diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
index 98bf2ec3fab82..d6881a8928614 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
@@ -128,7 +128,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
     logger_.get_child("util"), clock_);
   if (!stuck_line_idx_opt.has_value()) {
     // returns here if path is not intersecting with conflicting areas
-    RCLCPP_WARN_SKIPFIRST_THROTTLE(
+    RCLCPP_DEBUG_SKIPFIRST_THROTTLE(
       logger_, *clock_, 1000 /* ms */, "setStopLineIdx for stuck line fail");
     RCLCPP_DEBUG(logger_, "===== plan end =====");
     setSafe(true);