diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 17a313e0b6..cdc4da5379 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1677,6 +1677,32 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection
                           Value: false
+                        - Alpha: 0.5
+                          Autocompute Intensity Bounds: true
+                          Class: grid_map_rviz_plugin/GridMap
+                          Color: 200; 200; 200
+                          Color Layer: color
+                          Color Transformer: IntensityLayer
+                          Enabled: false
+                          Height Layer: elevation
+                          Height Transformer: Layer
+                          History Length: 1
+                          Invert Rainbow: false
+                          Max Color: 255; 255; 255
+                          Max Intensity: 10
+                          Min Color: 0; 0; 0
+                          Min Intensity: 0
+                          Name: IntersectionOcclusion
+                          Show Grid Lines: false
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            Filter size: 10
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid
+                          Use Rainbow: true
+                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: Blind Spot