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 768a11de4b..73fbc12b65 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
@@ -70,15 +70,15 @@
           collision_start_margin_time: 2.0
           collision_end_margin_time: 0.0
         partially_prioritized:
-          collision_start_margin_time: 4.0
-          collision_end_margin_time: 6.0
+          collision_start_margin_time: 3.0
+          collision_end_margin_time: 2.0
         not_prioritized:
-          collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
-          collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+          collision_start_margin_time: 3.0
+          collision_end_margin_time: 2.0
         yield_on_green_traffic_light:
           distance_to_assigned_lanelet_start: 10.0
           duration: 8.0
-          object_dist_to_stopline: 10.0 # [m]
+          object_dist_to_stopline: 10.0
         ignore_on_amber_traffic_light:
           object_expected_deceleration:
             car: 2.0