diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index fa4a2e4308..f2879fb687 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -80,6 +80,9 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
 
   # motion planning modules
   - arg:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
new file mode 100644
index 0000000000..14483093e8
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
+      extra_object_width: 1.0  # [m] extra width around detected objects
+      minimum_object_velocity: 0.5  # [m/s] objects with a velocity bellow this value are ignored
+      stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
+      time_horizon: 5.0  # [s] time horizon used for collision checks
+      hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
+      decision_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being cancelled
+      minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 5fb17541cd..3e9061da80 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -49,6 +49,7 @@
     <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
     <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
     <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>
 
     <!-- parking -->
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index bc22eadb70..d8d2602d1a 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1676,6 +1676,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (DynamicObstacleStop)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -1944,6 +1956,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: DynamicObstacleStop
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                     - Class: rviz_common/Group