diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index b2a8be6e85..d5d27ceb4b 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -9,8 +9,8 @@
       parameters:
         min_x: -100.0
         max_x: 150.0
-        min_y: -90.0
-        max_y: 90.0
+        min_y: -80.0
+        max_y: 80.0
         max_z: 2.5
         min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
index 7aec69f181..dbddf27602 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 1.5 # 1/ratio : 1
+    v_ratio: 2.0 # 1/ratio : 1
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index eb16374c34..763584bd5e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -49,7 +49,7 @@
         first_stop_vel_thr: 0.416 # [m/s]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 1.2km/h
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
-        stop_release_margin_time: 1.5 # [s]
+        stop_release_margin_time: 2.0 # [s]
         peeking_offset_absence_tl: 3.0 # [m]