diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index 1332e422cd..5ac74c2015 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -15,4 +15,4 @@
     max_accel: -2.8
     max_jerk: -5.0
     system_delay: 0.5
-    delay_response_time: 1.3
+    delay_response_time: 0.5