diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index 4776884734..b592e1ad4d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -28,6 +28,7 @@
             hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.5                   # [m] FOR DEVELOPER
+          th_error_eclipse_long_radius : 0.6            # [m]
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -38,6 +39,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -48,6 +50,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -58,6 +61,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         unknown:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -68,6 +72,7 @@
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -78,6 +83,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
@@ -88,6 +94,7 @@
             hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -98,6 +105,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         lower_distance_for_polygon_expansion: 30.0      # [m] FOR DEVELOPER
         upper_distance_for_polygon_expansion: 100.0     # [m] FOR DEVELOPER