diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
index 9174045bf0..63ca5fc7d9 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -6,3 +6,4 @@
       dead_line_margin: 5.0
       use_pass_judge_line: false
       state_clear_time: 2.0
+      hold_stop_margin_distance: 0.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
index 936bfc76cc..0118452b72 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
@@ -2,8 +2,6 @@
   ros__parameters:
     stop_line:
       stop_margin: 0.0
-      stop_check_dist: 2.0
       stop_duration_sec: 1.0
+      hold_stop_margin_distance: 2.0
       use_initialization_stop_line_state: true
-      debug:
-        show_stopline_collision_check: false            # [-] whether to show stopline collision
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
index 267dde50c7..8879408d40 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
@@ -4,5 +4,6 @@
       max_delay_sec: 3.0
       near_line_distance: 1.0
       dead_line_margin: 1.0
+      hold_stop_margin_distance: 0.0
       max_yaw_deviation_deg: 90.0
       check_timeout_after_stop_line: true
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 82a7720334..c708e819b9 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -6,6 +6,7 @@
       step_length: 1.0 # step length for pointcloud search range [m]
       extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance
       expand_stop_range: 0.0 # margin of vehicle footprint [m]
+      hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m]
 
     slow_down_planner:
       # slow down planner parameters