diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index fb20a0bfb3..edee0756e9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -13,7 +13,6 @@
       enable_bound_clipping: false
       enable_update_path_when_object_is_gone: false
       enable_force_avoidance_for_stopped_vehicle: false
-      enable_safety_check: true
       enable_yield_maneuver: true
       enable_yield_maneuver_during_shifting: false
       disable_path_update: false
@@ -133,10 +132,18 @@
 
       # For safety check
       safety_check:
+        # safety check configuration
+        enable: true                                     # [-]
+        check_current_lane: false                        # [-]
+        check_shift_side_lane: true                      # [-]
+        check_other_side_lane: false                     # [-]
+        check_unavoidable_object: false                  # [-]
+        check_other_object: true                         # [-]
+        # collision check parameters
+        check_all_predicted_path: false                  # [-]
+        time_resolution: 0.5                             # [s]
+        time_horizon: 10.0                               # [s]
         safety_check_backward_distance: 100.0            # [m]
-        safety_check_time_horizon: 10.0                  # [s]
-        safety_check_idling_time: 1.5                    # [s]
-        safety_check_accel_for_rss: 2.5                  # [m/ss]
         safety_check_hysteresis_factor: 2.0              # [-]
         safety_check_ego_offset: 1.0                     # [m]
 
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 845f9c38e2..336879185f 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
@@ -1,6 +1,9 @@
 /**:
   ros__parameters:
     dynamic_avoidance:
+      common:
+        enable_debug_info: true
+
       # avoidance is performed for the object type with true
       target_object:
         car: true
@@ -19,6 +22,10 @@
         min_obj_lat_offset_to_ego_path: 0.0 # [m]
         max_obj_lat_offset_to_ego_path: 1.0 # [m]
 
+        cut_in_object:
+          min_time_to_start_cut_in: 1.0 # [s]
+          min_lon_offset_ego_to_object: 0.0 # [m]
+
         crossing_object:
           min_object_vel: 1.0
           max_object_angle: 1.05
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
index 730bc3053e..8e77420dd4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -35,3 +35,13 @@
     # nearest search
     ego_nearest_dist_threshold: 3.0 # [m]
     ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+    # replanning & trimming trajectory param outside algorithm
+    replan:
+      enable: true  # if true, only perform smoothing when the input changes significantly
+      max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]
+      max_path_shape_forward_lon_dist: 100.0   # forward point to check lateral distance difference [m]
+      max_path_shape_forward_lat_dist: 0.1     # threshold of path shape change around forward point [m]
+      max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
+      # make max_goal_moving_dist long to keep start point fixed for pull over
+      max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
+      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]