diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
index 150478ce26..a248ac4ac1 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
@@ -18,6 +18,7 @@
         ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored
 
       action:  # action to insert in the trajectory if an object causes a conflict at an overlap
+        use_map_stop_lines: true  # if true, try to stop at stop lines defined in the vector map
         precision: 0.1  # [m] precision when inserting a stop pose in the trajectory
         longitudinal_distance_buffer: 1.5  # [m] safety distance buffer to keep in front of the ego vehicle
         lateral_distance_buffer: 1.0  # [m] safety distance buffer to keep on the side of the ego vehicle