diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index fb20a0bfb3..31c77adaf1 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -11,11 +11,11 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_update_path_when_object_is_gone: false
       enable_force_avoidance_for_stopped_vehicle: false
       enable_safety_check: true
       enable_yield_maneuver: true
       enable_yield_maneuver_during_shifting: false
+      enable_cancel_maneuver: true
       disable_path_update: false
 
       # drivable area setting