diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index ca15b55b47..bf9249e91a 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -27,7 +27,8 @@
     path_footprint_extra_margin: 4.0
 
     # Point cloud clustering
-    cluster_tolerance: 0.1 #[m]
+    cluster_tolerance: 0.15 #[m]
+    cluster_minimum_height: 0.0
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 
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 99050d9738..fb6f1131e1 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
@@ -13,7 +13,7 @@
     filter_settings:
       # polygon overlap based filter
       polygon_overlap_filter:
-       enabled: true
+        enabled: true
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
index 62051e1c5e..330a4605a1 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : true
       BICYCLE : true
       PEDESTRIAN : true
+
+    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/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_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
index 24e88c8ed6..dd2e13892d 100644
--- a/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
+++ 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
@@ -5,10 +5,6 @@
       resample_interval_for_planning: 0.3               # [m] FOR DEVELOPER
       resample_interval_for_output: 4.0                 # [m] FOR DEVELOPER
 
-      # avoidance module common setting
-      enable_bound_clipping: false
-      disable_path_update: false
-
       # drivable area setting
       use_adjacent_lane: true
       use_opposite_lane: true
@@ -284,6 +280,19 @@
           max_acceleration: 0.5                         # [m/ss]
           min_velocity_to_limit_max_acceleration: 2.78  # [m/ss]
 
+      # path generation method. select "shift_line_base" or "optimization_base" or "both".
+      # "shift_line_base"  : Create avoidance path based on shift line.
+      #                      User can control avoidance maneuver execution via RTC.
+      #                      However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver).
+      # "optimization_base": This module selects avoidance target object
+      #                      and bpp module clips drivable area based on avoidance target object polygon shape.
+      #                      But this module doesn't modify the path shape.
+      #                      On the other hand, autoware_path_optimizer module optimizes path shape instead of this module
+      #                      so that the path can be within drivable area. This method is able to deal with complex avoidance scenario.
+      #                      However, user can't control avoidance manuever execution.
+      # "both"             : Use both method.
+      path_generation_method: "shift_line_base"
+
       shift_line_pipeline:
         trim:
           quantize_size: 0.1
@@ -293,8 +302,8 @@
 
       # for debug
       debug:
-        enable_other_objects_marker: false
-        enable_other_objects_info: false
+        enable_other_objects_marker: true
+        enable_other_objects_info: true
         enable_detection_area_marker: false
         enable_drivable_bound_marker: false
         enable_safety_check_marker: false
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index d5082a91e8..6fda11ac7a 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -34,4 +34,11 @@
     <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>
+
+  <!-- For logging of diagnostics_graph error -->
+  <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
+    <arg name="root_path" value="/autoware/modes/autonomous"/>
+    <arg name="max_depth" value="3"/>
+    <arg name="show_rate" value="0.2"/>
+  </include>
 </launch>