diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 84a6a36740..bf1711373d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -8,19 +8,18 @@
       lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
-      lane_changing_lateral_acc: 0.315             # [m/s2]
-      lane_changing_lateral_acc_at_low_velocity: 0.15 # [m/s2]
       lateral_acc_switching_velocity: 4.0          #[m/s]
 
       minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
-      lane_change_sampling_num: 3
+      longitudinal_acceleration_sampling_num: 3
+      lateral_acceleration_sampling_num: 3
 
-      # collision check
-      enable_prepare_segment_collision_check: false
-      prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      use_predicted_path_outside_lanelet: false
-      use_all_predicted_path: false
+      # lateral acceleration map
+      lateral_acceleration:
+        velocity: [0.0, 4.0, 10.0]
+        min_values: [0.15, 0.15, 0.15]
+        max_values: [0.5, 0.5, 0.5]
 
       # target object
       target_object:
@@ -33,6 +32,12 @@
         motorcycle: true
         pedestrian: true
 
+      # collision check
+      enable_prepare_segment_collision_check: false
+      prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+
       # abort
       enable_cancel_lane_change: true
       enable_abort_lane_change: false