diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
index ccd3612203af5..19da9701aa234 100644
--- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
+++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -36,6 +36,9 @@
         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
+        yield_on_green_traffic_light:
+          duration: 2.0
+          range: 30 # [m]
 
       occlusion:
         enable: false
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
index 6f47dfbbe31fb..b2c3487b7abf1 100644
--- a/planning/behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -107,6 +107,10 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<bool>(node, ns + ".collision_detection.use_upstream_velocity");
   ip.collision_detection.minimum_upstream_velocity =
     getOrDeclareParameter<double>(node, ns + ".collision_detection.minimum_upstream_velocity");
+  ip.collision_detection.yield_on_green_traffic_light.duration = getOrDeclareParameter<double>(
+    node, ns + ".collision_detection.yield_on_green_traffic_light.duration");
+  ip.collision_detection.yield_on_green_traffic_light.range = getOrDeclareParameter<double>(
+    node, ns + ".collision_detection.yield_on_green_traffic_light.range");
 
   ip.occlusion.enable = getOrDeclareParameter<bool>(node, 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 10f1ed73bf435..18bc4d12c841c 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -30,14 +30,15 @@
 
 #include <lanelet2_core/geometry/LineString.h>
 #include <lanelet2_core/geometry/Polygon.h>
+#include <lanelet2_core/primitives/BasicRegulatoryElements.h>
 #include <lanelet2_core/primitives/LineString.h>
 
 #include <algorithm>
 #include <limits>
+#include <map>
 #include <memory>
 #include <tuple>
 #include <vector>
-
 namespace behavior_velocity_planner
 {
 namespace bg = boost::geometry;
@@ -811,6 +812,34 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
   return true;
 }
 
+static bool isGreenSolidOn(
+  lanelet::ConstLanelet lane, const std::map<int, TrafficSignalStamped> & tl_infos)
+{
+  using TrafficSignalElement = autoware_perception_msgs::msg::TrafficSignalElement;
+
+  std::optional<int> tl_id = std::nullopt;
+  for (auto && tl_reg_elem : lane.regulatoryElementsAs<lanelet::TrafficLight>()) {
+    tl_id = tl_reg_elem->id();
+    break;
+  }
+  if (!tl_id) {
+    // this lane has no traffic light
+    return false;
+  }
+  const auto tl_info_it = tl_infos.find(tl_id.value());
+  if (tl_info_it == tl_infos.end()) {
+    // the info of this traffic light is not available
+    return false;
+  }
+  const auto & tl_info = tl_info_it->second;
+  for (auto && tl_light : tl_info.signal.elements) {
+    if (tl_light.color == TrafficSignalElement::GREEN) {
+      return true;
+    }
+  }
+  return false;
+}
+
 IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
   PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason)
 {
@@ -1001,13 +1030,48 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
     debug_data_.intersection_area = toGeomPoly(intersection_area_2d);
   }
 
