line_buffer_for_goal = getOrDeclareParameter<double>(*node, ns + "goal.buffer");
+    p.dead_line_buffer_for_traffic_light =
+      getOrDeclareParameter<double>(*node, ns + "traffic_light.buffer");
+  }
+
   // yield
   {
     std::string ns = "avoidance.yield.";