diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index f9668549f2..2641214ac5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -48,3 +48,8 @@
         enable: true
         max_jerk: -0.7  # [m/s^3] minimum jerk deceleration for safe brake.
         max_acc : -2.0  # [m/s^2] minimum accel deceleration for safe brake.
+
+      # prevent abrupt stops caused by false positives in perception
+      ignore_momentary_detection:
+        enable: true
+        time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration