diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index 336879185f..e87e6ab546 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -18,6 +18,7 @@
         min_obstacle_vel: 0.0 # [m/s]
 
         successive_num_to_entry_dynamic_avoidance_condition: 5
+        successive_num_to_exit_dynamic_avoidance_condition: 1
 
         min_obj_lat_offset_to_ego_path: 0.0 # [m]
         max_obj_lat_offset_to_ego_path: 1.0 # [m]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 1f075993aa..7408456d3e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -8,7 +8,6 @@
       lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
-      lateral_acc_switching_velocity: 4.0          #[m/s]
 
       minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
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 5ae5c99ff8..60f2927440 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
@@ -6,6 +6,7 @@
       th_stopped_time: 1.0
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
+      th_moving_object_velocity: 1.0
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: false
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 0dad17aaf9..915a296d79 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -86,6 +86,15 @@ Visualization Manager:
                 Value: /vehicle/status/velocity_status
               Value: true
               Value height offset: 0
+            - Class: rviz_plugins/AccelerationMeter
+              Enabled: false
+              Name: AccelerationMeter
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /localization/acceleration
             - Alpha: 0.999
               Class: rviz_plugins/VelocityHistory
               Color Border Vel Max: 3