diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index 85f60e21cf..845f9c38e2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,21 +16,29 @@
 
         successive_num_to_entry_dynamic_avoidance_condition: 5
 
-        min_obj_lat_offset_to_ego_path: 0.3 # [m]
+        min_obj_lat_offset_to_ego_path: 0.0 # [m]
+        max_obj_lat_offset_to_ego_path: 1.0 # [m]
+
+        crossing_object:
+          min_object_vel: 1.0
+          max_object_angle: 1.05
+
+        front_object:
+          max_object_angle: 0.785
 
       drivable_area_generation:
-        lat_offset_from_obstacle: 0.8 # [m]
+        lat_offset_from_obstacle: 1.0 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
 
         # for same directional object
         overtaking_object:
-          max_time_to_collision: 3.0 # [s]
-          start_duration_to_avoid: 4.0  # [s]
-          end_duration_to_avoid: 8.0  # [s]
+          max_time_to_collision: 10.0 # [s]
+          start_duration_to_avoid: 2.0  # [s]
+          end_duration_to_avoid: 4.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
-          max_time_to_collision: 3.0 # [s]
+          max_time_to_collision: 15.0 # [s]
           start_duration_to_avoid: 12.0  # [s]
           end_duration_to_avoid: 0.0  # [s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml
index b50602b8e6..d22ce0e6b4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml
@@ -16,7 +16,7 @@
         max_curvature: 0.1  # [m⁻¹] maximum curvature of a sampled path
         min_curvature: -0.1  # [m⁻¹] minimum curvature of a sampled path
       soft:
-        lateral_deviation_weight: 0.1  # cost weight for lateral deviation between the end of a sampled path and the reference path
+        lateral_deviation_weight: 1.0  # cost weight for lateral deviation between the end of a sampled path and the reference path
         length_weight: 1.0  # cost weight for the length of a sampled path
         curvature_weight: 1.0  # cost weight for the curvature of a sampled path
     sampling: