diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
index 266ab5a581b3a..f950e5853c4be 100644
--- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
+++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -34,6 +34,8 @@
           collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
           collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
+        use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
+        minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity
 
       occlusion:
         enable: false
diff --git a/planning/behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_intersection_module/package.xml
index 1cbecb636b457..0c9b3407d0f38 100644
--- a/planning/behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_intersection_module/package.xml
@@ -9,6 +9,7 @@
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
+  <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
 
   <license>Apache License 2.0</license>
 
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
index c2761e2cefb86..f2f0951d65357 100644
--- a/planning/behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -100,6 +100,10 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
     ns + ".collision_detection.not_prioritized.collision_end_margin_time");
   ip.collision_detection.keep_detection_vel_thr =
     node.declare_parameter<double>(ns + ".collision_detection.keep_detection_vel_thr");
+  ip.collision_detection.use_upstream_velocity =
+    node.declare_parameter<bool>(ns + ".collision_detection.use_upstream_velocity");
+  ip.collision_detection.minimum_upstream_velocity =
+    node.declare_parameter<double>(ns + ".collision_detection.minimum_upstream_velocity");
 
   ip.occlusion.enable = node.declare_parameter<bool>(ns + ".occlusion.enable");
   ip.occlusion.occlusion_attention_area_length =
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index 1be9bdf311ea6..5f9461546bd2d 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1081,7 +1081,9 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
                                       collision_state_machine_.getDuration());
 
   const bool has_collision = checkCollision(
-    *path, &target_objects, path_lanelets, closest_idx, time_to_restart, traffic_prioritized_level);
+    *path, &target_objects, path_lanelets, closest_idx,
+    std::min<size_t>(occlusion_stop_line_idx, path->points.size() - 1), time_to_restart,
+    traffic_prioritized_level);
   collision_state_machine_.setStateWithMarginTime(
     has_collision ? StateMachine::State::STOP : StateMachine::State::GO,
     logger_.get_child("collision state_machine"), *clock_);
@@ -1281,8 +1283,8 @@ util::TargetObjects IntersectionModule::generateTargetObjects(
 bool IntersectionModule::checkCollision(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
   util::TargetObjects * target_objects, const util::PathLanelets & path_lanelets,
-  const int closest_idx, const double time_delay,
-  const util::TrafficPrioritizedLevel & traffic_prioritized_level)
+  const size_t closest_idx, const size_t last_intersection_stop_line_candidate_idx,
+  const double time_delay, const util::TrafficPrioritizedLevel & traffic_prioritized_level)
 {
   using lanelet::utils::getArcCoordinates;
   using lanelet::utils::getPolygonFromArcLength;
@@ -1290,9 +1292,11 @@ bool IntersectionModule::checkCollision(
   // check collision between target_objects predicted path and ego lane
   // cut the predicted path at passing_time
   const auto time_distance_array = util::calcIntersectionPassingTime(
-    path, planner_data_, associative_ids_, closest_idx, time_delay,
-    planner_param_.common.intersection_velocity,
-    planner_param_.collision_detection.minimum_ego_predicted_velocity);
+    path, planner_data_, associative_ids_, closest_idx, last_intersection_stop_line_candidate_idx,
+    time_delay, planner_param_.common.intersection_velocity,
+    planner_param_.collision_detection.minimum_ego_predicted_velocity,
+    planner_param_.collision_detection.use_upstream_velocity,
+    planner_param_.collision_detection.minimum_upstream_velocity);
   const double passing_time = time_distance_array.back().first;
   util::cutPredictPathWithDuration(target_objects, clock_, passing_time);
 
