diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index db2926c53c..11ed89fff8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -42,7 +42,7 @@
           rear_vehicle_safety_time_margin: 1.0
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          longitudinal_velocity_delta_time: 0.0
         parked:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -58,15 +58,15 @@
           rear_vehicle_safety_time_margin: 0.5
           lateral_distance_max_threshold: 0.75
           longitudinal_distance_min_threshold: 2.0
-          longitudinal_velocity_delta_time: 0.3
+          longitudinal_velocity_delta_time: 0.0
         stuck:
           expected_front_deceleration: -1.0
-          expected_rear_deceleration: -2.0
-          rear_vehicle_reaction_time: 1.5
-          rear_vehicle_safety_time_margin: 0.8
-          lateral_distance_max_threshold: 1.0
-          longitudinal_distance_min_threshold: 2.5
-          longitudinal_velocity_delta_time: 0.6
+          expected_rear_deceleration: -1.0
+          rear_vehicle_reaction_time: 2.0
+          rear_vehicle_safety_time_margin: 1.0
+          lateral_distance_max_threshold: 2.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.0
 
         # lane expansion for object filtering
         lane_expansion: