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 2bbc5d31fc..b20c83b5fd 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
@@ -21,12 +21,13 @@
       stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
 
       # param for pass judge logic
+      disable_stop_for_yield_cancel: false
       ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
       ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
       stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
       min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
       max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
-      ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
+      ego_yield_query_stop_duration: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal