diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 99a2202f4..706c98d98 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -941,6 +941,8 @@ Visualization Manager:
                       Enabled: true
                       Name: Intersection
                       Namespaces:
+                        candidate_collision_ego_lane_polygon: false
+                        candidate_collision_object_polygons: false
                         conflicting_targets: false
                         detection_area: false
                         ego_lane: false
@@ -1061,6 +1063,25 @@ Visualization Manager:
                         Reliability Policy: Reliable
                         Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot
                       Value: true
+                    - Class: rviz_default_plugins/MarkerArray
+                      Enabled: true
+                      Name: NoStoppingArea
+                      Namespaces:
+                        no_stopping_area_correspondence: false
+                        no_stopping_area_id: false
+                        no_stopping_area_polygon: false
+                        stuck_vehicle_detect_area: false
+                        stop_line_detect_area: false
+                        stuck_points: false
+                        stop_factor_text: true
+                        stop_virtual_wall: true
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area
+                      Value: true
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml
index e11651495..1304ede36 100644
--- a/control_launch/config/mpc_follower/mpc_follower.param.yaml
+++ b/control_launch/config/mpc_follower/mpc_follower.param.yaml
@@ -54,4 +54,3 @@
     # stop state
     stop_state_entry_ego_speed: 0.2
     stop_state_entry_target_speed: 0.5
-    stop_state_keep_stopping_dist: 0.5
diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml
index f9a2f02b5..e2cd064a1 100644
--- a/control_launch/config/velocity_controller/velocity_controller.param.yaml
+++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml
@@ -28,7 +28,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
-    current_velocity_threshold_pid_integration: 0.5
+    current_vel_threshold_pid_integration: 0.5
+    enable_brake_keeping_before_stop: false
+    brake_keeping_acc: -0.2
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index da2d221ad..8771a7fb3 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -242,6 +242,14 @@ def generate_launch_description():
     with open(occlusion_spot_param_path, "r") as f:
         occlusion_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
+    no_stopping_area_param_path = os.path.join(
+        get_package_share_directory("behavior_velocity_planner"),
+        "config",
+        "no_stopping_area.param.yaml",
+    )
+    with open(no_stopping_area_param_path, "r") as f:
+        no_stopping_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
     behavior_velocity_planner_component = ComposableNode(
         package="behavior_velocity_planner",
         plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
@@ -281,6 +289,7 @@ def generate_launch_description():
                 "launch_detection_area": True,
                 "launch_virtual_traffic_light": True,
                 "launch_occlusion_spot": True,
+                "launch_no_stopping_area": True,
                 "forward_path_length": 1000.0,
                 "backward_path_length": 5.0,
                 "max_accel": -2.8,
@@ -294,6 +303,7 @@ def generate_launch_description():
             traffic_light_param,
             virtual_traffic_light_param,
             occlusion_spot_param,
+            no_stopping_area_param,
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
diff --git a/sensing_launch/package.xml b/sensing_launch/package.xml
index b5012e35e..538895f40 100644
--- a/sensing_launch/package.xml
+++ b/sensing_launch/package.xml
@@ -9,7 +9,10 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
+  <exec_depend>aip_x1_launch</exec_depend>
+  <exec_depend>aip_x2_launch</exec_depend>
+  <exec_depend>aip_xx1_launch</exec_depend>
+  <exec_depend>common_sensor_launch</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>