diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
index 02ce1e8cc7903..bc3962ca5adbf 100644
--- a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
+++ b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
@@ -123,7 +123,7 @@
           eps_rel: 1.0e-10 # eps rel when solving OSQP
 
       mpt:
-        bounds_search_widths: [0.1, 0.03, 0.01]
+        bounds_search_widths: [0.45, 0.15, 0.05, 0.01]
 
         clearance:  # clearance(distance) between vehicle and roads/objects when generating trajectory
           hard_clearance_from_road: 0.0 # clearance from road boundary[m]