diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 9998b6aadf..7820c562e8 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -13,7 +13,7 @@
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extending --
-    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+    extend_trajectory_for_end_yaw_control: false  # flag of trajectory extending for terminal yaw control
 
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 03958fda9a..face8610c7 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    max_vel: 11.1           # max velocity limit [m/s]
+
     # constraints param for normal driving
     normal:
       min_acc: -1.0         # min deceleration [m/ss]
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/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 1627c36168..ff97ae8dfb 100644
--- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 11.1      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter
@@ -26,7 +25,7 @@
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
     engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
-    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_acceleration: 0.5           # engage acceleration [m/ss] (use this acceleration when engagement)
     engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
     stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
 
diff --git a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
index 658a968906..da337d70b1 100644
--- a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
@@ -26,3 +26,14 @@
       steering_rate: 10.0
       velocity_deviation: 100.0
       distance_deviation: 100.0
+      longitudinal_distance_deviation: 1.0
+
+    parameters:
+      # The required trajectory length is calculated as the distance needed
+      # to stop from the current speed at this deceleration.
+      forward_trajectory_length_acceleration: -3.0
+
+      # An error is raised if the required trajectory length is less than this distance.
+      # Setting it to 0 means an error will occur if even slightly exceeding the end of the path,
+      # therefore, a certain margin is necessary.
+      forward_trajectory_length_margin: 2.0
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 7bd7d88230..424029300a 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
@@ -4,7 +4,7 @@
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
       backward_length: 50.0 # [m]
-      ignore_width_from_center_line: 0.7 # [m]
+      ignore_width_from_center_line: 0.0 # [m]
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]