+  const auto target_objects =
+    filterTargetObjects(attention_lanelets, adjacent_lanelets, intersection_area);
+
+  // If there are any vehicles on the attention area when ego entered the intersection on green
+  // light, do pseudo collision detection because the vehicles are very slow and no collisions may
+  // be detected. check if ego vehicle entered assigned lanelet
+  const bool is_green_solid_on =
+    isGreenSolidOn(assigned_lanelet, planner_data_->traffic_light_id_map);
+  if (is_green_solid_on) {
+    if (!initial_green_light_observed_time_) {
+      const auto local_footprint = tier4_autoware_utils::transformVector(
+        planner_data_->vehicle_info_.createFootprint(0.0, 0.0),
+        tier4_autoware_utils::pose2transform(current_pose));
+      const bool is_within_assigned_lane =
+        bg::intersects(local_footprint, assigned_lanelet.polygon2d().basicPolygon());
+      if (is_within_assigned_lane) {
+        initial_green_light_observed_time_ = clock_->now();
+      }
+    }
+    if (initial_green_light_observed_time_) {
+      const auto now = clock_->now();
+      const bool exist_close_vehicles = std::any_of(
+        target_objects.objects.begin(), target_objects.objects.end(), [&](const auto & object) {
+          return tier4_autoware_utils::calcDistance3d(
+                   object.kinematics.initial_pose_with_covariance.pose, current_pose) <
+                 planner_param_.collision_detection.yield_on_green_traffic_light.range;
+        });
+      if (
+        exist_close_vehicles &&
+        rclcpp::Duration((now - initial_green_light_observed_time_.value())).seconds() <
+          planner_param_.collision_detection.yield_on_green_traffic_light.duration) {
+        return IntersectionModule::NonOccludedCollisionStop{
+          closest_idx, collision_stop_line_idx, occlusion_stop_line_idx};
+      }
+    }
+  }
+
   // calculate dynamic collision around attention area
   const double time_to_restart = (is_go_out_ || is_prioritized)
                                    ? 0.0
                                    : (planner_param_.collision_detection.state_transit_margin_time -
                                       collision_state_machine_.getDuration());
-  const auto target_objects =
-    filterTargetObjects(attention_lanelets, adjacent_lanelets, intersection_area);
 
   const bool has_collision = checkCollision(
     *path, target_objects, path_lanelets, closest_idx,
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
index e75c57ffb3fc7..53ab653076dab 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -95,6 +95,11 @@ class IntersectionModule : public SceneModuleInterface
       double keep_detection_vel_thr;  //! keep detection if ego is ego.vel < keep_detection_vel_thr
       bool use_upstream_velocity;
       double minimum_upstream_velocity;
+      struct YieldOnGreeTrafficLight
+      {
+        double duration;
+        double range;
+      } yield_on_green_traffic_light;
     } collision_detection;
     struct Occlusion
     {
@@ -233,25 +238,26 @@ class IntersectionModule : public SceneModuleInterface
   const std::string turn_direction_;
   const bool has_traffic_light_;
 
-  bool is_go_out_ = false;
-  bool is_permanent_go_ = false;
-  DecisionResult prev_decision_result_;
+  bool is_go_out_{false};
+  bool is_permanent_go_{false};
+  DecisionResult prev_decision_result_{Indecisive{""}};
 
   // Parameter
   PlannerParam planner_param_;
 
-  std::optional<util::IntersectionLanelets> intersection_lanelets_;
+  std::optional<util::IntersectionLanelets> intersection_lanelets_{std::nullopt};
 
   // for occlusion detection
   const bool enable_occlusion_detection_;
-  std::optional<std::vector<util::DiscretizedLane>> occlusion_attention_divisions_;
-  // OcclusionState prev_occlusion_state_ = OcclusionState::NONE;
+  std::optional<std::vector<util::DiscretizedLane>> occlusion_attention_divisions_{std::nullopt};
   StateMachine collision_state_machine_;     //! for stable collision checking
   StateMachine before_creep_state_machine_;  //! for two phase stop
   StateMachine occlusion_stop_state_machine_;
   StateMachine temporal_stop_before_attention_state_machine_;
 
-  // NOTE: uuid_ is base member
+  // for pseudo-collision detection when ego just entered intersection on green light and upcoming
+  // vehicles are very slow
+  std::optional<rclcpp::Time> initial_green_light_observed_time_{std::nullopt};
 
   // for stuck vehicle detection
   const bool is_private_area_;
@@ -259,11 +265,11 @@ class IntersectionModule : public SceneModuleInterface
 
   // for RTC
   const UUID occlusion_uuid_;
-  bool occlusion_safety_ = true;
-  double occlusion_stop_distance_;
-  bool occlusion_activated_ = true;
+  bool occlusion_safety_{true};
+  double occlusion_stop_distance_{0.0};
+  bool occlusion_activated_{true};
   // for first stop in two-phase stop
-  bool occlusion_first_stop_required_ = false;
+  bool occlusion_first_stop_required_{false};
 
   void initializeRTCStatus();
   void prepareRTCStatus(