diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml
new file mode 100644
index 0000000000..c6351bea72
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 5.5
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml
new file mode 100644
index 0000000000..6a40ac9616
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 4.5
diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index b367fef386..4c58c066ed 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -30,3 +30,6 @@
         detection_range_z_max: 2.5
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0
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 27ce630f1a..154c4b1e0b 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
@@ -14,6 +14,7 @@
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -23,6 +24,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
+      geometric_collision_check_distance_from_end: 0.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index a2cd12b2c1..7de7741be2 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 8636141685..2940bd614e 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -88,6 +88,14 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
     />
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <arg
+      name="object_recognition_detection_object_velocity_splitter_radar_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_detection_object_range_splitter_radar_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index d920584c6c..4d978dc3fa 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index a2b66e91ed..57cbc38af6 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 030299f5af..d19c7308f0 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->