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 8d002636c8..5e74e837bf 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
@@ -54,7 +54,9 @@
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
         stop_release_margin_time: 1.5 # [s]
         temporal_stop_before_attention_area: false
-        peeking_offset_absence_tl: 3.0 # [m]
+        absence_traffic_light:
+          creep_velocity: 1.388 # [m/s]
+          maximum_peeking_distance: 6.0 # [m]
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval