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 4e77e0591f..e35215612a 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
@@ -48,6 +48,7 @@
         denoise_kernel: 1.0 # [m]
         possible_object_bbox: [1.5, 2.5] # [m x m]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
+        stop_release_margin_time: 1.5 # [s]
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval