diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
index 0646cd07d7..97cf050f18 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
@@ -29,7 +29,8 @@
       action:  # action to insert in the path if an object causes a conflict at an overlap
         skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
         precision: 0.1  # [m] precision when inserting a stop pose in the path
-        distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
+        longitudinal_distance_buffer: 1.5  # [m] safety distance buffer to keep in front of the ego vehicle
+        lateral_distance_buffer: 1.0  # [m] safety distance buffer to keep on the side of the ego vehicle
         min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
         slowdown:
           distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap