diff --git a/planning/behavior_velocity_planner/config/stop_line.param.yaml b/planning/behavior_velocity_planner/config/stop_line.param.yaml
index 6d723c510cce9..936bfc76cc98d 100644
--- a/planning/behavior_velocity_planner/config/stop_line.param.yaml
+++ b/planning/behavior_velocity_planner/config/stop_line.param.yaml
@@ -4,5 +4,6 @@
       stop_margin: 0.0
       stop_check_dist: 2.0
       stop_duration_sec: 1.0
+      use_initialization_stop_line_state: true
       debug:
         show_stopline_collision_check: false            # [-] whether to show stopline collision
diff --git a/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
index 371873eab83cb..d109398e33d56 100644
--- a/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
@@ -72,6 +72,7 @@ class StopLineModule : public SceneModuleInterface
     double stop_margin;
     double stop_check_dist;
     double stop_duration_sec;
+    bool use_initialization_stop_line_state;
     bool show_stopline_collision_check;
   };
 
diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/manager.cpp
index 6be80eb381c9d..627a814f89de3 100644
--- a/planning/behavior_velocity_planner/src/scene_module/stop_line/manager.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/stop_line/manager.cpp
@@ -93,6 +93,8 @@ StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node)
   p.stop_margin = node.declare_parameter(ns + ".stop_margin", 0.0);
   p.stop_check_dist = node.declare_parameter(ns + ".stop_check_dist", 2.0);
   p.stop_duration_sec = node.declare_parameter(ns + ".stop_duration_sec", 1.0);
+  p.use_initialization_stop_line_state =
+    node.declare_parameter(ns + ".use_initialization_stop_line_state", false);
   // debug
   p.show_stopline_collision_check =
     node.declare_parameter(ns + ".debug.show_stopline_collision_check", false);
diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
index cc3ed5a3a030b..a2bc53a617bcd 100644
--- a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
@@ -278,8 +278,7 @@ bool StopLineModule::modifyPathVelocity(
     }
   } else if (state_ == State::START) {
     // Initialize if vehicle is far from stop_line
-    constexpr bool use_initialization_after_start = false;
-    if (use_initialization_after_start) {
+    if (planner_param_.use_initialization_stop_line_state) {
       if (signed_arc_dist_to_stop_point > planner_param_.stop_check_dist) {
         RCLCPP_INFO(logger_, "START -> APPROACH");
         state_ = State::APPROACH;