diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
index 092f1d32b2..e621236cc9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -20,7 +20,7 @@
         distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
 
       overlap:
-        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
+        minimum_distance: 0.3  # [m] minimum distance inside a lanelet for an overlap to be considered
         extra_length: 0.0  # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
 
       action:  # action to insert in the path if an object causes a conflict at an overlap