diff --git a/planning/autoware_velocity_smoother/README.ja.md b/planning/autoware_velocity_smoother/README.ja.md
index 152945e8bc1ce..53f0a4735a8b9 100644
--- a/planning/autoware_velocity_smoother/README.ja.md
+++ b/planning/autoware_velocity_smoother/README.ja.md
@@ -118,7 +118,6 @@
 
 {{json_to_markdown("planning/autoware_velocity_smoother/schema/Linf.schema.json")}}
 
-
 ### Constraint parameters
 
 | Name           | Type     | Description                                    | Default value |
diff --git a/planning/autoware_velocity_smoother/README.md b/planning/autoware_velocity_smoother/README.md
index c9f6617eaf7da..1d355839ef117 100644
--- a/planning/autoware_velocity_smoother/README.md
+++ b/planning/autoware_velocity_smoother/README.md
@@ -131,7 +131,6 @@ After the optimization, a resampling called `post resampling` is performed befor
 
 {{json_to_markdown("planning/autoware_velocity_smoother/schema/Linf.schema.json")}}
 
-
 ### Constraint parameters
 
 | Name           | Type     | Description                                    | Default value |
diff --git a/planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml b/planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml
index c6c6e6e74013d..9a5aa0cd30a5c 100644
--- a/planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml
+++ b/planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml
@@ -1,4 +1,4 @@
 /**:
-  ros__parameters:    
+  ros__parameters:
     ego_nearest_dist_threshold: 0.3       # threshold to find the nearest point on the trajectory [m]
-    ego_nearest_yaw_threshold: 1.046      # threshold to find the nearest point on the trajectory [rad]
\ No newline at end of file
+    ego_nearest_yaw_threshold: 1.046      # threshold to find the nearest point on the trajectory [rad]
diff --git a/planning/autoware_velocity_smoother/schema/Analytical.schema.json b/planning/autoware_velocity_smoother/schema/Analytical.schema.json
index c79316d4f783c..59e8d00157e57 100644
--- a/planning/autoware_velocity_smoother/schema/Analytical.schema.json
+++ b/planning/autoware_velocity_smoother/schema/Analytical.schema.json
@@ -1,140 +1,146 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for analytical",
-    "type": "object",
-    "definitions": {
-      "analytical_params": {
-        "type": "object",
-        "properties": {
-          "resample": {
-            "type": "object",
-            "properties": {
-              "ds_resample": {
-                "type": "number",
-                "default": 0.1,
-                "description": "Enable resampling"
-              },
-              "num_resample": {
-                "type": "number",
-                "default": 1,
-                "description": "Resample interval"
-              },
-              "delta_yaw_threshold": {
-                "type": "number",
-                "default": 0.785,
-                "description": "Threshold for yaw change"
-              }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for analytical",
+  "type": "object",
+  "definitions": {
+    "analytical_params": {
+      "type": "object",
+      "properties": {
+        "resample": {
+          "type": "object",
+          "properties": {
+            "ds_resample": {
+              "type": "number",
+              "default": 0.1,
+              "description": "Enable resampling"
             },
-            "required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
-            "additionalProperties": false
-          },
-          "latacc": {
-            "type": "object",
-            "properties": {
-              "enable_constant_velocity_while_turning": {
-                "type": "boolean",
-                "default": false,
-                "description": "Enable constant velocity while turning"
-              },
-              "constant_velocity_dist_threshold": {
-                "type": "number",
-                "default": 2.0,
-                "description": "Threshold for constant velocity"
-              }
+            "num_resample": {
+              "type": "number",
+              "default": 1,
+              "description": "Resample interval"
             },
-            "required": [
-              "enable_constant_velocity_while_turning",
-              "constant_velocity_dist_threshold"
-            ],
-            "additionalProperties": false
+            "delta_yaw_threshold": {
+              "type": "number",
+              "default": 0.785,
+              "description": "Threshold for yaw change"
+            }
           },
-          "forward": {
-            "type": "object",
-            "properties": {
-              "max_acc": {
-                "type": "number",
-                "default": 1.0,
-                "description": "Maximum forward acceleration"
-              },
-              "min_acc": {
-                "type": "number",
-                "default": -1.0,
-                "description": "Minimum forward acceleration"
-              },
-              "max_jerk": {
