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 0c11077ea6..48dffe08b9 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
@@ -153,7 +153,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: false # Don't set to true if auto_mode is enabled
+          enable_safety_check: true # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index ee0edd21c9..115cdf5b06 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -121,7 +121,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: false # Don't set to true if auto_mode is enabled
+          enable_safety_check: true # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false