diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 763584bd5e..4e8ba39284 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -49,8 +49,8 @@
         first_stop_vel_thr: 0.416 # [m/s]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 1.2km/h
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
-        stop_release_margin_time: 2.0 # [s]
-        peeking_offset_absence_tl: 3.0 # [m]
+        stop_release_margin_time: 1.5 # [s]
+        temporal_stop_before_attention_area: false
 
 
     merge_from_private: