diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 9190f55f6b..58fd84a3db 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -36,6 +36,7 @@
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0
       # turns signal
+      prepare_time_before_start: 0.0
       th_turn_signal_on_lateral_offset: 1.0
       intersection_search_length: 30.0
       length_ratio_for_turn_signal_deactivation_near_intersection: 0.5