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 efb4c4c4be..11210677a9 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
@@ -13,7 +13,7 @@
         path_interpolation_ds: 0.1 # [m]
 
       stuck_vehicle:
-        use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
+        use_stuck_stopline: true # stopline generated before the first conflicting area
         stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
         stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
         stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h