diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
index e945fd995c7f88e1ce21a00ebab1f0adf2078a55..64eb3a61d8043ef1cdb8f226f6aacb9d0c4a38fa 100644
--- a/modules/planning/common/planning_gflags.cc
+++ b/modules/planning/common/planning_gflags.cc
@@ -449,3 +449,7 @@ DEFINE_double(
 
 DEFINE_double(max_trajectory_len, 1000.0,
               "(unit: meter) max possible trajectory length.");
+
+DEFINE_double(side_pass_min_front_obstacle_distance, 2.0,
+              "(unit: meter) if the distance between front obstacle is less "
+              "than this threshold, side_pass scenario is skipped for safety.");
diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h
index ebfb5e5b9fdb7f9ad21a41ae67d3cfd4a20d2d97..3a110e78030152a7e9165c1eadf6c283545d7d98 100644
--- a/modules/planning/common/planning_gflags.h
+++ b/modules/planning/common/planning_gflags.h
@@ -233,3 +233,4 @@ DECLARE_bool(enable_record_debug);
 DECLARE_double(default_front_clear_distance);
 
 DECLARE_double(max_trajectory_len);
+DECLARE_double(side_pass_min_front_obstacle_distance);
diff --git a/modules/planning/scenarios/side_pass/side_pass_scenario.cc b/modules/planning/scenarios/side_pass/side_pass_scenario.cc
index e1c29a6bbf7f17b8b6e9897501f68568b2d4e0d5..649aee3cdbaa37b61384aad7c61483ad54b3abee 100644
--- a/modules/planning/scenarios/side_pass/side_pass_scenario.cc
+++ b/modules/planning/scenarios/side_pass/side_pass_scenario.cc
@@ -188,6 +188,12 @@ bool SidePassScenario::HasBlockingObstacle(const Frame& frame) {
       continue;
     }
 
+    if (adc_sl_boundary.end_s() + FLAGS_side_pass_min_front_obstacle_distance >
+        obstacle->PerceptionSLBoundary().start_s()) {
+      // front obstacle is too close to side pass
+      continue;
+    }
+
     // check driving_width
     constexpr double kLBufferThreshold = 0.3;  // unit: m
     const auto& reference_line = reference_line_info.reference_line();