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 3008dcaeab..447766ef3a 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
@@ -154,7 +154,7 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.501          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          road_shoulder_safety_margin: 0.5              # [m]
+          road_shoulder_safety_margin: 0.3              # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
         # avoidance distance parameters