diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index fec1e89b3f..d3564726e8 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -16,14 +16,14 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      reference_speed_points: [20.0, 30.0]
-      steer_lim: [1.0, 0.8]
-      steer_rate_lim: [1.0, 0.8]
-      lon_acc_lim: [5.0, 4.0]
-      lon_jerk_lim: [5.0, 4.0]
-      lat_acc_lim: [5.0, 4.0]
-      lat_jerk_lim: [7.0, 6.0]
-      actual_steer_diff_lim: [1.0, 0.8]
+      reference_speed_points: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11, 12.5, 13.89, 15.28, 16.8]
+      steer_lim: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.025, 0.025, 0.025, 0.025, 0.025, 0.025]
+      steer_rate_lim: [0.5 , 0.5 , 0.4 , 0.3 , 0.15  ,0.07 , 0.05, 0.035, 0.035, 0.035, 0.035, 0.035, 0.035]
+      lon_acc_lim: [100.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0]
+      lon_jerk_lim: [100.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0]
+      lat_acc_lim: [5.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0]
+      lat_jerk_lim: [0.869, 0.869, 0.869, 1.47, 1.74, 1.36, 1.30, 1.78, 2.32, 2.5, 2.5, 2.5, 2.5]
+      actual_steer_diff_lim: [1.0, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8]
     on_transition:
       vel_lim: 60.0
       reference_speed_points: [20.0, 30.0]
diff --git a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
index ff97ae8dfb..b7e666763c 100644
--- a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
@@ -42,7 +42,7 @@
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
     min_trajectory_length: 180.0        # min trajectory length for resampling [m]
     resample_time: 2.0                  # resample total time for dense sampling [s]
-    dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
+    dense_resample_dt: 0.05             # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
     sparse_resample_dt: 0.5             # resample time interval for sparse sampling [s]
     sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index afd28238f3..831169a10b 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -4,14 +4,14 @@
 
     # constraints param for normal driving
     normal:
-      min_acc: -1.0         # min deceleration [m/ss]
+      min_acc: -2.0         # min deceleration [m/ss]
       max_acc: 1.5          # max acceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-      max_jerk: 1.5         # max jerk [m/sss]
+      min_jerk: -2.0        # min jerk [m/sss]
+      max_jerk: 2.5         # max jerk [m/sss]
 
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]
       max_acc: 2.0          # max acceleration limit [m/ss]
-      min_jerk: -1.5        # min jerk limit [m/sss]
-      max_jerk: 2.5         # max jerk limit [m/sss]
+      min_jerk: -2.5        # min jerk limit [m/sss]
+      max_jerk: 3.5         # max jerk limit [m/sss]