diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 09db0feb34..1a870aff7a 100644
--- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
     voxel_grid_x: 0.05
@@ -11,7 +12,9 @@
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    prediction_time_horizon: 1.5
-    prediction_time_interval: 0.1
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
     collision_keeping_sec: 0.0
     aeb_hz: 10.0
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 191e894622..7ad685217f 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -6,6 +6,8 @@
     check_external_emergency_heartbeat: false
     use_start_request: false
     enable_cmd_limit_filter: true
+    filter_activated_count_threshold: 5
+    filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index 667217d259..1c16624605 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -24,9 +24,9 @@
 
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 250
+    pose_no_update_count_threshold_error: 100
     twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_error: 100
 
     # for velocity measurement limitation (Set 0.0 if you want to ignore)
     threshold_observable_velocity_mps: 0.0 # [m/s]
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index 0ba1b1a2e1..1a6c26cd9c 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -72,6 +72,14 @@
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,
       ]
 
+    # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value)
+    use_covariance_estimation: false
+
+    # Offset arrangement in covariance estimation [m]
+    # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
+    initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
+    initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
+
     # Regularization switch
     regularization_enabled: false
 
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml
index 104d790d18..69628414e6 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml
@@ -14,10 +14,10 @@
     max_dist_matrix:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
       [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
-       4.0,     4.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       4.0,     8.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #TRAILER
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml
index 757125202d..6c26034860 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml
@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
-    car_tracker: "linear_motion_tracker"
-    truck_tracker: "linear_motion_tracker"
-    bus_tracker: "linear_motion_tracker"
-    trailer_tracker: "linear_motion_tracker"
-    pedestrian_tracker: "linear_motion_tracker"
-    bicycle_tracker: "linear_motion_tracker"
-    motorcycle_tracker: "linear_motion_tracker"
+    car_tracker: "constant_turn_rate_motion_tracker"
+    truck_tracker: "constant_turn_rate_motion_tracker"
+    bus_tracker: "constant_turn_rate_motion_tracker"
+    trailer_tracker: "constant_turn_rate_motion_tracker"
+    pedestrian_tracker: "constant_turn_rate_motion_tracker"
+    bicycle_tracker: "constant_turn_rate_motion_tracker"
+    motorcycle_tracker: "constant_turn_rate_motion_tracker"
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
index f80adffb41..d2c0841cf3 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
@@ -4,12 +4,11 @@
     # basic settings
     world_frame_id: "map"
     tracker_lifetime: 1.0  # [sec]
-    # if empty, use default config declared in this package
-    tracking_config_directory: ""
+    measurement_count_threshold: 3 # object will be published if it is tracked more than this threshold
 
     # delay compensate parameters
     publish_rate: 10.0
-    enable_delay_compensation: false
+    enable_delay_compensation: true
 
     # logging
     enable_logging: false
@@ -18,10 +17,10 @@
     # filtering
     ## 1. distance based filtering: remove closer objects than this threshold
     use_distance_based_noise_filtering: true
-    minimum_range_threshold: 70.0 # [m]
+    minimum_range_threshold: 60.0 # [m]
 
