diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 09db0feb34..6206fd9f1d 100644
--- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     use_predicted_trajectory: true
-    use_imu_path: true
+    use_imu_path: false
     voxel_grid_x: 0.05
     voxel_grid_y: 0.05
     voxel_grid_z: 100000.0
@@ -13,5 +13,5 @@
     a_obj_min: -1.0
     prediction_time_horizon: 1.5
     prediction_time_interval: 0.1
-    collision_keeping_sec: 0.0
+    collision_keeping_sec: 2.0
     aeb_hz: 10.0
diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
index 4e335e3574..4f730a9460 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 10.0
+    v_ratio: 0.5
diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
index 8077bdec50..e8344bee3a 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -19,9 +19,9 @@
     gridmap_origin_frame: "base_link"
     # ray-tracing center: main sensor frame is preferable like: "velodyne_top"
     # base_link should not be used with "OccupancyGridMapProjectiveBlindSpot"
-    scan_origin_frame: "base_link"
+    scan_origin_frame: "velodyne_top"
 
-    grid_map_type: "OccupancyGridMapFixedBlindSpot"
+    grid_map_type: "OccupancyGridMapProjectiveBlindSpot"
     OccupancyGridMapFixedBlindSpot:
       distance_margin: 1.0
     OccupancyGridMapProjectiveBlindSpot:
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 efbdf2276e..ba2dbe5f2d 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
@@ -40,7 +40,7 @@
         truck:
           is_target: true
           execute_num: 1
-          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_speed_threshold: 2.0                  # 7.2km/h
           moving_time_threshold: 2.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
@@ -50,7 +50,7 @@
         bus:
           is_target: true
           execute_num: 1
-          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_speed_threshold: 2.0                  # 7.2km/h
           moving_time_threshold: 2.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
@@ -60,7 +60,7 @@
         trailer:
           is_target: true
           execute_num: 1
-          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_speed_threshold: 2.0                  # 7.2km/h
           moving_time_threshold: 2.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
@@ -73,9 +73,9 @@
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.3
+          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
         bicycle:
           is_target: true
@@ -165,7 +165,7 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.501          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          soft_road_shoulder_margin: 0.3                # [m]
+          soft_road_shoulder_margin: 0.8                # [m]
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
index bd8545d9e6..da45e24ce9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -43,7 +43,7 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         unknown:
-          is_target: true
+          is_target: false
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
index d4da549dcd..65582656b9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -67,9 +67,8 @@
       priority: 5
       max_module_size: 1
 
-    # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
-      enable_module: false
+      enable_module: true
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 92aa8acd18..151df8192a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -34,7 +34,7 @@
         not_prioritized:
           collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
           collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
-        keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
+        keep_detection_vel_thr: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
         use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
         minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity
         yield_on_green_traffic_light:
@@ -47,7 +47,7 @@
         occlusion_attention_area_length: 70.0 # [m]
         enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
         occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
-        peeking_offset: -0.5 # [m] offset for peeking into detection area
+        peeking_offset: 1.0 # [m] offset for peeking into detection area
         free_space_max: 43
         occupied_min: 58
         do_dp: true
@@ -63,7 +63,7 @@
           creep_velocity: 1.388 # [m/s]
           maximum_peeking_distance: 6.0 # [m]
         attention_lane_crop_curvature_threshold: 0.25
-        attention_lane_curvature_calculation_ds: 0.5
+        attention_lane_curvature_calculation_ds: 0.6
 
       enable_rtc:
         intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
index 950e808a6e..e138c9fe94 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -19,6 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         # /autoware/control/external_control/local_external_control/device_connection: default
 
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index 18a91ebaee..ea4ab8481e 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -19,6 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/external_control/local_external_control/device_connection: default
 
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
index a8a562689f..f3636bf460 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -20,6 +20,7 @@
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
         /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index d4baac0a46..e3d792ccb6 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="true"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
@@ -13,6 +13,7 @@
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
     <!-- option -->
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="use_multithread" value="true"/>
     <arg name="vehicle_id" value="$(var vehicle_id)"/>
     <arg name="enable_obstacle_collision_checker" value="false"/>
     <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>