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 f7548536be..710001ec58 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
@@ -21,14 +21,14 @@
     # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
-    voxel_grid_x: 0.05
-    voxel_grid_y: 0.05
-    voxel_grid_z: 100000.0
+    voxel_grid_x: 0.1
+    voxel_grid_y: 0.1
+    voxel_grid_z: 0.5
 
     # Point cloud cropping
-    expand_width: 0.1
-    path_footprint_extra_margin: 4.0
-    speed_calculation_expansion_margin: 0.5
+    expand_width: -0.2
+    path_footprint_extra_margin: 1.0
+    speed_calculation_expansion_margin: 0.7
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
@@ -37,10 +37,10 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 2.0
+    longitudinal_offset: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    collision_keeping_sec: 2.0
+    collision_keeping_sec: 3.0
     previous_obstacle_keep_time: 1.0
     aeb_hz: 10.0
diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
index 945a37ca58..7485df43a5 100644
--- a/autoware_launch/config/control/control_validator/control_validator.param.yaml
+++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -9,5 +9,9 @@
 
     thresholds:
       max_distance_deviation: 1.0
-      max_reverse_velocity: 0.2
-      max_over_velocity_ratio: 0.1
+      rolling_back_velocity: 0.5
+      over_velocity_offset: 2.0
+      over_velocity_ratio: 0.2
+
+    vel_lpf_gain: 0.9 # Time constant 0.33
+    hold_velocity_error_until_stop: true
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 5eb71126bb..f7db82e17a 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
@@ -73,21 +73,21 @@
         # parallel parking path
         parallel_parking:
           path_interval: 1.0
-          max_steer_angle: 0.35  # 20deg
+          max_steer_angle: 0.4 #22.9deg
           forward:
             enable_arc_forward_parking: true
             after_forward_parking_straight_distance: 2.0
             forward_parking_velocity: 1.38
             forward_parking_lane_departure_margin: 0.0
             forward_parking_path_interval: 1.0
-            forward_parking_max_steer_angle: 0.35  # 20deg
+            forward_parking_max_steer_angle: 0.4  # 22.9deg
           backward:
             enable_arc_backward_parking: true
             after_backward_parking_straight_distance: 2.0
             backward_parking_velocity: -1.38
             backward_parking_lane_departure_margin: 0.0
             backward_parking_path_interval: 1.0
-            backward_parking_max_steer_angle: 0.35  # 20deg
+            backward_parking_max_steer_angle: 0.4  # 22.9deg
 
         # freespace parking
         freespace_parking:
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 a71c202b05..9ad5510ab2 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
@@ -43,14 +43,14 @@
       lane_departure_margin: 0.2
       lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
-      pull_out_max_steer_angle: 0.26  # 15deg
+      pull_out_max_steer_angle: 0.4  # 22.9deg
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
       max_back_distance: 20.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
-      ignore_distance_from_lane_end: 15.0
+      ignore_distance_from_lane_end: 0.0
       # turns signal
       prepare_time_before_start: 0.0
       # freespace planner
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 3e99e140c8..5a0757401b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -80,7 +80,7 @@
       # param for occlusions
       occlusion:
         enable: true  # if true, ego will slowdown around crosswalks that are occluded
-        occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
+        occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
         min_size: 1.0  # [m] minimum size of an occlusion (square side size)
diff --git a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml
index 84e7d79079..033b20d234 100644
--- a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml
+++ b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml
@@ -2,9 +2,11 @@
   ros__parameters:
     update_rate: 10.0
     processing_time_topic_name_list:
+      - /control/control_validator/debug/processing_time_ms
       - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms
       - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms
       - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms
+      - /control/vehicle_cmd_gate/debug/processing_time_ms
       - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms
       - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms
       - /planning/planning_validator/debug/processing_time_ms
@@ -33,5 +35,8 @@
       - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/processing_time_ms
       - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/processing_time_ms
       - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms
+      - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms
+      - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms
+      - /planning/scenario_planning/scenario_selector/debug/processing_time_ms
       - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms
       - /simulation/shape_estimation/debug/processing_time_ms
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 105b49a2d9..9f00aabe4c 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -19,12 +19,13 @@
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="If the model name is not declared, the default model in perception.launch.xml will be used"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
+    <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
 
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index 3bef9b5d1e..504337c1a0 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -53,6 +53,7 @@
     />
     <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
     <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
+    <arg name="stop_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/stop_filter.param.yaml"/>
     <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
     <arg name="twist2accel_param_path" value="$(find-pkg-share autoware_launch)/config/localization/twist2accel.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>