diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index d03efa405f..6d82e7790d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -128,7 +128,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -164,7 +164,6 @@
           method: "integral_predicted_polygon"
           keep_unsafe_time: 3.0
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 154c4b1e0b..5edf7d468b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -127,7 +127,6 @@
           # safety check configuration
           enable_safety_check: true
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0