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 68d4070cbf..abd12a9470 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
@@ -89,7 +89,7 @@
           object_time_margin_to_collision_point: 4.0
 
       occlusion:
-        enable: false
+        enable: true
         occlusion_attention_area_length: 70.0
         free_space_max: 43
         occupied_min: 58