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 295c9caf84..d04676f365 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
@@ -160,6 +160,7 @@
         safety_check_params:
           # safety check configuration
           enable_safety_check: false # Don't set to true if auto_mode is enabled
+          keep_unsafe_time: 3.0
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false