diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
index a5bf0d7c26a550ff7bdaeff5aa21ea32c2a29d3e..cbfa3ae5e4bf38bc224598f1662d6033b447c2e2 100644
--- a/modules/planning/common/planning_gflags.cc
+++ b/modules/planning/common/planning_gflags.cc
@@ -186,7 +186,7 @@ DEFINE_bool(enable_nudge_slowdown, true,
 
 DEFINE_bool(try_history_decision, false, "try history decision first");
 
-DEFINE_double(static_decision_nudge_l_buffer, 0.3, "l buffer for nudge");
+DEFINE_double(static_decision_nudge_l_buffer, 0.5, "l buffer for nudge");
 DEFINE_double(lateral_ignore_buffer, 3.0,
               "If an obstacle's lateral distance is further away than this "
               "distance, ignore it");
@@ -201,7 +201,7 @@ DEFINE_double(stop_distance_traffic_light, 3.0,
 DEFINE_double(destination_check_distance, 5.0,
               "if the distance between destination and ADC is less than this,"
               " it is considered to reach destination");
-DEFINE_double(nudge_distance_obstacle, 0.3,
+DEFINE_double(nudge_distance_obstacle, 0.5,
               "minimum distance to nudge a obstacle (meters)");
 DEFINE_double(follow_min_distance, 3.0,
               "min follow distance for vehicles/bicycles/moving objects");
diff --git a/modules/planning/tasks/dp_poly_path/trajectory_cost.cc b/modules/planning/tasks/dp_poly_path/trajectory_cost.cc
index aa95280ef646ece76711af2468c7e25224f8943f..c0a194c58450eb567ceda453dc425db16cef8707 100644
--- a/modules/planning/tasks/dp_poly_path/trajectory_cost.cc
+++ b/modules/planning/tasks/dp_poly_path/trajectory_cost.cc
@@ -76,10 +76,17 @@ TrajectoryCost::TrajectoryCost(
     }
 
     const auto ptr_obstacle = ptr_path_obstacle->obstacle();
+    bool is_bycycle_or_pedestrain =
+        (ptr_obstacle->Perception().type() ==
+             perception::PerceptionObstacle::BICYCLE ||
+         ptr_obstacle->Perception().type() ==
+             perception::PerceptionObstacle::PEDESTRIAN);
+
     if (Obstacle::IsVirtualObstacle(ptr_obstacle->Perception())) {
       // Virtual obstacle
       continue;
-    } else if (Obstacle::IsStaticObstacle(ptr_obstacle->Perception())) {
+    } else if (Obstacle::IsStaticObstacle(ptr_obstacle->Perception()) ||
+               is_bycycle_or_pedestrain) {
       double left_width = 0.0;
       double right_width = 0.0;
       reference_line_->GetLaneWidth(sl_boundary.start_s(), &left_width,
diff --git a/modules/planning/tasks/path_decider/path_decider.cc b/modules/planning/tasks/path_decider/path_decider.cc
index 9442a08c8b551d5c8d7fe62f7db7cbc608987c0a..bfe402707690a4f69ac6314cff7f8001921dccf5 100644
--- a/modules/planning/tasks/path_decider/path_decider.cc
+++ b/modules/planning/tasks/path_decider/path_decider.cc
@@ -88,7 +88,13 @@ bool PathDecider::MakeStaticObstacleDecision(
 
   for (const auto *path_obstacle : path_decision->path_obstacles().Items()) {
     const auto &obstacle = *path_obstacle->obstacle();
-    if (!obstacle.IsStatic()) {
+    bool is_bycycle_or_pedestrain =
+        (obstacle.Perception().type() ==
+             perception::PerceptionObstacle::BICYCLE ||
+         obstacle.Perception().type() ==
+             perception::PerceptionObstacle::PEDESTRIAN);
+
+    if (!is_bycycle_or_pedestrain && !obstacle.IsStatic()) {
       continue;
     }
     if (path_obstacle->HasLongitudinalDecision() &&
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
index 4d50ef589551c281a8d0be42016982282298958d..42a01a18b65e8cef06f6aa835974d9d958c0b3b0 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
@@ -1572,7 +1572,7 @@ decision {
       object_decision {
         nudge {
           type: RIGHT_NUDGE
-          distance_l: -0.3
+          distance_l: -0.5
         }
       }
     }