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 01e0ab0122..95b2095f87 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
@@ -51,7 +51,8 @@
 
       # pull over
       pull_over:
-        minimum_request_length: 100.0
+        minimum_request_length: 0.0
+        pull_over_prepare_length: 100.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0
@@ -131,7 +132,7 @@
             margin: 1.0
 
         bezier_parking:
-          pull_over_azimuth_threshold: 0.5
+          pull_over_angle_threshold: 0.5
           after_shift_straight_distance: 1.5
 
       stop_condition: