diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 7fd1cc90fe..bda722c87e 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit:
-    if: ${{ github.event.repository.private }}
+    if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
     runs-on: ubuntu-latest
     steps:
       - name: Generate token
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d04c26073e..4b9105a923 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -57,7 +57,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.12.0
+    rev: 23.1.0
     hooks:
       - id: black
         args: [--line-length=100]
diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
new file mode 100755
index 0000000000..e3a4fdf81c
--- /dev/null
+++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM
+    latitude: 40.81187906        # Latitude of map_origin, using in UTM
+    longitude: 29.35810110          # Longitude of map_origin, using in UTM
+
+    center_line_resolution: 5.0         # [m]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 93f9d522fb..d707a73bce 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -7,6 +7,8 @@
     voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
     voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
     voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]
+    use_predicted_objects: False            # whether to use predicted objects [-]
+    publish_obstacle_polygon: False          # whether to publish obstacle polygon [-]
 
     stop_planner:
       # params for stop position
@@ -17,7 +19,10 @@
 
       # params for detection area
       detection_area:
-        lateral_margin: 0.0                  # margin of vehicle footprint [m]
+        lateral_margin: 0.0                  # margin [m]
+        vehicle_lateral_margin: 0.0          # margin of vehicle footprint [m]
+        pedestrian_lateral_margin: 0.0       # margin of pedestrian footprint [m]
+        unknown_lateral_margin: 0.0          # margin of unknown footprint [m]
         step_length: 1.0                     # step length for pointcloud search range [m]
         extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
 
@@ -33,6 +38,9 @@
       # params for detection area
       detection_area:
         lateral_margin: 1.0                  # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+        vehicle_lateral_margin: 1.0          # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+        pedestrian_lateral_margin: 1.0       # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m]
+        unknown_lateral_margin: 1.0          # offset from unknown side edge for expanding the search area of the surrounding point cloud [m]
 
       # params for velocity
       target_velocity:
diff --git a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
new file mode 100644
index 0000000000..29d577a7ad
--- /dev/null
+++ b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    avoidance:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    lane_change:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    lane_following:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    pull_out:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    pull_over:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    side_shift:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
diff --git a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
new file mode 100644
index 0000000000..0e3391e69e
--- /dev/null
+++ b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    module_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "ext_request_lane_change_left"
+      - "ext_request_lane_change_right"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
+
+    default_enable_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index cba9c3c0a2..cc015ebbed 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -8,5 +8,6 @@
     <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+    <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
   </include>
 </launch>