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
index ecd9ccf877965..8c09636678a01 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -94,6 +94,8 @@ class IntersectionModule : public SceneModuleInterface
         double collision_end_margin_time;    //! end margin time to check collision
       } not_prioritized;
       double keep_detection_vel_thr;  //! keep detection if ego is ego.vel < keep_detection_vel_thr
+      bool use_upstream_velocity;
+      double minimum_upstream_velocity;
     } collision_detection;
     struct Occlusion
     {
@@ -300,8 +302,8 @@ class IntersectionModule : public SceneModuleInterface
   bool checkCollision(
     const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
     util::TargetObjects * target_objects, const util::PathLanelets & path_lanelets,
-    const int closest_idx, const double time_delay,
-    const util::TrafficPrioritizedLevel & traffic_prioritized_level);
+    const size_t closest_idx, const size_t last_intersection_stop_line_candidate_idx,
+    const double time_delay, const util::TrafficPrioritizedLevel & traffic_prioritized_level);
 
   OcclusionType getOcclusionStatus(
     const nav_msgs::msg::OccupancyGrid & occ_grid,
diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp
index 8f2889726d365..3a3d84258f7de 100644
--- a/planning/behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_intersection_module/src/util.cpp
@@ -1273,8 +1273,9 @@ void cutPredictPathWithDuration(
 TimeDistanceArray calcIntersectionPassingTime(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
   const std::shared_ptr<const PlannerData> & planner_data, const std::set<int> & associative_ids,
-  const int closest_idx, const double time_delay, const double intersection_velocity,
-  const double minimum_ego_velocity)
+  const size_t closest_idx, const size_t last_intersection_stop_line_candidate_idx,
+  const double time_delay, const double intersection_velocity, const double minimum_ego_velocity,
+  const bool use_upstream_velocity, const double minimum_upstream_velocity)
 {
   double dist_sum = 0.0;
   int assigned_lane_found = false;
@@ -1284,7 +1285,9 @@ TimeDistanceArray calcIntersectionPassingTime(
   PathWithLaneId reference_path;
   for (size_t i = closest_idx; i < path.points.size(); ++i) {
     auto reference_point = path.points.at(i);
-    reference_point.point.longitudinal_velocity_mps = intersection_velocity;
+    if (!use_upstream_velocity) {
+      reference_point.point.longitudinal_velocity_mps = intersection_velocity;
+    }
     reference_path.points.push_back(reference_point);
     bool has_objective_lane_id = hasLaneIds(path.points.at(i), associative_ids);
     if (assigned_lane_found && !has_objective_lane_id) {
@@ -1315,10 +1318,13 @@ TimeDistanceArray calcIntersectionPassingTime(
     // use average velocity between p1 and p2
     const double average_velocity =
       (p1.point.longitudinal_velocity_mps + p2.point.longitudinal_velocity_mps) / 2.0;
-    passing_time +=
-      (dist / std::max<double>(
-                minimum_ego_velocity,
-                average_velocity));  // to avoid zero-division
+    const double minimum_ego_velocity_division =
+      (use_upstream_velocity && i > last_intersection_stop_line_candidate_idx)
+        ? minimum_upstream_velocity /* to avoid null division */
+        : minimum_ego_velocity;
+    const double passing_velocity =
+      std::max<double>(minimum_ego_velocity_division, average_velocity);
+    passing_time += (dist / passing_velocity);
 
     time_distance_array.emplace_back(passing_time, dist_sum);
   }
diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp
index e7ba2b00c749a..d1daf2a6e9114 100644
--- a/planning/behavior_velocity_intersection_module/src/util.hpp
+++ b/planning/behavior_velocity_intersection_module/src/util.hpp
@@ -141,8 +141,9 @@ void cutPredictPathWithDuration(
 TimeDistanceArray calcIntersectionPassingTime(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
   const std::shared_ptr<const PlannerData> & planner_data, const std::set<int> & associative_ids,
-  const int closest_idx, const double time_delay, const double intersection_velocity,
-  const double minimum_ego_velocity);
+  const size_t closest_idx, const size_t last_intersection_stop_line_candidate_idx,
+  const double time_delay, const double intersection_velocity, const double minimum_ego_velocity,
+  const bool use_upstream_velocity, const double minimum_upstream_velocity);
 
 double calcDistanceUntilIntersectionLanelet(
   const lanelet::ConstLanelet & assigned_lanelet,