diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 1be71cae53..a090a6d3a8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -28,15 +28,23 @@
 
       # safety check
       safety_check:
-        expected_front_deceleration: -1.0
-        expected_rear_deceleration: -1.0
-        expected_front_deceleration_for_abort: -1.0
-        expected_rear_deceleration_for_abort: -2.0
-        rear_vehicle_reaction_time: 2.0
-        rear_vehicle_safety_time_margin: 1.0
-        lateral_distance_max_threshold: 2.0
-        longitudinal_distance_min_threshold: 3.0
-        longitudinal_velocity_delta_time: 0.8
+        allow_loose_check_for_cancel: true
+        execution:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -1.0
+          rear_vehicle_reaction_time: 2.0
+          rear_vehicle_safety_time_margin: 1.0
+          lateral_distance_max_threshold: 2.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.8
+        cancel:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.5
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 2.5
+          longitudinal_velocity_delta_time: 0.6
 
         # lane expansion for object filtering
         lane_expansion: