diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
index e02ba883d5115..710fb20631a45 100644
--- a/launch/tier4_planning_launch/launch/planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -9,6 +9,7 @@
   <arg name="planning_validator_param_path"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode"/>
+  <arg name="is_simulation"/>
 
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -25,6 +26,7 @@
       <push-ros-namespace namespace="scenario_planning"/>
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
         <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+        <arg name="is_simulation" value="$(var is_simulation)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
index bae084f80b51e..1ec74793b741b 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -1,5 +1,6 @@
 <launch>
   <arg name="enable_all_modules_auto_mode"/>
+  <arg name="is_simulation"/>
 
   <!-- lane_driving scenario -->
   <group>
@@ -11,6 +12,7 @@
         <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml">
           <arg name="container_type" value="component_container_mt"/>
           <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+          <arg name="is_simulation" value="$(var is_simulation)"/>
           <!-- This condition should be true if run_out module is enabled and its detection method is Points -->
           <arg name="launch_compare_map_pipeline" value="false"/>
         </include>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 90ebd23215be5..d2aa009d9c699 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -5,6 +5,7 @@
   <arg name="input_vector_map_topic_name" default="/map/vector_map"/>
   <arg name="input_pointcloud_map_topic_name" default="/map/pointcloud_map"/>
   <arg name="enable_all_modules_auto_mode"/>
+  <arg name="is_simulation"/>
 
   <arg name="launch_avoidance_module" default="true"/>
   <arg name="launch_avoidance_by_lane_change_module" default="true"/>
@@ -203,6 +204,7 @@
       <param from="$(var nearest_search_param_path)"/>
       <param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
       <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <param name="is_simulation" value="$(var is_simulation)"/>
       <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
       <param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
       <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
@@ -245,6 +247,7 @@
       <param from="$(var behavior_velocity_planner_common_param_path)"/>
       <param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
       <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <param name="is_simulation" value="$(var is_simulation)"/>
       <!-- <param from="$(var template_param_path)"/> -->
       <param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
index e673d28804480..0a30204ca3c99 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -1,5 +1,6 @@
 <launch>
   <arg name="enable_all_modules_auto_mode"/>
+  <arg name="is_simulation"/>
   <!-- scenario selector -->
   <group>
     <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -53,6 +54,7 @@
     <group>
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
         <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+        <arg name="is_simulation" value="$(var is_simulation)"/>
       </include>
     </group>
     <!-- parking -->
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 9f18a1a6de816..854f3c8852c29 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -146,6 +146,9 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
     declare_parameter<double>("ego_nearest_dist_threshold");
   planner_data_.ego_nearest_yaw_threshold = declare_parameter<double>("ego_nearest_yaw_threshold");
 
+  // is simulation or not
+  planner_data_.is_simulation = declare_parameter<bool>("is_simulation");
+
   // Initialize PlannerManager
   for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
     // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
@@ -323,8 +326,6 @@ void BehaviorVelocityPlannerNode::onTrafficSignals(
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
-  planner_data_.has_received_signal_ = true;
-
   // clear previous observation
   planner_data_.traffic_light_id_map_raw_.clear();
   const auto traffic_light_id_map_last_observed_old =
diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
index 239abbde27609..935530b52e175 100644
--- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -79,6 +79,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
 
   std::vector<rclcpp::Parameter> params;
   params.emplace_back("launch_modules", module_names);
+  params.emplace_back("is_simulation", false);
   node_options.parameter_overrides(params);
 
   test_utils::updateNodeOptions(
diff --git a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
index 23997e34fbfea..1511d430ddd0c 100644
--- a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
+++ b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
@@ -83,8 +83,9 @@ struct PlannerData
   std::optional<tier4_planning_msgs::msg::VelocityLimit> external_velocity_limit;
   tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states;
 
-  // this value becomes true once the signal message is received
-  bool has_received_signal_ = false;
+  // This variable is used when the Autoware's behavior has to depend on whether it's simulation or
+  // not.
+  bool is_simulation = false;
 
   // velocity smoother
   std::shared_ptr<motion_velocity_smoother::SmootherBase> velocity_smoother_;
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
index 946741b14cf78..413ce78beacee 100644
--- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -281,16 +281,15 @@ bool TrafficLightModule::isStopSignal()
 {
   updateTrafficSignal();
 
-  // Pass through if no traffic signal information has been received yet
-  // This is to prevent stopping on the planning simulator
-  if (!planner_data_->has_received_signal_) {
-    return false;
-  }
-
-  // Stop if there is no upcoming traffic signal information
-  // This is to safely stop in cases such that traffic light recognition is not working properly or
-  // the map is incorrect
+  // If there is no upcoming traffic signal information,
+  //   SIMULATION: it will PASS to prevent stopping on the planning simulator
+  //   or scenario simulator.
+  //   REAL ENVIRONMENT: it will STOP for safety in cases such that traffic light
+  //   recognition is not working properly or the map is incorrect.
   if (!traffic_signal_stamp_) {
+    if (planner_data_->is_simulation) {
+      return false;
+    }
     return true;
   }