diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
similarity index 95%
rename from autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
rename to autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 68a42383fe..4233f8b6be 100644
--- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -3,6 +3,7 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: false
+    use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
index 253737609b..3094edf914 100644
--- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -16,6 +16,7 @@
 
     # Core
     footprint_margin_scale: 1.0
+    footprint_extra_margin: 0.0
     resample_interval: 0.3
     max_deceleration: 2.8
     delay_time: 1.3
diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
index ec80a0ef79..f62329b8bd 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
@@ -12,6 +12,9 @@
 
 
     sensor_points:
+      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+      timeout_sec: 1.0
+
       # Required distance of input sensor points. [m]
       # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
       required_distance: 10.0
@@ -52,18 +55,21 @@
 
 
     validation:
-      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
-      lidar_topic_timeout_sec: 1.0
-
       # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
       initial_pose_timeout_sec: 1.0
 
       # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
       initial_pose_distance_tolerance_m: 10.0
 
+      # Tolerance of distance difference from initial pose to result pose. [m]
+      initial_to_result_distance_tolerance_m: 3.0
+
       # The execution time which means probably NDT cannot matches scans properly. [ms]
       critical_upper_bound_exe_time_ms: 100.0
 
+      # Tolerance for the number of times rejected estimation results consecutively
+      skipping_publish_num: 5
+
 
     score_estimation:
       # Converged param type
diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
index b830e038f1..48152605ec 100755
--- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml
+++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -1,4 +1,5 @@
 /**:
   ros__parameters:
-    center_line_resolution: 5.0         # [m]
+    center_line_resolution: 5.0                 # [m]
+    use_waypoints: true                         # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
     lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path
diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
index dfdee95642..99050d9738 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : false
       BICYCLE : false
       PEDESTRIAN : false
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+       enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index ba1b08abd6..e123b0dda6 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -1,7 +1,10 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 10.0 #[s]
+    prediction_time_horizon:
+      vehicle: 15.0 #[s]
+      pedestrian: 10.0 #[s]
+      unknown: 10.0 #[s]
     lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
new file mode 100644
index 0000000000..b57f37675d
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
@@ -0,0 +1,82 @@
+/**:
+  ros__parameters:
+    input_channels:
+      detected_objects:
+        topic: "/perception/object_recognition/detection/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "detected_objects"
+          short_name: "all"
+      # LIDAR - rule-based
+      lidar_clustering:
+        topic: "/perception/object_recognition/detection/clustering/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "clustering"
+          short_name: "Lcl"
+      # LIDAR - DNN
+      lidar_centerpoint:
+        topic: "/perception/object_recognition/detection/centerpoint/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_centerpoint_validated:
+        topic: "/perception/object_recognition/detection/centerpoint/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_apollo:
+        topic: "/perception/object_recognition/detection/apollo/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      lidar_apollo_validated:
+        topic: "/perception/object_recognition/detection/apollo/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      # LIDAR-CAMERA - DNN
+      # cspell:ignore lidar_pointpainitng pointpainting
+      lidar_pointpainitng:
+        topic: "/perception/object_recognition/detection/pointpainting/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      lidar_pointpainting_validated:
+        topic: "/perception/object_recognition/detection/pointpainting/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      # CAMERA-LIDAR
+      camera_lidar_fusion:
+        topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "camera_lidar_fusion"
+          short_name: "CLf"
+      # CAMERA-LIDAR+TRACKER
+      detection_by_tracker:
+        topic: "/perception/object_recognition/detection/detection_by_tracker/objects"
+        can_spawn_new_tracker: false
+        optional:
+          name: "detection_by_tracker"
+          short_name: "dbT"
+      # RADAR
+      radar:
+        topic: "/sensing/radar/detected_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar"
+          short_name: "R"
+      radar_far:
+        topic: "/perception/object_recognition/detection/radar/far_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar_far"
+          short_name: "Rf"
diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
index 32a12f8bf5..006c179ae1 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -13,11 +13,10 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
-    pass_through_unknown_objects: false
-    publish_untracked_objects: false
 
