diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
index d596eb9816..98c28344ea 100644
--- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
+++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
@@ -8,3 +8,4 @@
     enable_correct_goal_pose: false
     reroute_time_threshold: 10.0
     minimum_reroute_length: 30.0
+    consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
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 e87e6ab546..a0571be4aa 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
@@ -27,6 +27,10 @@
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
 
+        cut_out_object:
+          max_time_from_outside_ego_path: 0.5 # [s]
+          min_object_lat_vel: 0.3 # [m/s]
+
         crossing_object:
           min_object_vel: 1.0
           max_object_angle: 1.05
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 0dbbee6065..65b8ac20bd 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -2,6 +2,12 @@
 <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_validation_method"
+    default="obstacle_pointcloud"
+    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
+  />
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -11,6 +17,8 @@
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+    <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
+    <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
 
     <!-- object recognition -->
     <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>