-                "type": "number",
-                "default": 0.3,
-                "description": "Maximum forward jerk"
-              },
-              "min_jerk": {
-                "type": "number",
-                "default": -0.3,
-                "description": "Minimum forward jerk"
-              },
-              "kp": {
-                "type": "number",
-                "default": 0.3,
-                "description": "Proportional gain for forward control"
-              }
+          "required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
+          "additionalProperties": false
+        },
+        "latacc": {
+          "type": "object",
+          "properties": {
+            "enable_constant_velocity_while_turning": {
+              "type": "boolean",
+              "default": false,
+              "description": "Enable constant velocity while turning"
             },
-            "required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
-            "additionalProperties": false
+            "constant_velocity_dist_threshold": {
+              "type": "number",
+              "default": 2.0,
+              "description": "Threshold for constant velocity"
+            }
           },
-          "backward": {
-            "type": "object",
-            "properties": {
-              "start_jerk": {
-                "type": "number",
-                "default": -0.1,
-                "description": "Jerk at the start of backward motion"
-              },
-              "min_jerk_mild_stop": {
-                "type": "number",
-                "default": -0.3,
-                "description": "Minimum jerk for mild stopping"
-              },
-              "min_jerk": {
-                "type": "number",
-                "default": -1.5,
-                "description": "Minimum backward jerk"
-              },
-              "min_acc_mild_stop": {
-                "type": "number",
-                "default": -1.0,
-                "description": "Minimum acceleration for mild stopping"
-              },
-              "min_acc": {
-                "type": "number",
-                "default": -2.5,
-                "description": "Minimum backward acceleration"
-              },
-              "span_jerk": {
-                "type": "number",
-                "default": -0.01,
-                "description": "Span jerk value for backward motion"
-              }
-            },
-            "required": ["start_jerk", "min_jerk_mild_stop", "min_jerk", "min_acc_mild_stop", "min_acc", "span_jerk"],
-            "additionalProperties": false
-          }
+          "required": [
+            "enable_constant_velocity_while_turning",
+            "constant_velocity_dist_threshold"
+          ],
+          "additionalProperties": false
         },
-        "required": ["resample", "latacc", "forward", "backward"],
-        "additionalProperties": false
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/analytical_params"
-          }
+        "forward": {
+          "type": "object",
+          "properties": {
+            "max_acc": {
+              "type": "number",
+              "default": 1.0,
+              "description": "Maximum forward acceleration"
+            },
+            "min_acc": {
+              "type": "number",
+              "default": -1.0,
+              "description": "Minimum forward acceleration"
+            },
+            "max_jerk": {
+              "type": "number",
+              "default": 0.3,
+              "description": "Maximum forward jerk"
+            },
+            "min_jerk": {
+              "type": "number",
+              "default": -0.3,
+              "description": "Minimum forward jerk"
+            },
+            "kp": {
+              "type": "number",
+              "default": 0.3,
+              "description": "Proportional gain for forward control"
+            }
+          },
+          "required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
+          "additionalProperties": false
         },
-        "required": ["ros__parameters"],
-        "additionalProperties": false
-      }
-    },
-    "required": ["/**"],
-    "additionalProperties": false
-  }
-  
\ No newline at end of file
+        "backward": {
+          "type": "object",
+          "properties": {
+            "start_jerk": {
+              "type": "number",
+              "default": -0.1,
+              "description": "Jerk at the start of backward motion"
+            },
+            "min_jerk_mild_stop": {
+              "type": "number",
+              "default": -0.3,
+              "description": "Minimum jerk for mild stopping"
+            },
+            "min_jerk": {
+              "type": "number",
+              "default": -1.5,
+              "description": "Minimum backward jerk"
+            },
+            "min_acc_mild_stop": {
+              "type": "number",
+              "default": -1.0,
+              "description": "Minimum acceleration for mild stopping"
+            },
+            "min_acc": {
+              "type": "number",
+              "default": -2.5,
+              "description": "Minimum backward acceleration"
+            },
+            "span_jerk": {
+              "type": "number",
+              "default": -0.01,
+              "description": "Span jerk value for backward motion"
+            }
+          },
+          "required": [
+            "start_jerk",
+            "min_jerk_mild_stop",
+            "min_jerk",
+            "min_acc_mild_stop",
+            "min_acc",
+            "span_jerk"
+          ],
+          "additionalProperties": false
+        }
+      },
+      "required": ["resample", "latacc", "forward", "backward"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/analytical_params"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/planning/autoware_velocity_smoother/schema/JerkFiltered.schema.json b/planning/autoware_velocity_smoother/schema/JerkFiltered.schema.json
index 70ac3f758e862..f9f765f3d1dc5 100644
--- a/planning/autoware_velocity_smoother/schema/JerkFiltered.schema.json
+++ b/planning/autoware_velocity_smoother/schema/JerkFiltered.schema.json
@@ -1,59 +1,58 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for JerkFiltered",
-    "type": "object",
-    "definitions": {
-      "jerk_filtered_params": {
-        "type": "object",
-        "properties": {
-          "jerk_weight": {
-            "type": "number",
-            "default": 10.0,
-            "description": "Weight for 'smoothness' cost for jerk"
-          },
-          "over_v_weight": {
-            "type": "number",
-            "default": 100000.0,
-            "description": "Weight for 'over speed limit' cost"
-          },
-          "over_a_weight": {
-            "type": "number",
-            "default": 5000.0,
-            "description": "Weight for 'over accel limit' cost"
-          },
-          "over_j_weight": {
-            "type": "number",
-            "default": 2000.0,
-            "description": "Weight for 'over jerk limit' cost"
-          },
-          "jerk_filter_ds": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Resampling ds for jerk filter"
-          }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for JerkFiltered",
+  "type": "object",
+  "definitions": {
+    "jerk_filtered_params": {
+      "type": "object",
+      "properties": {
+        "jerk_weight": {
+          "type": "number",
+          "default": 10.0,
+          "description": "Weight for 'smoothness' cost for jerk"
         },
-        "required": [
-          "jerk_weight",
-          "over_v_weight",
-          "over_a_weight",
-          "over_j_weight",
-          "jerk_filter_ds"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/jerk_filtered_params"
-          }
+        "over_v_weight": {
+          "type": "number",
+          "default": 100000.0,
+          "description": "Weight for 'over speed limit' cost"
         },
-        "required": ["ros__parameters"],
-        "additionalProperties": false
-      }
-    },
-    "required": ["/**"],
-    "additionalProperties": false
-  }
-  
\ No newline at end of file
+        "over_a_weight": {
+          "type": "number",
+          "default": 5000.0,
+          "description": "Weight for 'over accel limit' cost"
+        },
+        "over_j_weight": {
+          "type": "number",
+          "default": 2000.0,
+          "description": "Weight for 'over jerk limit' cost"
+        },
+        "jerk_filter_ds": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Resampling ds for jerk filter"
+        }
+      },
+      "required": [
+        "jerk_weight",
+        "over_v_weight",
+        "over_a_weight",
+        "over_j_weight",
+        "jerk_filter_ds"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/jerk_filtered_params"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/planning/autoware_velocity_smoother/schema/L2.schema.json b/planning/autoware_velocity_smoother/schema/L2.schema.json
index 9f692f1ecf49c..346dc5c368834 100644
--- a/planning/autoware_velocity_smoother/schema/L2.schema.json
+++ b/planning/autoware_velocity_smoother/schema/L2.schema.json
@@ -1,45 +1,40 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for L2",
-    "type": "object",
-    "definitions": {
-      "l2_params": {
-        "type": "object",
-        "properties": {
-          "pseudo_jerk_weight": {
-            "type": "number",
-            "default": 100.0,
-            "description": "Weight for 'smoothness' cost"
-          },
-          "over_v_weight": {
-            "type": "number",
-            "default": 100000.0,
-            "description": "Weight for 'over speed limit' cost"
-          },
-          "over_a_weight": {
-            "type": "number",
-            "default": 1000.0,
-            "description": "Weight for 'over accel limit' cost"
-          }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for L2",
+  "type": "object",
+  "definitions": {
+    "l2_params": {
+      "type": "object",
