diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 74242fead6..375e0cd5d6 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -17,7 +17,7 @@ jobs:
   build-and-test-differential:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 230f9cf120..46fd7f159f 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
index 44983f7dea..bd2463d5a8 100644
--- a/.github/workflows/cancel-previous-workflows.yaml
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -5,7 +5,7 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.12.1
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
index b426d0cba6..4b1d7f47c6 100644
--- a/.github/workflows/github-release.yaml
+++ b/.github/workflows/github-release.yaml
@@ -15,7 +15,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name
diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml
index d45067bee5..cc2b26fd3e 100644
--- a/.github/workflows/pr-labeler.yaml
+++ b/.github/workflows/pr-labeler.yaml
@@ -8,7 +8,7 @@ on:
 
 jobs:
   label:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/labeler@v4
         with:
diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml
index 23b403f2a5..8d57a53b5c 100644
--- a/.github/workflows/pre-commit-autoupdate.yaml
+++ b/.github/workflows/pre-commit-autoupdate.yaml
@@ -14,7 +14,7 @@ jobs:
   pre-commit-autoupdate:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 38738196a0..12f536c551 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index c724885fcb..4d005e849b 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -6,7 +6,7 @@ on:
 jobs:
   pre-commit:
     if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index 1fbf2ff469..f030a45251 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -5,7 +5,7 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index 51e523b803..0cffbcd2a2 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -14,7 +14,7 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml
index 8b3d2407fb..760a647ffb 100644
--- a/.github/workflows/update-codeowners-from-packages.yaml
+++ b/.github/workflows/update-codeowners-from-packages.yaml
@@ -14,7 +14,7 @@ jobs:
   update-codeowners-from-packages:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml
index 572d0ece2e..5fa57ad472 100644
--- a/.github/workflows/update-sync-param-files.yaml
+++ b/.github/workflows/update-sync-param-files.yaml
@@ -7,7 +7,7 @@ on:
 
 jobs:
   update-sync-param-files:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
index 62b3074c15..a9ded1a9b5 100644
--- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -14,7 +14,7 @@
     publish_debug_pcd: False
 
     # use dynamic map loading
-    use_dynamic_map_loading: True
+    use_dynamic_map_loading: False
 
     # time interval to check dynamic map loading
     timer_interval_ms: 100
@@ -24,3 +24,6 @@
 
     # radius map for dynamic map loading
     map_loader_radius: 150.0
+
+    # Threshold of grid size to split map pointcloud
+    max_map_grid_size: 100.0
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 5f27fef6fb..23adc6829c 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
@@ -26,18 +26,29 @@
         enable_approaching: false
         additional_safe_distance_margin: 3.0 # [m]
         min_safe_distance_margin: 3.0 # [m]
-      suppress_sudden_obstacle_stop: false
+      suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type:
-        unknown: true
-        car: true
-        truck: true
-        bus: true
-        trailer: true
-        motorcycle: true
-        bicycle: true
-        pedestrian: true
         pointcloud: false
+        inside:
+          unknown: true
+          car: true
+          truck: true
+          bus: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          pedestrian: true
+
+        outside:
+          unknown: false
+          car: true
+          truck: true
+          bus: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          pedestrian: true
 
       cruise_obstacle_type:
         inside:
@@ -93,21 +104,29 @@
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle:
-        obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
-        obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
+        obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
+        obstacle_traj_angle_threshold : 0.523599 # [rad] = 30 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
 
       stop:
         max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint
         max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
+        min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s]
+        outside_obstacle:
+          max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s]
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
+          pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss]
+          bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss]
         crossing_obstacle:
-          collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
+          collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
       cruise:
         max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
         outside_obstacle:
-          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
+          obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
+          ego_obstacle_overlap_time_threshold : 0.2 #  time threshold to decide cut-in obstacle for cruise or stop [s]
+          max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
+          max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
         yield:
           enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
index e11f391606..dfc820f93c 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,5 +1,2 @@
 files:
   - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
-
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index bfa64229ee..a66ed49405 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index e4eb0b6e16..c53d5d62e6 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2450,6 +2450,22 @@ Visualization Manager:
             Offset: 0
             Radius: 0.10000000149011612
             Value: true
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: VirtualWall (AEB)
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /control/autonomous_emergency_braking/virtual_wall
+              Value: true
+          Enabled: true
+          Name: VirtualWall
         - Class: rviz_default_plugins/Marker
           Enabled: false
           Name: Stop Reason
@@ -2500,19 +2516,6 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/autonomous_emergency_braking/debug/markers
           Value: false
-        - Class: rviz_default_plugins/MarkerArray
-          Enabled: true
-          Name: Info/AEB
-          Namespaces:
-            stop_factor_text: true
-            stop_virtual_wall: true
-          Topic:
-            Depth: 5
-            Durability Policy: Volatile
-            History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /control/autonomous_emergency_braking/info/markers
-          Value: true
       Enabled: true
       Name: Control
     - Class: rviz_common/Group
@@ -2542,6 +2545,8 @@ Visualization Manager:
                   Debug/MPC: true
                   Debug/PurePursuit: true
                   Predicted Trajectory: true
+                  VirtualWall:
+                    VirtualWall (AEB): true
                   Value: false
                 Debug:
                   Control: true