     # debug parameters
     publish_processing_time: true
     publish_tentative_objects: false
+    publish_debug_markers: true
     diagnostics_warn_delay: 0.5      # [sec]
     diagnostics_error_delay: 1.0     # [sec]
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 143f11572b..0ffeeeccf0 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -1,13 +1,13 @@
 launch:
   # behavior path modules
   - arg:
-      name: launch_avoidance_module
+      name: launch_static_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
       default: "true"
   - arg:
-      name: launch_dynamic_avoidance_module
+      name: launch_dynamic_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_sampling_planner_module
@@ -74,15 +74,9 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "true"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
-  - arg:
-      name: launch_dynamic_obstacle_stop_module
-      default: "true"
 
   # motion planning modules
   - arg:
@@ -93,11 +87,22 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
+  # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
+
   - arg:
       name: motion_stop_planner_type
       default: obstacle_cruise_planner
@@ -106,7 +111,7 @@ launch:
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml
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/autoware_velocity_smoother/velocity_smoother.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
similarity index 97%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index dc42af0412..24e88c8ed6 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -270,7 +270,7 @@
       constraints:
         # lateral constraints
         lateral:
-          velocity: [1.0, 1.38, 11.1]                   # [m/s]
+          velocity: [1.39, 4.17, 11.1]                  # [m/s]
           max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
           min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
           max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
@@ -293,4 +293,11 @@
 
       # for debug
       debug:
-        marker: false
+        enable_other_objects_marker: false
+        enable_other_objects_info: false
+        enable_detection_area_marker: false
+        enable_drivable_bound_marker: false
+        enable_safety_check_marker: false
+        enable_shift_line_marker: false
+        enable_lane_marker: false
+        enable_misc_marker: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index b43179c844..cb1c2b9e30 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -19,6 +19,7 @@
     turn_signal_minimum_search_distance: 10.0
     turn_signal_search_time: 3.0
     turn_signal_shift_length_threshold: 0.3
+    turn_signal_remaining_shift_length_threshold: 0.1
     turn_signal_on_swerving: true
 
     enable_akima_spline_first: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
index 8d4fe057b4..59289d30f5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -59,7 +59,7 @@
       priority: 1
       max_module_size: 1
 
-    avoidance:
+    static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -75,7 +75,7 @@
       priority: 3
       max_module_size: 1
 
-    dynamic_avoidance:
+    dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index f2ba29e926..7d64d8c44a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -26,7 +26,6 @@
       allow_check_shift_path_lane_departure_override: false
       shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
-      deceleration_interval: 15.0
       maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation"
       lateral_jerk: 0.5
       lateral_acceleration_sampling_num: 3
@@ -36,10 +35,11 @@
       # geometric pull out
       enable_geometric_pull_out: true
       geometric_collision_check_distance_from_end: 0.0
+      arc_path_interval: 1.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
-      arc_path_interval: 1.0
       lane_departure_margin: 0.2
+      lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
       pull_out_max_steer_angle: 0.26  # 15deg
       # search start pose backward
@@ -51,9 +51,6 @@
       ignore_distance_from_lane_end: 15.0
       # turns signal
       prepare_time_before_start: 0.0
-      th_turn_signal_on_lateral_offset: 1.0
-      intersection_search_length: 30.0
-      length_ratio_for_turn_signal_deactivation_near_intersection: 0.5
       # freespace planner
       freespace_planner:
         enable_freespace_planner: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
index 424029300a..d7131d8c19 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -3,10 +3,12 @@
     blind_spot:
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
-      backward_length: 50.0 # [m]
-      ignore_width_from_center_line: 0.0 # [m]
-      max_future_movement_time: 10.0 # [second]
-      threshold_yaw_diff: 0.523 # [rad]
+      backward_detection_length: 100.0 # [m]
+      ignore_width_from_center_line: 0.7 # [m]
       adjacent_extend_width: 1.5 # [m]
       opposite_adjacent_extend_width: 1.5 # [m]
-      enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      max_future_movement_time: 10.0 # [second]
+      ttc_min: -5.0 # [s]
+      ttc_max: 5.0 # [s]
+      ttc_ego_minimal_velocity: 5.0 # [m/s]
+      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml
similarity index 87%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml
index ac95cd75c8..10d749e57a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml
@@ -8,5 +8,5 @@
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
       add_stop_duration_buffer : 0.5  # [s] duration where a collision must be continuously detected before a stop decision is added
       remove_stop_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being remove
-      minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
+      minimum_object_distance_from_ego_trajectory: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml
new file mode 100644
index 0000000000..5b2fea537d
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    smooth_velocity_before_planning: true  # [-] if true, smooth the velocity profile of the input trajectory before planning
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter.param.yaml
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/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index e9f5833463..42e5ca054a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -87,7 +87,8 @@
         obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
 