+      "properties": {
+        "pseudo_jerk_weight": {
+          "type": "number",
+          "default": 100.0,
+          "description": "Weight for 'smoothness' cost"
         },
-        "required": [
-          "pseudo_jerk_weight",
-          "over_v_weight",
-          "over_a_weight"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/l2_params"
-          }
+        "over_v_weight": {
+          "type": "number",
+          "default": 100000.0,
+          "description": "Weight for 'over speed limit' cost"
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "over_a_weight": {
+          "type": "number",
+          "default": 1000.0,
+          "description": "Weight for 'over accel limit' cost"
+        }
+      },
+      "required": ["pseudo_jerk_weight", "over_v_weight", "over_a_weight"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/l2_params"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/planning/autoware_velocity_smoother/schema/Linf.schema.json b/planning/autoware_velocity_smoother/schema/Linf.schema.json
index 0e65d6e459c72..62e642e1cd2e3 100644
--- a/planning/autoware_velocity_smoother/schema/Linf.schema.json
+++ b/planning/autoware_velocity_smoother/schema/Linf.schema.json
@@ -1,45 +1,40 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Linf",
-    "type": "object",
-    "definitions": {
-      "linf_params": {
-        "type": "object",
-        "properties": {
-          "pseudo_jerk_weight": {
-            "type": "number",
-            "default": 200.0,
-            "description": "Weight for 'smoothness' cost"
-          },
-          "over_v_weight": {
-            "type": "number",
-            "default": 100000.0,
-            "description": "Weight for 'over speed limit' cost"
-          },
-          "over_a_weight": {
-            "type": "number",
-            "default": 5000.0,
-            "description": "Weight for 'over accel limit' cost"
-          }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Linf",
+  "type": "object",
+  "definitions": {
+    "linf_params": {
+      "type": "object",
+      "properties": {
+        "pseudo_jerk_weight": {
+          "type": "number",
+          "default": 200.0,
+          "description": "Weight for 'smoothness' cost"
         },
-        "required": [
-          "pseudo_jerk_weight",
-          "over_v_weight",
-          "over_a_weight"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/linf_params"
-          }
+        "over_v_weight": {
+          "type": "number",
+          "default": 100000.0,
+          "description": "Weight for 'over speed limit' cost"
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "over_a_weight": {
+          "type": "number",
+          "default": 5000.0,
+          "description": "Weight for 'over accel limit' cost"
+        }
+      },
+      "required": ["pseudo_jerk_weight", "over_v_weight", "over_a_weight"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/linf_params"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/planning/autoware_velocity_smoother/schema/default_common.schema.json b/planning/autoware_velocity_smoother/schema/default_common.schema.json
index 040a516a4c5d1..2964a1e0189ce 100644
--- a/planning/autoware_velocity_smoother/schema/default_common.schema.json
+++ b/planning/autoware_velocity_smoother/schema/default_common.schema.json
@@ -1,88 +1,87 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for default_common",
-    "type": "object",
-    "definitions": {
-      "default_common_params": {
-        "type": "object",
-        "properties": {
-          "max_vel": {
-            "type": "number",
-            "default": 11.1,
-            "description": "Max velocity limit [m/s]"
-          },
-          "normal": {
-            "type": "object",
-            "properties": {
-              "min_acc": {
-                "type": "number",
-                "default": -0.5,
-                "description": "Min deceleration [m/ss]"
-              },
-              "max_acc": {
-                "type": "number",
-                "default": 1.0,
-                "description": "Max acceleration [m/ss]"
-              },
-              "min_jerk": {
-                "type": "number",
-                "default": -0.5,
-                "description": "Min jerk [m/sss]"
-              },
-              "max_jerk": {
-                "type": "number",
-                "default": 1.0,
-                "description": "Max jerk [m/sss]"
-              }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for default_common",
+  "type": "object",
+  "definitions": {
+    "default_common_params": {
+      "type": "object",
+      "properties": {
+        "max_vel": {
+          "type": "number",
+          "default": 11.1,
+          "description": "Max velocity limit [m/s]"
+        },
+        "normal": {
+          "type": "object",
+          "properties": {
+            "min_acc": {
+              "type": "number",
+              "default": -0.5,
+              "description": "Min deceleration [m/ss]"
