diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index daa8e02658..5586de985d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -102,10 +102,11 @@
 
       # avoidance
       avoidance:
-        max_avoidance_cost: 0.5            # [m]
-        avoidance_cost_margin: 0.0         # [m]
-        avoidance_cost_band_length: 5.0    # [m]
-        avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval
+        max_longitudinal_margin_for_bound_violation: 1.0 # [m]
+        max_avoidance_cost: 0.5                          # [m]
+        avoidance_cost_margin: 0.0                       # [m]
+        avoidance_cost_band_length: 5.0                  # [m]
+        avoidance_cost_decrease_rate: 0.05               # decreased cost per point interval
 
         weight:
           lat_error_weight: 0.0     # weight for lateral error