       stop:
-        max_lat_margin: 0.3 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint
+        max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
         crossing_obstacle:
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
@@ -205,3 +206,15 @@
       lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
       lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
       lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start
+    stop:
+      type_specified_params:
+        labels: # For the listed types, the node try to read the following type specified values
+          - "default"
+          - "unknown"
+        # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined.
+          # limit_min_acc: common_param.yaml/limit.min_acc
+        unknown:
+          limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred.
+          sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop".
+          sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop".
+          abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit.
diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
index 098aa0e56b..3845a96108 100644
--- a/autoware_launch/config/system/component_state_monitor/topics.yaml
+++ b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -4,7 +4,7 @@
   args:
     node_name_suffix: vector_map
     topic: /map/vector_map
-    topic_type: autoware_auto_mapping_msgs/msg/HADMapBin
+    topic_type: autoware_map_msgs/msg/LaneletMapBin
     best_effort: false
     transient_local: true
     warn_rate: 0.0
@@ -69,7 +69,7 @@
   args:
     node_name_suffix: object_recognition_objects
     topic: /perception/object_recognition/objects
-    topic_type: autoware_auto_perception_msgs/msg/PredictedObjects
+    topic_type: autoware_perception_msgs/msg/PredictedObjects
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -82,7 +82,7 @@
   args:
     node_name_suffix: traffic_light_recognition_traffic_signals
     topic: /perception/traffic_light_recognition/traffic_signals
-    topic_type: autoware_perception_msgs/msg/TrafficSignalArray
+    topic_type: autoware_perception_msgs/msg/TrafficLightGroupArray
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -108,7 +108,7 @@
   args:
     node_name_suffix: scenario_planning_trajectory
     topic: /planning/scenario_planning/trajectory
-    topic_type: autoware_auto_planning_msgs/msg/Trajectory
+    topic_type: autoware_planning_msgs/msg/Trajectory
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -121,7 +121,7 @@
   args:
     node_name_suffix: trajectory_follower_control_cmd
     topic: /control/trajectory_follower/control_cmd
-    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    topic_type: autoware_control_msgs/msg/Control
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -134,7 +134,7 @@
   args:
     node_name_suffix: control_command_control_cmd
     topic: /control/command/control_cmd
-    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    topic_type: autoware_control_msgs/msg/Control
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -147,7 +147,7 @@
   args:
     node_name_suffix: vehicle_status_velocity_status
     topic: /vehicle/status/velocity_status
-    topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport
+    topic_type: autoware_vehicle_msgs/msg/VelocityReport
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -160,7 +160,7 @@
   args:
     node_name_suffix: vehicle_status_steering_status
     topic: /vehicle/status/steering_status
-    topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport
+    topic_type: autoware_vehicle_msgs/msg/SteeringReport
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -173,7 +173,7 @@
   args:
     node_name_suffix: system_emergency_control_cmd
     topic: /system/emergency/control_cmd
-    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    topic_type: autoware_control_msgs/msg/Control
     best_effort: false
     transient_local: false
     warn_rate: 5.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
new file mode 100644
index 0000000000..9950acbc7e
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -0,0 +1,5 @@
+files:
+  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
new file mode 100644
index 0000000000..42af3f79a3
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -0,0 +1,2 @@
+files:
+  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
new file mode 100644
index 0000000000..dfc820f93c
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -0,0 +1,2 @@
+files:
+  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
index 8210c7db23..9710e1a1e4 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -35,6 +35,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         # /autoware/sensing/node_alive_monitoring: default
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index af8ec0da30..c1821a05ab 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -35,6 +35,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         # /autoware/sensing/node_alive_monitoring: default
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
index 7a219a4c89..8b76c48ac7 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -25,7 +25,7 @@
         /autoware/localization/node_alive_monitoring: default
         # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         # /autoware/localization/performance_monitoring/localization_error_ellipse: default
-
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
         /autoware/map/node_alive_monitoring: default
 