             },
-            "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"],
-            "additionalProperties": false
-          },
-          "limit": {
-            "type": "object",
-            "properties": {
-              "min_acc": {
-                "type": "number",
-                "default": -2.5,
-                "description": "Min deceleration limit [m/ss]"
-              },
-              "max_acc": {
-                "type": "number",
-                "default": 1.0,
-                "description": "Max acceleration limit [m/ss]"
-              },
-              "min_jerk": {
-                "type": "number",
-                "default": -1.5,
-                "description": "Min jerk limit [m/sss]"
-              },
-              "max_jerk": {
-                "type": "number",
-                "default": 1.5,
-                "description": "Max jerk limit [m/sss]"
-              }
+            "max_acc": {
+              "type": "number",
+              "default": 1.0,
+              "description": "Max acceleration [m/ss]"
             },
-            "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"],
-            "additionalProperties": false
-          }
-        },
-        "required": ["max_vel", "normal", "limit"],
-        "additionalProperties": false
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/default_common_params"
-          }
+            "min_jerk": {
+              "type": "number",
+              "default": -0.5,
+              "description": "Min jerk [m/sss]"
+            },
+            "max_jerk": {
+              "type": "number",
+              "default": 1.0,
+              "description": "Max jerk [m/sss]"
+            }
+          },
+          "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"],
+          "additionalProperties": false
         },
-        "required": ["ros__parameters"],
-        "additionalProperties": false
-      }
-    },
-    "required": ["/**"],
-    "additionalProperties": false
-  }
-  
\ No newline at end of file
+        "limit": {
+          "type": "object",
+          "properties": {
+            "min_acc": {
+              "type": "number",
+              "default": -2.5,
+              "description": "Min deceleration limit [m/ss]"
+            },
+            "max_acc": {
+              "type": "number",
+              "default": 1.0,
+              "description": "Max acceleration limit [m/ss]"
+            },
+            "min_jerk": {
+              "type": "number",
+              "default": -1.5,
+              "description": "Min jerk limit [m/sss]"
+            },
+            "max_jerk": {
+              "type": "number",
+              "default": 1.5,
+              "description": "Max jerk limit [m/sss]"
+            }
+          },
+          "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"],
+          "additionalProperties": false
+        }
+      },
+      "required": ["max_vel", "normal", "limit"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/default_common_params"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/planning/autoware_velocity_smoother/schema/default_nearest_search.schema.json b/planning/autoware_velocity_smoother/schema/default_nearest_search.schema.json
index 815ca75ff2984..c723351bae6f5 100644
--- a/planning/autoware_velocity_smoother/schema/default_nearest_search.schema.json
+++ b/planning/autoware_velocity_smoother/schema/default_nearest_search.schema.json
@@ -1,38 +1,35 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for default_nearest_search_params",
-    "type": "object",
-    "definitions": {
-      "default_nearest_search_params": {
-        "type": "object",
-        "properties": {          
-          "ego_nearest_dist_threshold": {
-            "type": "number",
-            "default": 0.3,
-            "description": "Threshold to find the nearest point on the trajectory [m]"
-          },
-          "ego_nearest_yaw_threshold": {
-            "type": "number",
-            "default": 1.046,
-            "description": "Threshold to find the nearest point on the trajectory [rad]"
-          }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for default_nearest_search_params",
+  "type": "object",
+  "definitions": {
+    "default_nearest_search_params": {
+      "type": "object",
+      "properties": {
+        "ego_nearest_dist_threshold": {
+          "type": "number",
+          "default": 0.3,
+          "description": "Threshold to find the nearest point on the trajectory [m]"
         },
-        "required": [
-          "ego_nearest_dist_threshold",
-          "ego_nearest_yaw_threshold"
-        ]
+        "ego_nearest_yaw_threshold": {
+          "type": "number",
+          "default": 1.046,
+          "description": "Threshold to find the nearest point on the trajectory [rad]"
+        }
+      },
+      "required": ["ego_nearest_dist_threshold", "ego_nearest_yaw_threshold"]
     }
-},
-"properties": {
-  "/**": {
-    "type": "object",
