diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 49ed6ee171..0d86229b1d 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -2,14 +2,14 @@
   ros__parameters:
     # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: false
+    use_imu_path: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_horizon: 4.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
@@ -29,7 +29,7 @@
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
-    cluster_minimum_height: 0.0
+    cluster_minimum_height: 0.1
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 
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 74affea696..dd99e6d160 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
@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true
diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
index 1ee2699a23..4d576457f2 100644
--- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
+++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     update_rate: 30
-    target_acceleration: -2.5
-    target_jerk: -1.5
+    target_acceleration: -3.0
+    target_jerk: -3.0