diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index ad6217663f..58bca93758 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -3,8 +3,8 @@
     delay_compensation_time: 0.17
 
     enable_smooth_stop: true
-    enable_overshoot_emergency: true
-    enable_large_tracking_error_emergency: true
+    enable_overshoot_emergency: false
+    enable_large_tracking_error_emergency: false
     enable_slope_compensation: true
     enable_keep_stopped_until_steer_convergence: true
 
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
index 70afd9d31b..1e9e1d63f0 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
@@ -10,7 +10,7 @@
       BICYCLE : false
       PEDESTRIAN : false
 
-    upper_bound_x: 100.0
+    upper_bound_x: 50.0
     lower_bound_x: 0.0
     upper_bound_y: 10.0
     lower_bound_y: -10.0
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 69328a9b79..ad471ce323 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -43,7 +43,7 @@ launch:
       default: "true"
   - arg:
       name: launch_traffic_light_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_intersection_module
       default: "true"
@@ -73,7 +73,7 @@ launch:
       default: "true"
   - arg:
       name: launch_speed_bump_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_out_of_lane_module
       default: "true"
@@ -100,7 +100,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
index ef61bdb743..aadef7200f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
@@ -9,5 +9,5 @@
       speed_calculation:
         min_height: 0.05 # [m]
         max_height: 0.30 # [m]
-        min_speed: 1.39  # [m/s] = [5 kph]
-        max_speed: 2.78  # [m/s] = [10 kph]
+        min_speed: 2.5  # [m/s] = [9 kph]
+        max_speed: 3.34  # [m/s] = [12 kph]
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index a5daf3dd16..d5d4d712e2 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -39,10 +39,10 @@
   <!-- 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"/>
-  <arg name="rviz_respawn" default="true"/>
+  <arg name="rviz_respawn" default="false"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
-  <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="traffic_light_recognition/enable_fine_detection" default="false" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
 
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 3ccd98104d..72302f1ff7 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,6 +3,7 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
+  <!-- maybe topic name: default="/sensing/lidar/top/pointcloud_raw_ex"  -->
   <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
   <arg
     name="lidar_container_name"
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 3b0f8eca46..994714fbdf 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
-  <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
+  <arg name="detected_objects_filter_method" default="position_filter" description="options: lanelet_filter, position_filter"/>
   <arg
     name="detected_objects_validation_method"
     default="obstacle_pointcloud"