diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index e5053f7cee..3e99e140c8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -16,7 +16,10 @@
         # For the case where the crosswalk width is very wide
         far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
-        stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object_preferred: 3.0 # [m]
+        stop_distance_from_object_limit: 3.0 # [m]
+        min_acc_preferred: -1.0 # min acceleration [m/ss]
+        min_jerk_preferred: -1.0 # min jerk [m/sss]
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -45,11 +48,10 @@
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point
 
-        no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
-          max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
-          min_acc: -1.0 # min acceleration [m/ss]
-          min_jerk: -1.0 # min jerk [m/sss]
-          max_jerk: 1.0 # max jerk [m/sss]
+        no_stop_decision: # parameters to determine stop cancel. {-$overrun_threshold_length + f($min_acc, $min_jerk)} is compared against distance to stop pose.
+          min_acc: -1.5 # min acceleration [m/ss]
+          min_jerk: -1.5 # min jerk [m/sss]
+          overrun_threshold_length: 1.0 # [m] required to avoid giving up against backward movement of the stop position due to approaching pedestrians, etc.
 
         stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)