     ## 2. lanelet map based filtering
     use_map_based_noise_filtering: true
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
-    max_lateral_velocity: 5.0 # [m/s]
+    max_lateral_velocity: 7.0 # [m/s]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml
new file mode 100644
index 0000000000..f80f881cab
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml
@@ -0,0 +1,36 @@
+default:
+  # This file defines the parameters for the linear motion tracker.
+  # All this parameter coordinate is assumed to be in the vehicle coordinate system.
+  # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle.
+  ekf_params:
+    # random walk noise is used to model the acceleration noise
+    process_noise_std: # [m/s^2]
+      x: 0.5
+      y: 0.5
+      yaw: 0.1
+      vx: 1.0 # assume 1m/s velocity noise
+      wz: 0.4
+    measurement_noise_std:
+      x: 4.0 # [m]
+      y: 4.0 # [m]
+      # y: 0.02 # rad/m if use_polar_coordinate_in_measurement_noise is true
+      yaw: 0.2 # [rad]
+      vx: 10 # [m/s]
+    initial_covariance_std:
+      x: 3.0 # [m]
+      y: 6.0 # [m]
+      yaw: 10.0 # [rad]
+      vx: 100.0 # [m/s]
+      wz: 10.0 # [rad/s]
+  # input flag
+  trust_yaw_input: false # set true if yaw input of sensor is reliable
+  trust_twist_input: false # set true if twist input of sensor is reliable
+  use_polar_coordinate_in_measurement_noise: false # set true if you want to define the measurement noise in polar coordinate
+  assume_zero_yaw_rate: false # set true if you want to assume zero yaw rate
+  # output limitation
+  limit:
+    max_speed: 80.0 # [m/s]
+  # low pass filter is used to smooth the yaw and shape estimation
+  low_pass_filter:
+    time_constant: 1.0 # [s]
+    sampling_time: 0.1 # [s]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml
index 71367f4575..5e813558a2 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml
@@ -7,22 +7,28 @@ default:
     process_noise_std: # [m/s^2]
       ax: 0.98 # assume 0.1G acceleration noise
       ay: 0.98
-      vx: 0.1 # assume 0.1m/s velocity noise
-      vy: 0.1
+      vx: 1.0 # assume 1m/s velocity noise
+      vy: 1.0
       x: 1.0 # assume 1m position noise
       y: 1.0
     measurement_noise_std:
       x: 0.6 # [m]
-      y: 0.9 # [m]
-      vx: 0.4 # [m/s]
-      vy: 1 # [m/s]
+      # y: 4.0 # [m]
+      y: 0.01 # rad/m if use_polar_coordinate_in_measurement_noise is true
+      vx: 10 # [m/s]
+      vy: 100 # [m/s]
     initial_covariance_std:
       x: 3.0 # [m]
       y: 6.0 # [m]
-      vx: 1.0 # [m/s]
-      vy: 5.0 # [m/s]
-      ax: 0.5 # [m/s^2]
-      ay: 1.0 # [m/s^2]
+      vx: 1000.0 # [m/s]
+      vy: 1000.0 # [m/s]
+      ax: 1000.0 # [m/s^2]
+      ay: 1000.0 # [m/s^2]
+    estimate_acc: false # set true if you want to estimate the acceleration
+  # input flag
+  trust_yaw_input: false # set true if yaw input of sensor is reliable
+  trust_twist_input: false # set true if twist input of sensor is reliable
+  use_polar_coordinate_in_measurement_noise: true # set true if you want to define the measurement noise in polar coordinate
   # output limitation
   limit:
     max_speed: 80.0 # [m/s]
diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
new file mode 100644
index 0000000000..cf4f73dc79
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    costmap_frame: "map"
+    vehicle_frame: "base_link"
+    map_frame: "map"
+    update_rate: 10.0
+    activate_by_scenario: False
+    grid_min_value: 0.0
+    grid_max_value: 1.0
+    grid_resolution: 0.2
+    grid_length_x: 70.0
+    grid_length_y: 70.0
+    grid_position_x: 0.0
+    grid_position_y: 0.0
+    maximum_lidar_height_thres: 0.3
+    minimum_lidar_height_thres: -2.2
+    use_wayarea: true
+    use_parkinglot: true
+    use_objects: true
+    use_points: true
+    expand_polygon_size: 1.0
+    size_of_expansion_kernel: 9
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index fe9c37d200..98d75415d0 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -9,7 +9,6 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_force_avoidance_for_stopped_vehicle: false
       enable_yield_maneuver: true
       enable_yield_maneuver_during_shifting: false
       enable_cancel_maneuver: true
@@ -37,6 +36,7 @@
           avoid_margin_lateral: 1.0                    # [m]
           safety_buffer_lateral: 0.7                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
+          use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           is_target: true
           execute_num: 1
@@ -47,6 +47,7 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: true
         bus:
           is_target: true
           execute_num: 1
@@ -57,6 +58,7 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: true
         trailer:
           is_target: true
           execute_num: 1
@@ -67,6 +69,7 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: true
         unknown:
           is_target: true
           execute_num: 1
@@ -77,6 +80,7 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: true
         bicycle:
           is_target: true
           execute_num: 1
@@ -87,6 +91,7 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
+          use_conservative_buffer_longitudinal: true
         motorcycle:
           is_target: true
           execute_num: 1
@@ -97,6 +102,7 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
+          use_conservative_buffer_longitudinal: true
         pedestrian:
           is_target: true
           execute_num: 1
@@ -107,16 +113,12 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
+          use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]
         upper_distance_for_polygon_expansion: 100.0     # [m]
 
       # For target object filtering
       target_filtering:
-        # params for avoidance of not-parked objects
-        threshold_time_force_avoidance_for_stopped_vehicle: 1.0      # [s]
-        object_ignore_section_traffic_light_in_front_distance: 100.0 # [m]
-        object_ignore_section_crosswalk_in_front_distance: 30.0      # [m]
-        object_ignore_section_crosswalk_behind_distance: 30.0        # [m]
         # detection range
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
@@ -133,6 +135,17 @@
           max_forward_distance: 150.0                    # [m]
           backward_distance: 10.0                        # [m]
 
