diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
index dd4c1c6102..c74c5b3d87 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -24,8 +24,7 @@
 
       action:  # action to insert in the path if an object causes a conflict at an overlap
         skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
-        strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego
-                     # if false, ego stops just before entering a lane but may then be overlapping another lane.
+        precision: 0.1  # [m] precision when inserting a stop pose in the path
         distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
         slowdown:
           distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
@@ -34,6 +33,7 @@
           distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
 
       ego:
+        min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
         extra_front_offset: 0.0 # [m] extra front distance
         extra_rear_offset: 0.0 # [m] extra rear distance
         extra_right_offset: 0.0 # [m] extra right distance