diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml
index 026daf0532..2aa28014ea 100644
--- a/autoware_launch/config/localization/localization_error_monitor.param.yaml
+++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml
@@ -4,4 +4,4 @@
     error_ellipse_size: 1.0
     warn_ellipse_size: 0.8
     error_ellipse_size_lateral_direction: 0.3
-    warn_ellipse_size_lateral_direction: 0.2
+    warn_ellipse_size_lateral_direction: 0.25
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
deleted file mode 100644
index 3dd303464a..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-/**:
-  ros__parameters:
-
-    # distance threshold for compare compare
-    distance_threshold: 0.5
-
-    # publish voxelized map pointcloud for debug
-    publish_debug_pcd: False
-
-    # use dynamic map loading
-    use_dynamic_map_loading: True
-
-    # time interval to check dynamic map loading
-    timer_interval_ms: 100
-
-    # distance threshold for dynamic map update
-    map_update_distance_threshold: 10.0
-
-    # radius map for dynamic map loading
-    map_loader_radius: 150.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
deleted file mode 100644
index 1962fba1f3..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  ros__parameters:
-    input_frame: base_link
-    output_frame: base_link
-    voxel_size_x: 0.3
-    voxel_size_y: 0.3
-    voxel_size_z: 100.0
-    voxel_points_threshold: 3
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
deleted file mode 100644
index 3ff32bfbb7..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-/**:
-  ros__parameters:
-    input_frame: base_link
-    output_frame: base_link
-    voxel_size_x: 0.15
-    voxel_size_y: 0.15
-    voxel_size_z: 0.15
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
index 2f3de2b789..26b027f007 100644
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -7,9 +7,11 @@
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"
-    max_x: 70.0
-    min_x: -70.0
-    max_y: 70.0
-    min_y: -70.0
-    max_z: 4.5
-    min_z: -4.5
+
+    # low height crop box filter param
+    max_x: 200.0
+    min_x: -200.0
+    max_y: 200.0
+    min_y: -200.0
+    max_z: 2.0
+    min_z: -10.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
new file mode 100644
index 0000000000..62051e1c5e
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : true
+      TRUCK : true
+      BUS : true
+      TRAILER : true
+      MOTORCYCLE : true
+      BICYCLE : true
+      PEDESTRIAN : true
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 0423217582..62b3074c15 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
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # use downsample filter before compare map
-    use_down_sample_filter: False
 
     # voxel size for downsample filter
     down_sample_voxel_size: 0.1
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 c1fd848857..0c11077ea6 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
@@ -21,8 +21,9 @@
 
       # occupancy grid map
       occupancy_grid:
-        use_occupancy_grid: true
-        use_occupancy_grid_for_longitudinal_margin: false
+        use_occupancy_grid_for_goal_search: true
+        use_occupancy_grid_for_goal_longitudinal_margin: false
+        use_occupancy_grid_for_path_collision_check: false
         occupancy_grid_collision_check_margin: 0.0
         theta_size: 360
         obstacle_threshold: 60
@@ -111,12 +112,13 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
+          min_velocity: 0.0
           acceleration: 1.0
-          time_horizon: 10.0
+          max_velocity: 1.0
+          time_horizon_for_front_object: 10.0
+          time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
-          min_slow_speed: 0.0
           delay_until_departure: 1.0
-          target_velocity: 1.0
         # For target object filtering
         target_filtering:
           safety_check_time_horizon: 5.0
@@ -124,7 +126,7 @@
           # detection range
           object_check_forward_distance: 10.0
           object_check_backward_distance: 100.0
-          ignore_object_velocity_threshold: 0.0
+          ignore_object_velocity_threshold: 1.0
           # ObjectTypesToCheck
           object_types_to_check:
             check_car: true
@@ -151,7 +153,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: true
+          enable_safety_check: false # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
@@ -161,6 +163,8 @@
             lateral_distance_max_threshold: 1.0
             longitudinal_distance_min_threshold: 1.0
             longitudinal_velocity_delta_time: 1.0
+          # hysteresis factor to expand/shrink polygon with the value
+          hysteresis_factor_expand_rate: 1.0
           # 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/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 b62262423f..4fa1c09958 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
@@ -79,12 +79,13 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
+          min_velocity: 0.0
           acceleration: 1.0
-          time_horizon: 10.0
+          max_velocity: 1.0
+          time_horizon_for_front_object: 10.0
+          time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
-          min_slow_speed: 0.0
           delay_until_departure: 1.0
-          target_velocity: 1.0
         # For target object filtering
         target_filtering:
           safety_check_time_horizon: 5.0
@@ -92,7 +93,7 @@
           # detection range
           object_check_forward_distance: 10.0
           object_check_backward_distance: 100.0
-          ignore_object_velocity_threshold: 0.0
+          ignore_object_velocity_threshold: 1.0
           # ObjectTypesToCheck
           object_types_to_check:
             check_car: true
@@ -119,7 +120,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: true
+          enable_safety_check: false # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
@@ -129,6 +130,8 @@
             lateral_distance_max_threshold: 1.0
             longitudinal_distance_min_threshold: 1.0
             longitudinal_velocity_delta_time: 1.0
+          # hysteresis factor to expand/shrink polygon
+          hysteresis_factor_expand_rate: 1.0
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index cf5b2dd98c..10da418468 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,16 +21,11 @@
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
 
     <!-- object recognition -->
-    <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
     <arg
       name="object_recognition_detection_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
     />
     <arg name="object_recognition_detection_outlier_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/outlier.param.yaml"/>
-    <arg
-      name="object_recognition_detection_voxel_grid_based_euclidean_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml"
-    />
     <arg
       name="object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml"
@@ -63,6 +58,10 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_radar_lanelet_filtering_range_param"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"
+    />
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 0013fc36ca..00e924da39 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -319,6 +319,22 @@ Visualization Manager:
               Value: true
           Enabled: true
           Name: Vehicle
+        - Class: rviz_plugins/MrmSummaryOverlayDisplay
+          Enabled: false
+          Font Size: 10
+          Left: 512
+          Max Letter Num: 100
+          Name: MRM Summary
+          Text Color: 25; 255; 240
+          Top: 64
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /system/emergency/hazard_status
+          Value: false
+          Value height offset: 0
       Enabled: true
       Name: System
     - Class: rviz_common/Group