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 11bdedf0d1..141365499f 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
@@ -12,6 +12,8 @@
         use_intersection_area: false
         path_interpolation_ds: 0.1 # [m]
         consider_wrong_direction_vehicle: false
+        disable_pass_judge_sudden_stop: false
+        enable_peeking_pass_judge: true
       stuck_vehicle:
         turn_direction:
           left: true