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 41185e6ecf..aeb0424bc2 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
@@ -24,13 +24,18 @@
         state_transit_margin_time: 1.0
         min_predicted_path_confidence: 0.05
         minimum_ego_predicted_velocity: 1.388 # [m/s]
-        normal:
-          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
-        relaxed:
+        fully_prioritized:
           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
+        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
         keep_detection_vel_thr: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
+        ignore_on_amber_traffic_light:
+          object_expected_deceleration: 2.0 # [m/ss]
 
       occlusion:
         enable: true