diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 804cb8a81..8843cbb4e 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -913,6 +913,7 @@ Visualization Manager:
                         smoothed_points_text: false
                         straight_points_marker: false
                         top_bounds_line: false
+                        mid_bounds_line: false
                         vehicle_footprint: false
                         virtual_wall: true
                         virtual_wall_text: true
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.yaml
index 2f4677ee8..cae0c5cf3 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.yaml
@@ -11,7 +11,7 @@ extra_desired_clearance_from_road: 0.0 # extra desired clearance from road
 
 # clearance for unique points
 clearance_for_straight_line_: 0.05 # minimum optimizing range around straight points
-clearance_for_joint_: 3.2 # minimum optimizing range around joint points
+clearance_for_joint_: 0.1 # minimum optimizing range around joint points
 clearance_for_only_smoothing: 0.1 # minimum optimizing range when applygin only smoothing
 range_for_extend_joint: 0.1 # minimum optimizing range around joint points for extending
 clearance_from_object_for_straight: 10.0 # minimum clearance from object when judging straight line
@@ -63,10 +63,10 @@ steer_tau: 0.1 # steering dynamics time constant (1d approzimation) [s]
 # trajectory param for mpt
 num_curvature_sampling_points: 5 # number of sampling points when calculating curvature
 delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt[m]
-num_fix_points_for_mpt: 8 # number of fixing points around ego vehicle
+forward_fixing_mpt_distance: 10 # number of fixing points around ego vehicle
 
 # optimization param for mpt
-is_hard_fixing_terminal_point: true # hard fixing terminal point
+is_hard_fixing_terminal_point: false # hard fixing terminal point
 base_point_weight: 2000 # slack weight for lateral error around base_link
 top_point_weight: 1000 # slack weight for lateral error around vehicle-top point
 mid_point_weight: 1000 # slack weight for lateral error around the middle point