diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 2ac846ed25..3d59774e4a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -208,6 +208,10 @@
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
           max_deviation_from_lane: 0.2                  # [m]
+          # approve the next shift line after reaching this percentage of the current shift line length.
+          # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
+          # this feature can be disabled by setting this parameter to 0.0.
+          ratio_for_return_shift_approval: 0.5          # [-]
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]