diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a1cb2b79f5..0f70873d55 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -29,37 +29,35 @@
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
-    <arg name="side_shift_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
-    <arg name="avoidance_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
-    <arg name="avoidance_by_lc_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
-    <arg name="dynamic_avoidance_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
-    <arg name="lane_change_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
-    <arg name="goal_planner_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
-    <arg name="start_planner_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
-    <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
-    <arg name="scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
-    <arg name="behavior_path_planner_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
+    <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
+    <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
+    <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
+    <arg name="behavior_path_planner_avoidance_module_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
+    <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
+    <arg name="behavior_path_planner_dynamic_avoidance_module_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
+    <arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
+    <arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
+    <arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
+    <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
     <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
-    <arg
-      name="behavior_velocity_planner_module_param_paths"
-      value="[$(var behavior_velocity_config_path)/blind_spot.param.yaml,
-              $(var behavior_velocity_config_path)/crosswalk.param.yaml,
-              $(var behavior_velocity_config_path)/walkway.param.yaml,
-              $(var behavior_velocity_config_path)/detection_area.param.yaml,
-              $(var behavior_velocity_config_path)/intersection.param.yaml,
-              $(var behavior_velocity_config_path)/stop_line.param.yaml,
-              $(var behavior_velocity_config_path)/traffic_light.param.yaml,
-              $(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml,
-              $(var behavior_velocity_config_path)/occlusion_spot.param.yaml,
-              $(var behavior_velocity_config_path)/no_stopping_area.param.yaml,
-              $(var behavior_velocity_config_path)/run_out.param.yaml,
-              $(var behavior_velocity_config_path)/speed_bump.param.yaml,
-              $(var behavior_velocity_config_path)/out_of_lane.param.yaml,
-              $(var behavior_velocity_config_path)/no_drivable_lane.param.yaml]"
-    />
+    <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
+    <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
+    <arg name="behavior_velocity_planner_walkway_module_param_path" value="$(var behavior_velocity_config_path)/walkway.param.yaml"/>
+    <arg name="behavior_velocity_planner_detection_area_module_param_path" value="$(var behavior_velocity_config_path)/detection_area.param.yaml"/>
+    <arg name="behavior_velocity_planner_intersection_module_param_path" value="$(var behavior_velocity_config_path)/intersection.param.yaml"/>
+    <arg name="behavior_velocity_planner_stop_line_module_param_path" value="$(var behavior_velocity_config_path)/stop_line.param.yaml"/>
+    <arg name="behavior_velocity_planner_traffic_light_module_param_path" value="$(var behavior_velocity_config_path)/traffic_light.param.yaml"/>
+    <arg name="behavior_velocity_planner_virtual_traffic_light_module_param_path" value="$(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml"/>
+    <arg name="behavior_velocity_planner_occlusion_spot_module_param_path" value="$(var behavior_velocity_config_path)/occlusion_spot.param.yaml"/>
+    <arg name="behavior_velocity_planner_no_stopping_area_module_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
+    <arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
+    <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
+    <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
+    <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>
 
     <!-- parking -->
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>