diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index bc3213081d..e3f730da30 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.17
+    delay_compensation_time: 0.5
 
-    enable_smooth_stop: true
+    enable_smooth_stop: false
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 4a458a647e..0a45138323 100644
--- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -8,9 +8,9 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 0.4             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
-    decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
+    max_lateral_accel: 0.2            # max lateral acceleration limit [m/ss]
+    min_curve_velocity: 0.5            # min velocity at lateral acceleration limit [m/ss]
+    decel_distance_before_curve: 2.0  # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
 
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
index 0e3391e69e..92201c4fd8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -1,31 +1,11 @@
 /**:
   ros__parameters:
     module_list:
-      - "blind_spot"
-      - "crosswalk"
       - "detection_area"
-      - "intersection"
-      - "no_stopping_area"
-      - "traffic_light"
-      - "ext_request_lane_change_left"
-      - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
-      - "avoidance_left"
-      - "avoidance_right"
-      - "pull_over"
-      - "pull_out"
 
     default_enable_list:
-      - "blind_spot"
-      - "crosswalk"
       - "detection_area"
-      - "intersection"
-      - "no_stopping_area"
-      - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
-      - "avoidance_left"
-      - "avoidance_right"
-      - "pull_over"
-      - "pull_out"
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 a8023482fc..c0e5819c31 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
@@ -22,7 +22,7 @@
 
       # params for detection area
       detection_area:
-        lateral_margin: 0.0                  # margin [m]
+        lateral_margin: 0.2                  # margin [m]
         vehicle_lateral_margin: 0.0          # margin of vehicle footprint [m]
         pedestrian_lateral_margin: 0.0       # margin of pedestrian footprint [m]
         unknown_lateral_margin: 0.0          # margin of unknown footprint [m]