diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index 57147dcbd2..1609cdbc60 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -1,26 +1,9 @@
 /**:
   ros__parameters:
     # Static expansion
-    avoidance:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
-    lane_change:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
-    pull_out:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
-    pull_over:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
-    side_shift:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
+    drivable_area_right_bound_offset: 0.0
+    drivable_area_left_bound_offset: 0.0
+    drivable_area_types_to_skip: [road_border]
 
     # Dynamic expansion by projecting the ego footprint along the path
     dynamic_expansion:
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 8a69d80394..b40c01ad3f 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
@@ -28,5 +28,17 @@
         collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
 
+      occlusion:
+        enable: false
+        occlusion_detection_area_length: 70.0 # [m]
+        enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
+        occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
+        free_space_max: 43
+        occupied_min: 58
+        do_dp: true
+        before_creep_stop_time: 1.0 # [s]
+        min_vehicle_brake_for_rss: -2.5 # [m/s^2]
+        max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
+
     merge_from_private:
       stop_duration_sec: 1.0
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 f38becc39f..321c59bb50 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
@@ -15,6 +15,7 @@
       - "avoidance_right"
       - "pull_over"
       - "pull_out"
+      - "intersection_occlusion"
 
     default_enable_list:
       - "blind_spot"
@@ -29,3 +30,4 @@
       - "avoidance_right"
       - "pull_over"
       - "pull_out"
+      - "intersection_occlusion"
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 1b48b2b9db..5ba730c8e2 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1172,6 +1172,29 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: (old)PathChangeCandidate_LaneChange
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true