+        # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
+        force_avoidance:
+          enable: false                                  # [-]
+          time_threshold: 1.0                            # [s]
+          ignore_area:
+            traffic_light:
+              front_distance: 100.0                      # [m]
+            crosswalk:
+              front_distance: 30.0                       # [m]
+              behind_distance: 30.0                      # [m]
+
       # For safety check
       safety_check:
         # safety check configuration
@@ -178,11 +191,18 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          remain_buffer_distance: 30.0                  # [m]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]
           nominal_avoidance_speed: 8.33                 # [m/s]
+        # return dead line
+        return_dead_line:
+          goal:
+            enable: true                                # [-]
+            buffer: 30.0                                # [m]
+          traffic_light:
+            enable: true                                # [-]
+            buffer: 3.0                                 # [m]
 
       # For yield maneuver
       yield:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 3a7393a4c9..6acbe9783d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -3,6 +3,8 @@
     verbose: false
     max_iteration_num: 100
 
+    traffic_light_signal_timeout: 1.0
+
     groot_zmq_publisher_port: 1666
     groot_zmq_server_port: 1667
 
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 0f1b441bed..295c9caf84 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
@@ -48,7 +48,7 @@
         maximum_deceleration: 1.0
         maximum_jerk: 1.0
         path_priority: "efficient_path" # "efficient_path" or "close_goal"
-        efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking)
+        efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
 
         # shift parking
         shift_parking:
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 e09f6e479b..b7ae55536e 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
@@ -5,6 +5,7 @@
       prepare_duration: 4.0         # [s]
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
+      backward_length_buffer_for_blocking_object: 3.0 # [m]
       lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
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 c49be22d0a..960dd89b00 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
@@ -56,6 +56,8 @@
           object_dist_to_stopline: 10.0 # [m]
         ignore_on_amber_traffic_light:
           object_expected_deceleration: 2.0 # [m/ss]
+        ignore_on_red_traffic_light:
+          object_margin_to_path: 2.0
 
       occlusion:
         enable: false
@@ -81,6 +83,9 @@
         attention_lane_curvature_calculation_ds: 0.5
         static_occlusion_with_traffic_light_timeout: 0.5
 
+      debug:
+        ttc: [0]
+
       enable_rtc:
         intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
         intersection_to_occlusion: false
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index b8da5f4e7c..6a763eace4 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -24,6 +24,7 @@
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         /autoware/localization/performance_monitoring/localization_accuracy: default
+        /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default
 
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index e3df873492..5959d58e18 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -85,6 +85,10 @@
       name="object_recognition_tracking_radar_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_tracking_config_directory_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/"
+    />
     <arg
       name="object_recognition_tracking_object_merger_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml"
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a1cb2b79f5..5f14006f7a 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,10 +4,11 @@
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="use_surround_obstacle_check" default="true"/>
-  <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
-  <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="motion_path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
+  <arg name="motion_path_planner_type" default="obstacle_avoidance_planner" description="options: obstacle_avoidance_planner, path_sampler, none"/>
+  <arg name="motion_stop_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="motion_velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="enable_surround_check" default="true"/>
 
   <!-- variables -->
   <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
@@ -16,6 +17,9 @@
   <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
   <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
 
+  <!-- parking module -->
+  <arg name="launch_parking_module" default="true"/>
+
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
@@ -24,42 +28,41 @@
     <!-- common -->
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
     <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
+    <arg name="costmap_generator_param_path" value="$(var common_config_path)/costmap_generator.param.yaml"/>
 
     <!-- mission planner -->
     <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="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
@@ -73,15 +76,10 @@
     <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
     <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
-    <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
-    <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
-    <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-    <arg name="path_smoother_type" value="$(var path_smoother_type)"/>
-    <arg name="velocity_smoother_type" value="$(var velocity_smoother_type)"/>
 
     <!-- motion velocity smoother -->
     <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var velocity_smoother_type).param.yaml"/>
+    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var motion_velocity_smoother_type).param.yaml"/>
 
     <!-- planning validator -->
     <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index cdb1ffe690..fda080bfcf 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -401,6 +401,7 @@ Visualization Manager:
             walkway_lanelets: true
             hatched_road_markings_bound: true
             hatched_road_markings_area: false
+            intersection_area: false
           Topic:
             Depth: 5
             Durability Policy: Transient Local
@@ -902,7 +903,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/traffic_light_recognition/debug/rois
+                Value: /perception/traffic_light_recognition/traffic_light/debug/rois
               Value: true
             - Class: rviz_default_plugins/MarkerArray
               Enabled: true