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 d39c97ac47..f0f19ec422 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
@@ -47,7 +47,8 @@
           left: true
           right: true
           straight: false
-        distance_threshold: 5.0
+        distance_threshold: 30.0
+        yield_stuck_vehicle_velocity_threshold: 5.0
 
       collision_detection:
         consider_wrong_direction_vehicle: false