diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index ea5c5736ca..076126ce3e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -58,6 +58,7 @@
           object_expected_deceleration: 2.0 # [m/ss]
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
+        force_stop_distance_margin_to_stop_line: 0.5 # [m] insert zero velocity to entire path points
 
       occlusion:
         enable: false