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/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 1bfe689c55..f298406792 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
@@ -32,6 +33,7 @@
         use_object_recognition: true
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
+        th_moving_object_velocity: 1.0
 
       # pull over
       pull_over:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index b71c2d667c..aadd0ccd02 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -20,6 +20,10 @@
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
+      stop_on_curve:
+        enable_approaching: false
+        additional_safe_distance_margin: 3.0 # [m]
+        min_safe_distance_margin: 3.0 # [m]
       suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type:
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 9b130902a9..00e924da39 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -16,8 +16,6 @@ Panels:
     Expanded: ~
     Name: Views
     Splitter Ratio: 0.5
-  - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel
-    Name: InitialPoseButtonPanel
   - Class: AutowareDateTimePanel
     Name: AutowareDateTimePanel
   - Class: rviz_plugins::AutowareStatePanel
@@ -321,6 +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