diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index a5a4941bfe..d4c49b7e8e 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -95,9 +95,8 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
-    # cspell: ignore degrounded
-    # A flag for using scan matching score based on de-grounded LiDAR scan
-    estimate_scores_for_degrounded_scan: false
+    # A flag for using scan matching score based on no ground LiDAR scan
+    estimate_scores_by_no_ground_points: false
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml
new file mode 100644
index 0000000000..ed1ce176ed
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 80.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml
new file mode 100644
index 0000000000..a8b2562883
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 70.0
diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
index 13369d5422..e4ea2becd7 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
@@ -23,4 +23,4 @@
 
     # logging
     enable_logging: false
-    log_file_path: "/tmp/decorative_tracker_merger.log"
+    logging_file_path: "/tmp/decorative_tracker_merger.log"
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 238d40e7ad..86bcf801f4 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
@@ -59,6 +59,8 @@
           object_expected_deceleration: 2.0
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
+        avoid_collision_by_acceleration:
+          object_time_margin_to_collision_point: 4.0
 
       occlusion:
         enable: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 939792af84..8636141685 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_range_splitter_radar_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"