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 68a42383fe..4233f8b6be 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
@@ -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/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/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index a8a9fac4f7..5a3139e4c5 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -77,9 +77,6 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
-  - arg:
-      name: launch_dynamic_obstacle_stop_module
-      default: "true"
 
   # motion planning modules
   - arg:
@@ -96,6 +93,9 @@ launch:
       #         none
 
   # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
   - arg:
       name: launch_out_of_lane_module
       default: "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 7d8985828b..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
@@ -35,6 +35,7 @@
       # 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
       lane_departure_margin: 0.2
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/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 60d0ae31df..1f929543d4 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -58,7 +58,6 @@
     <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_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 -->
@@ -74,6 +73,7 @@
     <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
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 73c7ae3d3e..61e8cf522c 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1617,18 +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
@@ -1885,18 +1873,6 @@ 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
@@ -2129,6 +2105,18 @@ Visualization Manager:
                             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
                     - Class: rviz_common/Group
@@ -2278,6 +2266,18 @@ Visualization Manager:
                                 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