diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index ff488bb4a7..72102ed908 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -16,7 +16,7 @@
         # For the case where the crosswalk width is very wide
         far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
-        stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -38,7 +38,7 @@
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-        ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
@@ -62,7 +62,7 @@
 
       # param for target object filtering
       object_filtering:
-        crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
         vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
         target_object:
           unknown: true # [-] whether to look and stop by UNKNOWN objects