diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml
index 16a8cd214e..d076be2d09 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml
@@ -6,13 +6,15 @@
 
       stop:
         on_time_buffer: 0.5   # [s] successive collision detection time required to start the stopping decision
-        off_time_buffer: 2.0  # [s] successive non-collision detection time required to remove a stopping decision
+        off_time_buffer: 0.5  # [s] successive non-collision detection time required to remove a stopping decision
         distance_buffer: 2.0  # [m] longitudinal safety distance to keep between ego and the collision position
         calculate_earliest_position_within_history: false # if true, use the earliest stop position within the history, otherwise the stop position is calculated only from the currently detected collision
+        keep_until_object_is_gone: true  # if true, once ego stopped for an object we keep the stop decision until the object is gone
 
       passing:  # feature to ignore collisions in some conditions
         enable_passing_margin: true # If true, a collision where ego arrives first is ignored
         time_margin: 0.0  # [s] margin to decide if ego passes first (higher is more conservative)
+        max_overlap_duration: 2.0  # [s] the collision is not ignored if ego is predicted to stay on the object's path for longer than this duration
         enable_deceleration_limit: false # if true, collisions are ignored if happening within the minimum duration required to stop ego comfortably
 
       ego: