diff --git a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
index ff97ae8dfb..b7e666763c 100644
--- a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
@@ -42,7 +42,7 @@
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
     min_trajectory_length: 180.0        # min trajectory length for resampling [m]
     resample_time: 2.0                  # resample total time for dense sampling [s]
-    dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
+    dense_resample_dt: 0.05             # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
     sparse_resample_dt: 0.5             # resample time interval for sparse sampling [s]
     sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 5680a99713..9cc8c6adfa 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,17 +1,17 @@
 /**:
   ros__parameters:
-    max_vel: 11.1           # max velocity limit [m/s]
+    max_vel: 13.9           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:
-      min_acc: -1.0         # min deceleration [m/ss]
-      max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-      max_jerk: 1.0         # max jerk [m/sss]
+      min_acc: -2.0         # min deceleration [m/ss]
+      max_acc: 1.5          # max acceleration [m/ss]
+      min_jerk: -2.0        # min jerk [m/sss]
+      max_jerk: 2.5         # max jerk [m/sss]
 
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]
-      max_acc: 1.0          # max acceleration limit [m/ss]
-      min_jerk: -1.5        # min jerk limit [m/sss]
-      max_jerk: 1.5         # max jerk limit [m/sss]
+      max_acc: 2.0          # max acceleration limit [m/ss]
+      min_jerk: -2.5        # min jerk limit [m/sss]
+      max_jerk: 3.5         # max jerk limit [m/sss]