diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
index c643afa989b98..8b993db11b4d9 100644
--- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
+++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -12,6 +12,8 @@
         use_intersection_area: false
         path_interpolation_ds: 0.1 # [m]
         consider_wrong_direction_vehicle: false
+        disable_pass_judge_sudden_stop: false
+        enable_peeking_pass_judge: false
       stuck_vehicle:
         turn_direction:
           left: true
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
index 22fa57f20e79f..774ae760e6166 100644
--- a/planning/behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -62,6 +62,10 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<double>(node, ns + ".common.path_interpolation_ds");
   ip.common.consider_wrong_direction_vehicle =
     getOrDeclareParameter<bool>(node, ns + ".common.consider_wrong_direction_vehicle");
+  ip.common.disable_pass_judge_sudden_stop =
+    getOrDeclareParameter<bool>(node, ns + ".common.disable_pass_judge_sudden_stop");
+  ip.common.enable_peeking_pass_judge =
+    getOrDeclareParameter<bool>(node, ns + ".common.enable_peeking_pass_judge");
 
   ip.stuck_vehicle.turn_direction.left =
     getOrDeclareParameter<bool>(node, ns + ".stuck_vehicle.turn_direction.left");
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index b37b70f290ff6..334f19db9d380 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -978,7 +978,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
   const auto intersection_stop_lines_opt = util::generateIntersectionStopLines(
     first_conflicting_area, dummy_first_attention_area, planner_data_, interpolated_path_info,
     planner_param_.stuck_vehicle.use_stuck_stopline, planner_param_.common.stop_line_margin,
-    peeking_offset, path);
+    planner_param_.common.enable_peeking_pass_judge, peeking_offset, path);
   if (!intersection_stop_lines_opt) {
     return IntersectionModule::Indecisive{"failed to generate intersection_stop_lines"};
   }
@@ -1085,7 +1085,9 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
       logger_, "is_over_default_stop_line && !is_over_pass_judge_line && keep_detection");
     // do nothing
   } else if (
-    (was_safe && is_over_default_stop_line && is_over_pass_judge_line && is_go_out_) ||
+    (was_safe &&
+     (is_over_default_stop_line || planner_param_.common.disable_pass_judge_sudden_stop) &&
+     is_over_pass_judge_line && is_go_out_) ||
     is_permanent_go_) {
     // is_go_out_: previous RTC approval
     // activated_: current RTC approval
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
index dbc3b27f7b4ba..dde94a4e9c3be 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -58,6 +58,8 @@ class IntersectionModule : public SceneModuleInterface
       double stop_overshoot_margin;  //! overshoot margin for stuck, collision detection
       bool use_intersection_area;
       bool consider_wrong_direction_vehicle;
+      bool disable_pass_judge_sudden_stop;
+      bool enable_peeking_pass_judge;
       double path_interpolation_ds;
     } common;
     struct StuckVehicle
diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp
index 797b415b62374..67e5d552771a0 100644
--- a/planning/behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_intersection_module/src/util.cpp
@@ -266,7 +266,7 @@ std::optional<IntersectionStopLines> generateIntersectionStopLines(
   const lanelet::CompoundPolygon3d & first_detection_area,
   const std::shared_ptr<const PlannerData> & planner_data,
   const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline,
-  const double stop_line_margin, const double peeking_offset,
+  const double stop_line_margin, const bool enable_peeking_pass_judge, const double peeking_offset,
   autoware_auto_planning_msgs::msg::PathWithLaneId * original_path)
 {
   const auto & path_ip = interpolated_path_info.path;
@@ -416,8 +416,8 @@ std::optional<IntersectionStopLines> generateIntersectionStopLines(
       intersection_stop_lines_temp.default_stop_line;
   }
   if (
-    intersection_stop_lines_temp.occlusion_peeking_stop_line >
-    intersection_stop_lines_temp.pass_judge_line) {
+    enable_peeking_pass_judge && (intersection_stop_lines_temp.occlusion_peeking_stop_line >
+                                  intersection_stop_lines_temp.pass_judge_line)) {
     intersection_stop_lines_temp.pass_judge_line =
       intersection_stop_lines_temp.occlusion_peeking_stop_line;
   }
diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp
index ef658a25fce55..5185fdf3477e4 100644
--- a/planning/behavior_velocity_intersection_module/src/util.hpp
+++ b/planning/behavior_velocity_intersection_module/src/util.hpp
@@ -70,7 +70,7 @@ std::optional<IntersectionStopLines> generateIntersectionStopLines(
   const lanelet::CompoundPolygon3d & first_detection_area,
   const std::shared_ptr<const PlannerData> & planner_data,
   const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline,
-  const double stop_line_margin, const double peeking_offset,
+  const double stop_line_margin, const bool enable_peeking_pass_judge, const double peeking_offset,
   autoware_auto_planning_msgs::msg::PathWithLaneId * original_path);
 
 std::optional<size_t> getFirstPointInsidePolygon(