diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 273db320f1..72102ed908 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -50,15 +50,15 @@
           min_jerk: -1.0 # min jerk [m/sss]
           max_jerk: 1.0 # max jerk [m/sss]
 
-        stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
+        stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding
         disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
         disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
         # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
         distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
-        timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
-        timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
+        timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]
+        timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # param for target object filtering
       object_filtering:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
index f21e3d12db..07f493edcd 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     walkway:
-      stop_duration: 1.0 # [s] stop time at stop position
+      stop_duration: 0.1 # [s] stop time at stop position
       stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 90e897fda3..1ac32ba562 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -85,15 +85,15 @@
         obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
 
       stop:
-        max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width
         crossing_obstacle:
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
       cruise:
         max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
         outside_obstacle:
-          obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
-          ego_obstacle_overlap_time_threshold : 1.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
+          obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
+          ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
       slow_down:
@@ -187,7 +187,7 @@
         static:
           min_lat_margin: 0.2
           max_lat_margin: 1.0
-          min_ego_velocity: 2.0
+          min_ego_velocity: 4.0
           max_ego_velocity: 8.0
 
       moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"