diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 0f70873d55..7a21273131 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,10 +4,11 @@
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="use_surround_obstacle_check" default="true"/>
-  <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
-  <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="motion_path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
+  <arg name="motion_path_planner_type" default="obstacle_avoidance_planner" description="options: obstacle_avoidance_planner, path_sampler, none"/>
+  <arg name="motion_stop_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="motion_velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="enable_surround_check" default="true"/>
 
   <!-- variables -->
   <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
@@ -71,15 +72,10 @@
     <arg name="obstacle_stop_planner_param_path" value="$(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="cruise_planner_type" value="$(var cruise_planner_type)"/>
-    <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
-    <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-    <arg name="path_smoother_type" value="$(var path_smoother_type)"/>
-    <arg name="velocity_smoother_type" value="$(var velocity_smoother_type)"/>
 
     <!-- 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/$(var velocity_smoother_type).param.yaml"/>
+    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var motion_velocity_smoother_type).param.yaml"/>
 
     <!-- planning validator -->
     <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>