diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 81a7761e76..ec12b836e3 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -8,8 +8,10 @@
backward_length_buffer_for_end_of_lane: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]
- lane_changing_lateral_jerk: 0.5 # [m/s3]
- lane_changing_lateral_acc: 0.5 # [m/s2]
+ lane_changing_lateral_jerk: 0.5 # [m/s3]
+ lane_changing_lateral_acc: 0.315 # [m/s2]
+ lane_changing_lateral_acc_at_low_velocity: 0.15 # [m/s2]
+ lateral_acc_switching_velocity: 4.0 #[m/s]
minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index f774d11d2a..6f1341cb02 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -11,6 +11,7 @@
launch_no_stopping_area: true
launch_run_out: false
launch_speed_bump: false
+ launch_out_of_lane: true
forward_path_length: 1000.0
backward_path_length: 5.0
stop_line_extend_length: 5.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
new file mode 100644
index 0000000000..c501599b4a
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -0,0 +1,39 @@
+/**:
+ ros__parameters:
+ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects
+ mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
+ skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane
+
+ threshold:
+ time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time
+ intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
+ ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
+ objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
+ ttc:
+ threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
+
+ objects:
+ minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored
+ use_predicted_paths: true # if true, use the predicted paths to estimate future positions.
+ # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
+
+ overlap:
+ minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered
+ extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
+
+ action: # action to insert in the path if an object causes a conflict at an overlap
+ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
+ strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego
+ # if false, ego stops just before entering a lane but may then be overlapping another lane.
+ distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
+ slowdown:
+ distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
+ velocity: 2.0 # [m/s] slowdown velocity
+ stop:
+ distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
+
+ ego:
+ extra_front_offset: 0.0 # [m] extra front distance
+ extra_rear_offset: 0.0 # [m] extra rear distance
+ extra_right_offset: 0.0 # [m] extra right distance
+ extra_left_offset: 0.0 # [m] extra left distance
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a520ef4bc5..a126783e47 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -89,6 +89,7 @@
/>
+