diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index c708e819b..36421cf37 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
+
     stop_planner:
       stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
       min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m]