diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
index 9b7dcffbc6..d84cbddf2f 100644
--- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
+++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
     map_frame: map
-    arrival_check_angle_deg: 45.0
-    arrival_check_distance: 1.0
-    arrival_check_duration: 1.0
+    arrival_check_angle_deg: 60.0
+    arrival_check_distance: 2.0
+    arrival_check_duration: 2.0
     goal_angle_threshold_deg: 45.0
     enable_correct_goal_pose: false
     reroute_time_threshold: 10.0