diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
index 957f7988a..0b93ea530 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
@@ -4,7 +4,7 @@
       detection_method: "occupancy_grid"    # [-] candidate is "occupancy_grid" or "predicted_object"
       pass_judge: "smooth_velocity"         # [-] candidate is "smooth_velocity" or "current_velocity"
       use_object_info: true                 # [-] whether to reflect object info to occupancy grid map or not
-      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray_cast to occupancy grid map or not
+      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray shadow grid map
       use_partition_lanelet: true           # [-] whether to use partition lanelet map data
       pedestrian_vel: 1.5                   # [m/s] assume pedestrian is dashing from occlusion at this velocity
       pedestrian_radius: 0.3                # [m] assume pedestrian width(0.2m) + margin(0.1m)
@@ -18,8 +18,8 @@
         lateral_distance: 1.5               # [m] maximum lateral distance to consider hidden collision
       motion:
         safety_ratio: 0.8                   # [-] jerk/acceleration ratio for safety
-        max_slow_down_jerk: -0.5            # [m/s^3] minimum jerk deceleration for safe brake.
-        max_slow_down_accel: -1.8           # [m/s^2] minimum accel deceleration for safe brake.
+        max_slow_down_jerk: -0.3            # [m/s^3] minimum jerk deceleration for safe brake.
+        max_slow_down_accel: -1.5           # [m/s^2] minimum accel deceleration for safe brake.
         non_effective_jerk: -0.3            # [m/s^3] weak jerk for velocity planning.
         non_effective_acceleration: -1.0    # [m/s^2] weak deceleration for velocity planning.
         min_allowed_velocity: 1.0           # [m/s] minimum velocity allowed
@@ -28,7 +28,7 @@
         min_occlusion_spot_size: 1.0     # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle.
         slice_length: 10.0               # [m] size of slices in both length and distance relative to the ego path.
         min_longitudinal_offset: 1.0     # [m] detection area safety buffer from front bumper.
-        max_lateral_distance: 6.0        # [m] buffer around the ego path used to build the detection area.
+        max_lateral_distance: 5.0        # [m] buffer around the ego path used to build the detection area.
       grid:
         free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
-        occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
+        occupied_min: 57    # [-] minimum value of an occupied cell in the occupancy grid