diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index c8905f66da..d5d353742c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -17,7 +17,7 @@
       ego_cut_line_length: 3.0    # The width of the ego's cut line
       ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
       keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
-      keep_stop_point_time: 1.0   # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
+      keep_stop_point_time: 2.0   # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:
@@ -29,7 +29,7 @@
         std_dev_multiplier: 1.96  # [-] min and max velocity of the obstacles are calculated from this value and covariance
         diameter: 0.1             # [m] diameter of obstacles. used for creating dynamic obstacles from points
         height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
-        max_prediction_time: 3.0  # [sec] create predicted path until this time
+        max_prediction_time: 7.0  # [sec] create predicted path until this time
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
@@ -44,7 +44,7 @@
       # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
-        time_threshold: 0.5   # [sec] ignores detections that persist for less than this duration
+        time_threshold: 0.15   # [sec] ignores detections that persist for less than this duration
 
       # Typically used when the "detection_method" is set to ObjectWithoutPath or Points
       # Approach if the ego has stopped in front of the obstacle for a certain period