diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index 7a0ef047f7..3e10486702 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -9,9 +9,9 @@
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
     launch_modules:
+      - behavior_velocity_planner::TrafficLightModulePlugin
       - behavior_velocity_planner::CrosswalkModulePlugin
       - behavior_velocity_planner::WalkwayModulePlugin
-      - behavior_velocity_planner::TrafficLightModulePlugin
       - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
       - behavior_velocity_planner::MergeFromPrivateModulePlugin
       - behavior_velocity_planner::BlindSpotModulePlugin
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 4b81a1e687..38b5829fe6 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -17,6 +17,8 @@
         far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
         stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        # If the ahead stop position is already inserted, use the same position for the new stop point.
+        max_ahead_longitudinal_margin: 5.0 # [m]  specifies the margin between the current position and the stop point
 
       # param for ego's slow down velocity
       slow_down: