diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
index 75b5facaaa..5f6ebd2eec 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 200.0
+      request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
@@ -34,7 +34,7 @@
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      after_pull_over_straight_distance: 5.0
+      after_pull_over_straight_distance: 1.0
       # parallel parking path
       enable_arc_forward_parking: true
       enable_arc_backward_parking: true