         /autoware/perception/node_alive_monitoring: default
diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
index aa76152e57..c11af361f3 100644
--- a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
+++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
-    csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
-    csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
-    csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
+    csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv
+    csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv
+    csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: false
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 3d713f3716..38f8550f72 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,6 +37,7 @@
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index cf5c333dc4..09b817b149 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -39,7 +39,7 @@
     <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
-    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
+    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
     <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 8418afabdf..e13b987607 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -49,7 +49,7 @@
     />
     <arg
       name="object_recognition_detection_fusion_sync_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml"
     />
     <arg
       name="object_recognition_detection_roi_cluster_fusion_param_path"
@@ -116,6 +116,10 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_input_channels_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index f093ce8133..1f929543d4 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -26,10 +26,16 @@
     <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
     <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
     <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
-    <arg name="behavior_path_planner_avoidance_module_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
+    <arg
+      name="behavior_path_planner_static_obstacle_avoidance_module_param_path"
+      value="$(var behavior_path_config_path)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml"
+    />
     <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml"/>
     <arg name="behavior_path_planner_sampling_planner_module_param_path" value="$(var behavior_path_config_path)/sampling_planner/sampling_planner.param.yaml"/>
-    <arg name="behavior_path_planner_dynamic_avoidance_module_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
+    <arg
+      name="behavior_path_planner_dynamic_obstacle_avoidance_module_param_path"
+      value="$(var behavior_path_config_path)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml"
+    />
     <arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
     <arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
     <arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
@@ -37,7 +43,7 @@
 
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
-    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>
     <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
     <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
@@ -51,9 +57,7 @@
     <arg name="behavior_velocity_planner_no_stopping_area_module_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
     <arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
     <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
-    <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
-    <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
     <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>
 
     <!-- parking -->
@@ -62,17 +66,24 @@
     <!-- motion -->
     <arg name="motion_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
     <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
-    <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
+    <arg name="path_optimizer_param_path" value="$(var motion_config_path)/autoware_path_optimizer/path_optimizer.param.yaml"/>
     <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
-    <arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
     <arg name="surround_obstacle_checker_param_path" value="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
     <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
     <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
+    <arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
+    <arg name="motion_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml"/>
+    <arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
+    <arg name="motion_velocity_planner_obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml"/>
+    <arg
+      name="motion_velocity_planner_velocity_smoother_type_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"
+    />
 
     <!-- motion velocity smoother -->
-    <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var motion_velocity_smoother_type).param.yaml"/>
+    <arg name="velocity_smoother_param_path" value="$(var common_config_path)/autoware_velocity_smoother/velocity_smoother.param.yaml"/>
+    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml"/>
 
     <!-- planning validator -->
     <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index c2f2b7ca92..a0eb99c7a7 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -41,6 +41,10 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_input_channels_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 9fac31c3af..d5082a91e8 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
+  <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
 
