diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index 191af77522..6aac965227 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -9,7 +9,7 @@
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
 
       v2i:
-        use_rest_time: true
+        use_rest_time: false
         last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red
         velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not
         required_time_to_departure: 3.0 # prevent low speed pass