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 e2918e0e68..b8ef728d27 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
@@ -143,3 +143,11 @@
         matrix:
           [2.78, 13.9,                                  # velocity [m/s]
            0.50, 1.00]                                  # margin [m]
+
+      shift_line_pipeline:
+        trim:
+          quantize_filter_threshold: 0.2
+          same_grad_filter_1_threshold: 0.1
+          same_grad_filter_2_threshold: 0.2
+          same_grad_filter_3_threshold: 0.5
+          sharp_shift_filter_threshold: 0.2
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 1a8a8c93ad..1bd3923127 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1900,10 +1900,15 @@ Visualization Manager:
                     - Class: rviz_common/Group
                       Displays:
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (Avoidance)
                           Namespaces:
-                            {}
+                            avoidable_target_objects_info: false
+                            avoidable_target_objects_info_reason: false
+                            avoidable_target_objects_envelope_polygon: false
+                            unavoidable_target_objects_info: false
+                            unavoidable_target_objects_info_reason: false
+                            unavoidable_target_objects_envelope_polygon: false
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
@@ -1912,7 +1917,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (AvoidanceByLC)
                           Namespaces:
                             {}
@@ -1924,7 +1929,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (LaneChangeLeft)
                           Namespaces:
                             {}
@@ -1936,7 +1941,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (LaneChangeRight)
                           Namespaces:
                             {}
@@ -1948,7 +1953,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (ExtLaneChangeLeft)
                           Namespaces:
                             {}
@@ -1960,7 +1965,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (ExtLaneChangeRight)
                           Namespaces:
                             {}
@@ -1972,7 +1977,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (PullOver)
                           Namespaces:
                             {}
@@ -1984,7 +1989,7 @@ Visualization Manager:
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_over
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: Info (PullOut)
                           Namespaces:
                             {}
@@ -1995,7 +2000,7 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out
                           Value: false
-                      Enabled: true
+                      Enabled: false
                       Name: InfoMarker
                   Enabled: true
                   Name: BehaviorPlanning