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
@@ -27,10 +29,9 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
 
-    <arg name="use_diagnostic_graph" value="false"/>
+    <arg name="use_emergency_handler" value="true"/>
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
-    <!-- <arg name="diagnostic_graph_aggregator_param_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
-    <!-- <arg name="diagnostic_graph_aggregator_graph_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
-    <!-- <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
+    <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
+    <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 902d9bc33c..d05d0acb62 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,6 +6,7 @@
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -39,6 +40,9 @@
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+  </group>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
@@ -68,6 +72,7 @@
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 77d17d7897..8780578a6e 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -63,6 +63,7 @@
       <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index b389abf61c..d038e7096b 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -61,6 +61,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-psim.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 40db36a916..61e8cf522c 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.557669460773468
-    Tree Height: 397
+    Tree Height: 185
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -77,62 +77,62 @@ Visualization Manager:
                 Expand Tree: false
                 Link Tree Style: Links in Alphabetic Order
                 base_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera0/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera0/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 camera1/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera1/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 camera2/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera2/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 camera3/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera3/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 camera4/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera4/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 camera5/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 camera5/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 gnss_link:
@@ -159,69 +159,69 @@ Visualization Manager:
                   Show Trail: false
                   Value: true
                 sensor_kit_base_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 tamagawa/imu_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 traffic_light_left_camera/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 traffic_light_left_camera/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 traffic_light_right_camera/camera_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 traffic_light_right_camera/camera_optical_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                 velodyne_left:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_left_base_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_rear:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_rear_base_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_right:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_right_base_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_top:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
                 velodyne_top_base_link:
-                  Alpha: 0.999
+                  Alpha: 1
                   Show Axes: false
                   Show Trail: false
                   Value: true
@@ -408,7 +408,7 @@ Visualization Manager:
           Name: LiDAR
         - Class: rviz_common/Group
           Displays:
-            - Alpha: 0.9990000128746033
+            - Alpha: 0.999
               Axes Length: 1
               Axes Radius: 0.10000000149011612
               Class: rviz_default_plugins/PoseWithCovariance
@@ -687,7 +687,7 @@ Visualization Manager:
                   CYCLIST:
                     Alpha: 0.999
                     Color: 119; 11; 32
-                  Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+                  Class: autoware_perception_rviz_plugin/DetectedObjects
                   Display 3d polygon: true
                   Display Label: true
                   Display PoseWithCovariance: true
@@ -735,7 +735,7 @@ Visualization Manager:
                   CYCLIST:
                     Alpha: 0.999
                     Color: 119; 11; 32
-                  Class: autoware_auto_perception_rviz_plugin/TrackedObjects
+                  Class: autoware_perception_rviz_plugin/TrackedObjects
                   Display 3d polygon: true
                   Display Label: true
                   Display PoseWithCovariance: true
@@ -783,7 +783,7 @@ Visualization Manager:
                   CYCLIST:
                     Alpha: 0.999
                     Color: 119; 11; 32
-                  Class: autoware_auto_perception_rviz_plugin/PredictedObjects
+                  Class: autoware_perception_rviz_plugin/PredictedObjects
                   Display 3d polygon: true
                   Display Label: true
                   Display PoseWithCovariance: false
@@ -936,6 +936,7 @@ Visualization Manager:
               Top: 10
               Remaining Distance and Time Topic: /planning/mission_remaining_distance_time
               Enabled: true
+              Value: true
           Enabled: true
           Name: MissionPlanning
         - Class: rviz_common/Group
@@ -1022,7 +1023,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_reference/avoidance
+                        Value: /planning/path_reference/static_obstacle_avoidance
                       Value: true
                       View Path:
                         Alpha: 0.3
@@ -1275,7 +1276,7 @@ Visualization Manager:
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/avoidance
+                        Value: /planning/path_candidate/static_obstacle_avoidance
