diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
index 98c28344ea..9b7dcffbc6 100644
--- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
+++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
@@ -9,3 +9,4 @@
     reroute_time_threshold: 10.0
     minimum_reroute_length: 30.0
     consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
+    check_footprint_inside_lanes: true