diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/README.md
index 2416ebf2d5599..84deb0b1f83cf 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/README.md
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/README.md
@@ -12,15 +12,16 @@ This module is activated when there is a detection area on the target lane.
 
 ### Module Parameters
 
-| Parameter                          | Type   | Description                                                                                        |
-| ---------------------------------- | ------ | -------------------------------------------------------------------------------------------------- |
-| `use_dead_line`                    | bool   | [-] weather to use dead line or not                                                                |
-| `use_pass_judge_line`              | bool   | [-] weather to use pass judge line or not                                                          |
-| `state_clear_time`                 | double | [s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state |
-| `stop_margin`                      | double | [m] a margin that the vehicle tries to stop before stop_line                                       |
-| `dead_line_margin`                 | double | [m] ignore threshold that vehicle behind is collide with ego vehicle or not                        |
-| `hold_stop_margin_distance`        | double | [m] parameter for restart prevention (See Algorithm section)                                       |
-| `distance_to_judge_over_stop_line` | double | [m] parameter for judging that the stop line has been crossed                                      |
+| Parameter                           | Type   | Description                                                                                        |
+| ----------------------------------- | ------ | -------------------------------------------------------------------------------------------------- |
+| `use_dead_line`                     | bool   | [-] weather to use dead line or not                                                                |
+| `use_pass_judge_line`               | bool   | [-] weather to use pass judge line or not                                                          |
+| `state_clear_time`                  | double | [s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state |
+| `stop_margin`                       | double | [m] a margin that the vehicle tries to stop before stop_line                                       |
+| `dead_line_margin`                  | double | [m] ignore threshold that vehicle behind is collide with ego vehicle or not                        |
+| `hold_stop_margin_distance`         | double | [m] parameter for restart prevention (See Algorithm section)                                       |
+| `distance_to_judge_over_stop_line`  | double | [m] parameter for judging that the stop line has been crossed                                      |
+| `suppress_pass_judge_when_stopping` | bool   | [m] parameter for suppressing pass judge when stopping                                             |
 
 ### Inner-workings / Algorithm
 
@@ -47,7 +48,9 @@ endif
 :get clear stop state duration;
 
 if (clear stop state duration is more than state_clear_time?) then (yes)
-  :set current state GO;
+  if (suppress_pass_judge_when_stopping is false or ego is moving) then (yes)
+    :set current state GO;
+  endif
   :reset clear stop state duration;
   stop
 else (no)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/config/detection_area.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/config/detection_area.param.yaml
index 62b5f2458336f..b49b43794685c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/config/detection_area.param.yaml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/config/detection_area.param.yaml
@@ -9,3 +9,4 @@
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
       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
+      suppress_pass_judge_when_stopping: false
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
index 166bc9cfaee4d..3f39696ff6bcc 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
@@ -48,6 +48,8 @@ DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<double>(node, ns + ".hold_stop_margin_distance");
   planner_param_.distance_to_judge_over_stop_line =
     getOrDeclareParameter<double>(node, ns + ".distance_to_judge_over_stop_line");
+  planner_param_.suppress_pass_judge_when_stopping =
+    getOrDeclareParameter<bool>(node, ns + ".suppress_pass_judge_when_stopping");
 }
 
 void DetectionAreaModuleManager::launchNewModules(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
index ad3ba986733e1..afbff7425542a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
@@ -112,8 +112,10 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
   setSafe(detection_area::can_clear_stop_state(
     last_obstacle_found_time_, clock_->now(), planner_param_.state_clear_time));
   if (isActivated()) {
-    state_ = State::GO;
     last_obstacle_found_time_ = {};
+    if (!planner_param_.suppress_pass_judge_when_stopping || !is_stopped) {
+      state_ = State::GO;
+    }
     return true;
   }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
index d756ea39a7f92..46bb46bcdeb61 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
@@ -61,6 +61,7 @@ class DetectionAreaModule : public SceneModuleInterface
     double state_clear_time;
     double hold_stop_margin_distance;
     double distance_to_judge_over_stop_line;
+    bool suppress_pass_judge_when_stopping;
   };
 
   DetectionAreaModule(