diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 3512d722ec..b57696d324 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -97,7 +97,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 80323c2d73..f81f38a7be 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -97,8 +97,8 @@
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
         yield:
           enable_yield: true
-          lat_distance_threshold: 4.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
-          max_lat_dist_between_obstacles: 2.0 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
+          lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
+          max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
           max_obstacles_collision_time: 10.0 # how far the blocking obstacle
       slow_down:
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width