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1353,7 +1354,7 @@ Visualization Manager:
                       Displays:
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (Avoidance)
+                          Name: VirtualWall (StaticObstacleAvoidance)
                           Namespaces:
                             {}
                           Topic:
@@ -1361,7 +1362,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -1604,18 +1605,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump
                           Value: true
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
-                          Name: VirtualWall (OutOfLane)
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
-                          Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
                           Name: VirtualWall (NoDrivableLane)
@@ -1628,18 +1617,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
                           Value: true
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
-                          Name: VirtualWall (DynamicObstacleStop)
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop
-                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -1778,7 +1755,7 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: Avoidance
+                          Name: StaticObstacleAvoidance
                           Namespaces:
                             {}
                           Topic:
@@ -1786,7 +1763,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -1874,19 +1851,7 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: OutOfLane
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane
-                          Value: false
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: false
-                          Name: DynamicAvoidance
+                          Name: DynamicObstacleAvoidance
                           Namespaces:
                             {}
                           Topic:
@@ -1894,7 +1859,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -1908,25 +1873,13 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
                           Value: false
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: false
-                          Name: DynamicObstacleStop
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop
-                          Value: false
                       Enabled: false
                       Name: DebugMarker
                     - Class: rviz_common/Group
                       Displays:
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: Info (Avoidance)
+                          Name: Info (StaticObstacleAvoidance)
                           Namespaces:
                             avoidable_target_objects_info: false
                             avoidable_target_objects_info_reason: false
@@ -1939,7 +1892,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -2027,7 +1980,7 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: Info (DynamicAvoidance)
+                          Name: Info (DynamicObstacleAvoidance)
                           Namespaces:
                             {}
                           Topic:
@@ -2035,7 +1988,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_avoidance
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance
                           Value: false
                       Enabled: false
                       Name: InfoMarker
@@ -2126,7 +2079,43 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall
+                            Value: /planning/scenario_planning/velocity_smoother/virtual_wall
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (OutOfLane)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleVelocityLimiter)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (DynamicObstacleStop)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls
                           Value: true
                       Enabled: true
                       Name: VirtualWall
@@ -2251,6 +2240,46 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
                           Value: false
+                        - Class: rviz_common/Group
+                          Displays:
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: OutOfLane
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers
+                              Value: true
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: ObstacleVelocityLimiter
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
+                              Value: true
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: DynamicObstacleStop
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers
+                              Value: true
+                          Enabled: false
+                          Name: MotionVelocityPlanner
                       Enabled: false
                       Name: DebugMarker
                   Enabled: true
@@ -2488,7 +2517,6 @@ Visualization Manager:
                   Planning: true
                   Sensing:
                     ConcatenatePointCloud: true
-                    PointcloudOnCamera: true
                     RadarRawObjects(white): true
                     Value: true
                   Value: true
@@ -2539,6 +2567,7 @@ Visualization Manager:
                     Value: true
                   MissionPlanning:
                     GoalPose: true
+                    MissionDetailsDisplay: true
                     RouteArea: true
                     Value: true
                   ScenarioPlanning:
@@ -2548,11 +2577,11 @@ Visualization Manager:
                         Bound: true
                         DebugMarker:
                           Arrow: true
-                          Avoidance: true
+                          StaticObstacleAvoidance: true
                           Blind Spot: true
                           Crosswalk: true
                           DetectionArea: true
-                          DynamicAvoidance: true
+                          DynamicObstacleAvoidance: true
                           GoalPlanner: true
                           Intersection: true
                           LaneFollowing: true
