diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
index 9512ed388d..59e25cbc5d 100644
--- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -3,6 +3,10 @@
     # Node
     update_rate: 10.0
     visualize_lanelet: false
+    include_right_lanes: false
+    include_left_lanes: false
+    include_opposite_lanes: false
+    include_conflicting_lanes: false
 
     # Core
     footprint_margin_scale: 1.0
diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
new file mode 100644
index 0000000000..a801eca35c
--- /dev/null
+++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    arrival_check_angle_deg: 45.0
+    arrival_check_distance: 1.0
+    arrival_check_duration: 1.0
+    goal_angle_threshold_deg: 45.0
+    enable_correct_goal_pose: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
index 654e291cd2..e3899e3820 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
@@ -10,6 +10,7 @@
       obstacle_velocity_thresh_to_start_acc: 3.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]
       obstacle_velocity_thresh_to_stop_acc: 3.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]
       emergency_stop_acceleration: -4.5 # supposed minimum acceleration (deceleration) in emergency stop [m/ss]
+      obstacle_emergency_stop_acceleration: -5.0
       emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s]
       min_dist_stop: 6.0 # minimum distance of emergency stop [m]
       max_standard_acceleration: 1.0 # supposed maximum acceleration in active cruise control [m/ss]
@@ -18,6 +19,7 @@
       min_dist_standard: 6.0 # minimum distance in active cruise control [m]
       obstacle_min_standard_acceleration: -2.0 # supposed minimum acceleration of forward obstacle [m/ss]
       margin_rate_to_change_vel: 0.7 # margin to insert upper velocity [-]
+      use_time_compensation_to_calc_distance: true
 
       # pid parameter for ACC
       p_coefficient_positive: 0.25 # coefficient P in PID control (used when target dist -current_dist >=0) [-]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 6924435ebc..141297a2a7 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -26,7 +26,7 @@
         pedestrian_lateral_margin: 0.0       # margin of pedestrian footprint [m]
         unknown_lateral_margin: 0.0          # margin of unknown footprint [m]
         step_length: 1.0                     # step length for pointcloud search range [m]
-        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
+        enable_stop_behind_goal_for_obstacle: True # enable extend trajectory after goal lane for obstacle detection
 
 
     slow_down_planner:
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 52a8503829..8367c2b562 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -105,7 +105,7 @@
 
   <!-- Sensing -->
   <group if="$(var launch_sensing)">
-    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_sensing_component.launch.xml"/>
   </group>
 
   <!-- Localization -->
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 3cd4ba4284..d9f119c241 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -23,6 +23,9 @@
     <!-- rtc -->
     <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
 
+    <!-- mission planner -->
+    <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
+
     <!-- behavior path planner -->
     <arg
       name="side_shift_param_path"