diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index d03efa405f..6d82e7790d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -128,7 +128,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -164,7 +164,6 @@
           method: "integral_predicted_polygon"
           keep_unsafe_time: 3.0
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0
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 154c4b1e0b..5edf7d468b 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
@@ -127,7 +127,6 @@
           # safety check configuration
           enable_safety_check: true
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 8e50a451f3..68d4070cbf 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -15,6 +15,14 @@
         enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -27,6 +35,14 @@
         disable_against_private_lane: true
 
       yield_stuck:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -37,6 +53,14 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          unknown: false
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 7de7741be2..91a12aebfe 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -56,12 +56,10 @@
   </group>
 
   <!-- Pointcloud container -->
-  <group if="$(var use_pointcloud_container)">
-    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
-      <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-  </group>
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
 
   <!-- Vehicle -->
   <group if="$(var launch_vehicle)">
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index cbc2349a6e..3d57f6198e 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -7,7 +7,6 @@
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 
diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml
index fe520e1fdc..4cd6eccbaa 100644
--- a/autoware_launch/launch/components/tier4_sensing_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_sensing_component.launch.xml
@@ -5,7 +5,6 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 57cbc38af6..77d17d7897 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -21,7 +21,6 @@
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
   <!-- Pointcloud container -->
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -55,7 +54,6 @@
       <!-- Global parameters -->
       <arg name="use_sim_time" value="true"/>
       <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <!-- Vehicle -->
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index d19c7308f0..cf56413121 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -50,8 +50,6 @@
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>
       <arg name="launch_perception" value="false"/>
-      <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="false"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->