diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 8df32d7e5d..ae53de2d8b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -36,16 +36,22 @@
           enable: true                                 # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
+          lateral_margin:
+            soft_margin: 1.0                           # [m]
+            hard_margin: 0.1                           # [m]
+            hard_margin_for_parked_vehicle: 0.1        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 1.0                    # [m]
-          safety_buffer_lateral: 0.1                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: false  # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 1.0                           # [m]
+            hard_margin: 0.4                           # [m]
+            hard_margin_for_parked_vehicle: 0.4        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
@@ -56,26 +62,34 @@
           enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.8                           # [m]
+            hard_margin_for_parked_vehicle: 0.8        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
         trailer:
           enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.8                           # [m]
+            hard_margin_for_parked_vehicle: 0.8        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
         unknown:
           enable: false
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 1.0                           # [m]
+            hard_margin: 0.7                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
@@ -85,30 +99,36 @@
           enable: false
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: false
         motorcycle:
           enable: false
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: false
         pedestrian:
           enable: false
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: false
         lower_distance_for_polygon_expansion: 30.0      # [m]