diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index d82a942035..1d7048ee39 100644
--- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -9,7 +9,7 @@
     th_stopped_velocity_mps: 0.01
     th_course_out_distance_m: 1.0
     th_obstacle_time_sec: 1.0
-    vehicle_shape_margin_m: 0.5
+    vehicle_shape_margin_m: 0.4
     replan_when_obstacle_found: true
     replan_when_course_out: true