diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index ebdf2828fc..4cc71e0904 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -1,37 +1,46 @@
 /**:
   ros__parameters:
-    show_debug_info: false
-    enable_yaw_bias_estimation: true
-    predict_frequency: 50.0
-    tf_rate: 50.0
-    publish_tf: true
-    extend_state_step: 50
+    node:
+      show_debug_info: false
+      enable_yaw_bias_estimation: true
+      predict_frequency: 50.0
+      tf_rate: 50.0
+      publish_tf: true
+      extend_state_step: 50
 
-    # for Pose measurement
-    pose_additional_delay: 0.0
-    pose_measure_uncertainty_time: 0.01
-    pose_smoothing_steps: 5
-    pose_gate_dist: 10000.0
+    pose_measurement:
+      # for Pose measurement
+      pose_additional_delay: 0.0
+      pose_measure_uncertainty_time: 0.01
+      pose_smoothing_steps: 5
+      pose_gate_dist: 10000.0
 
-    # for twist measurement
-    twist_additional_delay: 0.0
-    twist_smoothing_steps: 2
-    twist_gate_dist: 10000.0
+    twist_measurement:
+      # for twist measurement
+      twist_additional_delay: 0.0
+      twist_smoothing_steps: 2
+      twist_gate_dist: 10000.0
 
-    # for process model
-    proc_stddev_yaw_c: 0.005
-    proc_stddev_vx_c: 10.0
-    proc_stddev_wz_c: 5.0
+    process_noise:
+      # for process model
+      proc_stddev_yaw_c: 0.005
+      proc_stddev_vx_c: 10.0
+      proc_stddev_wz_c: 5.0
 
-    #Simple1DFilter parameters
-    z_filter_proc_dev: 1.0
-    roll_filter_proc_dev: 0.01
-    pitch_filter_proc_dev: 0.01
-    # for diagnostics
-    pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 100
-    twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 100
+    simple_1d_filter_parameters:
+      #Simple1DFilter parameters
+      z_filter_proc_dev: 1.0
+      roll_filter_proc_dev: 0.01
+      pitch_filter_proc_dev: 0.01
 
-    # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.0 # [m/s]
+    diagnostics:
+      # for diagnostics
+      pose_no_update_count_threshold_warn: 50
+      pose_no_update_count_threshold_error: 100
+      twist_no_update_count_threshold_warn: 50
+      twist_no_update_count_threshold_error: 100
+
+    misc:
+      # for velocity measurement limitation (Set 0.0 if you want to ignore)
+      threshold_observable_velocity_mps: 0.0 # [m/s]
+      pose_frame_id: "map"
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 1ac32ba562..2ff87e9b01 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -95,7 +95,12 @@
           obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
           ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
-
+        yield:
+          enable_yield: false
+          lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
+          max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
+          max_obstacles_collision_time: 10.0 # how far the blocking obstacle
+          stopped_obstacle_velocity_threshold: 0.5
       slow_down:
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2