diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index e1108d56c9..9aeb45f9fc 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -12,14 +12,14 @@
         goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance"
         minimum_weighted_distance:
           lateral_weight: 40.0
-        path_priority: "efficient_path" # "efficient_path" or "close_goal"
+        prioritize_goals_before_objects: true
         parking_policy: "left_side" # "left_side" or "right_side"
-        forward_goal_search_length: 20.0
+        forward_goal_search_length: 40.0
         backward_goal_search_length: 20.0
         goal_search_interval: 2.0
         longitudinal_margin: 3.0
-        max_lateral_offset: 0.5
-        lateral_offset_interval: 0.25
+        max_lateral_offset: 1.0
+        lateral_offset_interval: 0.5
         ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.75
 
@@ -47,6 +47,8 @@
         decide_path_distance: 10.0
         maximum_deceleration: 1.0
         maximum_jerk: 1.0
+        path_priority: "efficient_path" # "efficient_path" or "close_goal"
+        efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking)
 
         # shift parking
         shift_parking: