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 6b299c85bf8d8..94a6750b83006 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
@@ -387,7 +387,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
       occlusion_first_stop_safety_ = false;
       occlusion_first_stop_distance_ = dist_1st_stopline;
     }
-    occlusion_safety_ = false;
+    occlusion_safety_ = is_occlusion_cleared;
     occlusion_stop_distance_ = dist_2nd_stopline;
   } else {
     /* collision */