@@ -2560,7 +2589,6 @@ Visualization Manager:
                           NoDrivableLane: true
                           NoStoppingArea: true
                           OcclusionSpot: true
-                          OutOfLane: true
                           RightLaneChange: true
                           RunOut: true
                           SideShift: true
@@ -2571,9 +2599,9 @@ Visualization Manager:
                           Value: true
                           VirtualTrafficLight: true
                         InfoMarker:
-                          Info (Avoidance): true
+                          Info (StaticObstacleAvoidance): true
                           Info (AvoidanceByLC): true
-                          Info (DynamicAvoidance): true
+                          Info (DynamicObstacleAvoidance): true
                           Info (ExtLaneChangeLeft): true
                           Info (ExtLaneChangeRight): true
                           Info (GoalPlanner): true
@@ -2599,7 +2627,7 @@ Visualization Manager:
                         Value: true
                         VirtualWall:
                           Value: true
-                          VirtualWall (Avoidance): true
+                          VirtualWall (StaticObstacleAvoidance): true
                           VirtualWall (AvoidanceByLC): true
                           VirtualWall (BlindSpot): true
                           VirtualWall (Crosswalk): true
@@ -2614,7 +2642,6 @@ Visualization Manager:
                           VirtualWall (NoDrivableLane): true
                           VirtualWall (NoStoppingArea): true
                           VirtualWall (OcclusionSpot): true
-                          VirtualWall (OutOfLane): true
                           VirtualWall (RunOut): true
                           VirtualWall (SpeedBump): true
                           VirtualWall (StartPlanner): true
@@ -2720,7 +2747,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.5
                 Color: 255; 255; 255
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -2877,7 +2904,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 255; 138; 128
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -2924,7 +2951,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 255; 82; 82
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -2971,7 +2998,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 213; 0; 0
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3018,7 +3045,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 178; 255; 89
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3065,7 +3092,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 118; 255; 3
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3112,7 +3139,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 100; 221; 23
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3159,7 +3186,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 255; 145; 0
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3206,7 +3233,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 213; 0; 249
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3253,7 +3280,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 255; 255; 255
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3300,7 +3327,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 255; 234; 0
-              Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+              Class: autoware_perception_rviz_plugin/DetectedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3347,7 +3374,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 0; 230; 118
-              Class: autoware_auto_perception_rviz_plugin/TrackedObjects
+              Class: autoware_perception_rviz_plugin/TrackedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: true
@@ -3394,7 +3421,7 @@ Visualization Manager:
               CYCLIST:
                 Alpha: 0.9990000128746033
                 Color: 0; 176; 255
-              Class: autoware_auto_perception_rviz_plugin/PredictedObjects
+              Class: autoware_perception_rviz_plugin/PredictedObjects
               Display Acceleration: true
               Display Label: true
               Display PoseWithCovariance: false
@@ -3472,7 +3499,7 @@ Visualization Manager:
                     Durability Policy: Volatile
                     History Policy: Keep Last
                     Reliability Policy: Reliable
-                    Value: /planning/debug/objects_of_interest/avoidance_left
+                    Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left
                   Value: true
                 - Class: rviz_default_plugins/MarkerArray
                   Enabled: true
@@ -3484,7 +3511,7 @@ Visualization Manager:
                     Durability Policy: Volatile
                     History Policy: Keep Last
                     Reliability Policy: Reliable
-                    Value: /planning/debug/objects_of_interest/avoidance_right
+                    Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right
                   Value: true
                 - Class: rviz_default_plugins/MarkerArray
                   Enabled: true
@@ -3608,22 +3635,6 @@ Visualization Manager:
                   Value: true
               Enabled: true
               Name: Objects Of Interest
-            - Class: rviz_plugins/StringStampedOverlayDisplay
-              Enabled: true
-              Font Size: 15
-              Left: 1024
-              Max Letter Num: 100
-              Name: StringStampedOverlayDisplay
-              Text Color: 25; 255; 240
-              Top: 128
-              Topic:
-                Depth: 5
-                Durability Policy: Volatile
-                History Policy: Keep Last
-                Reliability Policy: Reliable
-                Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
-              Value: true
-              Value height offset: 0
           Enabled: true
           Name: Planning
         - Class: rviz_common/Group
@@ -3767,7 +3778,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   RecognitionResultOnImage:
     collapsed: false
   Selection: