diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index ac18c935dd..8c98838fdb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -78,7 +78,7 @@
         min_size: 1.0  # [m] minimum size of an occlusion (square side size)
         free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
         occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
-        ignore_with_red_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
+        ignore_with_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
         ignore_behind_predicted_objects: true  # [-] if true, occlusions behind predicted objects are ignored
         ignore_velocity_thresholds:
           default: 0.5  # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
index c18de5bd53..ac95cd75c8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
@@ -6,6 +6,7 @@
       stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
       time_horizon: 5.0  # [s] time horizon used for collision checks
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
-      decision_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being cancelled
+      add_stop_duration_buffer : 0.5  # [s] duration where a collision must be continuously detected before a stop decision is added
+      remove_stop_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being remove
       minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)