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 5f80c76111..40f10f4805 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
@@ -169,6 +169,7 @@
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
+          max_deviation_from_lane: 0.5                  # [m]
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
@@ -219,12 +220,6 @@
           max_jerk: 1.0                                 # [m/sss]
           max_acceleration: 1.0                         # [m/ss]
 
-      target_velocity_matrix:
-        col_size: 2
-        matrix:
-          [2.78, 13.9,                                  # velocity [m/s]
-           0.50, 1.00]                                  # margin [m]
-
       shift_line_pipeline:
         trim:
           quantize_filter_threshold: 0.1