diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
index d889977580..ce0ba25700 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
@@ -64,8 +64,8 @@
           envelope_buffer_margin: 0.8
           lateral_margin:
             soft_margin: 0.0                           # [m]
-            hard_margin: 0.0                           # [m]
-            hard_margin_for_parked_vehicle: 0.0        # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
@@ -74,8 +74,8 @@
           envelope_buffer_margin: 0.8
           lateral_margin:
             soft_margin: 0.0                           # [m]
-            hard_margin: 0.0                           # [m]
-            hard_margin_for_parked_vehicle: 0.0        # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
@@ -84,8 +84,8 @@
           envelope_buffer_margin: 0.8
           lateral_margin:
             soft_margin: 0.0                           # [m]
-            hard_margin: 0.0                           # [m]
-            hard_margin_for_parked_vehicle: 0.0        # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]