diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index dd2e13892d..c6c7f4ee5c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -174,6 +174,7 @@
         safety_check_backward_distance: 100.0           # [m]
         hysteresis_factor_expand_rate: 1.5              # [-]
         hysteresis_factor_safe_count: 3                 # [-]
+        collision_check_yaw_diff_threshold: 3.1416      # [rad]
         # predicted path parameters
         min_velocity: 1.38                              # [m/s]
         max_velocity: 50.0                              # [m/s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index eea6d0acdc..adbda50864 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -182,6 +182,7 @@
             time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 3.1416
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 10757691c9..d301e96deb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -30,6 +30,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 7d64d8c44a..13c43cd4d4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -143,8 +143,10 @@
             lateral_distance_max_threshold: 2.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
+            extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path"
           # hysteresis factor to expand/shrink polygon
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 1.578
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0