diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index c804cea577..8e215a1bcf 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -17,7 +17,7 @@
       # params for stop position
       stop_position:
         max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
-        max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+        max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m]
         min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
         hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]