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 11ed89fff8..94595c1397 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
@@ -37,11 +37,11 @@
         collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
-          expected_rear_deceleration: -1.0
-          rear_vehicle_reaction_time: 2.0
-          rear_vehicle_safety_time_margin: 1.0
+          expected_rear_deceleration: -1.5
+          rear_vehicle_reaction_time: 2.5
+          rear_vehicle_safety_time_margin: 0.8
           lateral_distance_max_threshold: 2.0
-          longitudinal_distance_min_threshold: 3.0
+          longitudinal_distance_min_threshold: 6.0
           longitudinal_velocity_delta_time: 0.0
         parked:
           expected_front_deceleration: -1.0
@@ -49,7 +49,7 @@
           rear_vehicle_reaction_time: 1.0
           rear_vehicle_safety_time_margin: 0.8
           lateral_distance_max_threshold: 1.0
-          longitudinal_distance_min_threshold: 3.0
+          longitudinal_distance_min_threshold: 6.0
           longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
@@ -65,7 +65,7 @@
           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_distance_min_threshold: 6.0
           longitudinal_velocity_delta_time: 0.0
 
         # lane expansion for object filtering