diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
index c74c5b3d87..b55c3b21de 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
       mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
-      skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane
+      skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
 
       threshold:
         time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
@@ -17,6 +17,7 @@
         use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
                                    # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
         predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
+        distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
 
       overlap:
         minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
@@ -26,6 +27,7 @@
         skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
         precision: 0.1  # [m] precision when inserting a stop pose in the path
         distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
+        min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
         slowdown:
           distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
           velocity: 2.0  # [m/s] slowdown velocity