diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 249cc72cd..5268291d4 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -903,6 +903,7 @@ Visualization Manager:
               Name: RouteArea
               Namespaces:
                 goal_lanelets: true
+                lane_start_bound: false
                 left_lane_bound: false
                 right_lane_bound: false
                 route_lanelets: true
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
index 9c90589fc..eec9eb99c 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -4,6 +4,7 @@
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -42,6 +43,7 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
       </include>
     </group>
 
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
index 6d723c510..936bfc76c 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
@@ -4,5 +4,6 @@
       stop_margin: 0.0
       stop_check_dist: 2.0
       stop_duration_sec: 1.0
+      use_initialization_stop_line_state: true
       debug:
         show_stopline_collision_check: false            # [-] whether to show stopline collision