diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 2324976f49..400bc926a1 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -70,15 +70,3 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
-
-    # vehicle parameters
-    vehicle:
-      cg_to_front_m: 1.228
-      cg_to_rear_m: 1.5618
-      mass_kg: 2400.0
-      mass_fl: 600.0
-      mass_fr: 600.0
-      mass_rl: 600.0
-      mass_rr: 600.0
-      cf: 155494.663
-      cr: 155494.663
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index eb2ef443c4..bc3213081d 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -5,19 +5,19 @@
     enable_smooth_stop: true
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
-    enable_slope_compensation: false
+    enable_slope_compensation: true
     enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.49
+    stopping_state_stop_dist: 0.5
     stopped_state_entry_duration_time: 0.1
-    stopped_state_entry_vel: 0.1
+    stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
     emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7
+    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0
@@ -38,7 +38,7 @@
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -1.0
+    smooth_stop_min_strong_acc: -0.8
     smooth_stop_weak_acc: -0.3
     smooth_stop_weak_stop_acc: -0.8
     smooth_stop_strong_stop_acc: -3.4
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 e42f188a62..40de19bd6c 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
@@ -6,6 +6,8 @@
       resample_interval_for_output: 4.0                 # [m]
       detection_area_right_expand_dist: 0.0             # [m]
       detection_area_left_expand_dist: 1.0              # [m]
+      drivable_area_right_bound_offset: 0.0             # [m]
+      drivable_area_left_bound_offset: 0.0              # [m]
       object_envelope_buffer: 0.3                       # [m]
 
       # avoidance module common setting