diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 04f65327b0..c1f9b362e0 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -21,8 +21,8 @@
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
       stop_on_curve:
-        enable_approaching: false
-        additional_safe_distance_margin: 0.0 # [m]
+        enable_approaching: true
+        additional_safe_distance_margin: 3.0 # [m]
         min_safe_distance_margin: 3.0 # [m]
       suppress_sudden_obstacle_stop: true