diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
index 4c9f4fd41b..f09439edf7 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -19,6 +19,7 @@
       longitudinal_margin: 3.0
       max_lateral_offset: 0.5
       lateral_offset_interval: 0.25
+      ignore_distance_from_lane_start: 15.0
       # occupancy grid map
       use_occupancy_grid: true
       use_occupancy_grid_for_longitudinal_margin: false