-    "properties": {
-      "ros__parameters": {
-        "$ref": "#/definitions/default_nearest_search_params"
-      }
-    },
-    "required": ["ros__parameters"]
-  }
-},
-"required": ["/**"]
-}
\ No newline at end of file
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/default_nearest_search_params"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/planning/autoware_velocity_smoother/schema/default_velocity_smoother.schema.json b/planning/autoware_velocity_smoother/schema/default_velocity_smoother.schema.json
index 77ccb69d3d62e..cd3983be4ec64 100644
--- a/planning/autoware_velocity_smoother/schema/default_velocity_smoother.schema.json
+++ b/planning/autoware_velocity_smoother/schema/default_velocity_smoother.schema.json
@@ -1,282 +1,281 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for default_velocity_smoother",
-    "type": "object",
-    "definitions": {
-      "velocity_smoother_params": {
-        "type": "object",
-        "properties": {
-          "max_velocity": {
-            "type": "number",
-            "default": 20.0,
-            "description": "Max velocity limit [m/s]"
-          },
-          "stop_decel": {
-            "type": "number",
-            "default": 0.0,
-            "description": "Deceleration at a stop point [m/ss]"
-          },
-          "margin_to_insert_external_velocity_limit": {
-            "type": "number",
-            "default": 0.3,
-            "description": "Margin distance to insert external velocity limit [m]"
-          },
-          "curvature_calculation_distance": {
-            "type": "number",
-            "default": 5.0,
-            "description": "Distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]"
-          },
-          "algorithm_type": {
-            "type": "string",
-            "enum": ["JerkFiltered", "L2", "Linf", "Analytical"],
-            "default": "JerkFiltered",
-            "description": "Algorithm type for velocity smoother."
-          },
-          "enable_lateral_acc_limit": {
-            "type": "boolean",
-            "default": true,
-            "description": "To toggle the lateral acc filter on and off."
-          },
-          "max_lateral_accel": {
-            "type": "number",
-            "default": 0.8,
-            "description": "Max lateral acceleration limit [m/ss]"
-          },
-          "min_curve_velocity": {
-            "type": "number",
-            "default": 2.74,
-            "description": "Min velocity at lateral acceleration limit and steering angle rate limit [m/s]"
-          },
-          "decel_distance_before_curve": {
-            "type": "number",
-            "default": 3.5,
-            "description": "Slow speed distance before a curve for lateral acceleration limit [m]"
-          },
-          "decel_distance_after_curve": {
-            "type": "number",
-            "default": 2.0,
-            "description": "Slow speed distance after a curve for lateral acceleration limit [m]"
-          },
-          "min_decel_for_lateral_acc_lim_filter": {
-            "type": "number",
-            "default": -2.5,
-            "description": "Deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]"
-          },
-          "enable_steering_rate_limit": {
-            "type": "boolean",
-            "default": true,
-            "description": "To toggle the steer rate filter on and off."
-          },
-          "max_steering_angle_rate": {
-            "type": "number",
-            "default": 40.0,
-            "description": "Maximum steering angle rate [degree/s]"
-          },
-          "resample_ds": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Distance between trajectory points [m]"
-          },
-          "curvature_threshold": {
-            "type": "number",
-            "default": 0.02,
-            "description": "If curvature > curvature_threshold, steeringRateLimit is triggered [1/m]"
-          },
-          "replan_vel_deviation": {
-            "type": "number",
-            "default": 5.53,
-            "description": "Velocity deviation to replan initial velocity [m/s]"
-          },
-          "engage_velocity": {
-            "type": "number",
-            "default": 0.25,
-            "description": "Engage velocity threshold [m/s]"
-          },
-          "engage_acceleration": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Engage acceleration [m/ss]"
-          },
-          "engage_exit_ratio": {
-            "type": "number",
-            "default": 0.5,
-            "description": "Exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity."
-          },
-          "stop_dist_to_prohibit_engage": {
-            "type": "number",
-            "default": 0.5,
-            "description": "If the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]"
-          },
-          "stopping_velocity": {
-            "type": "number",
-            "default": 2.778,
-            "description": "Change target velocity to this value before v=0 point [m/s]"
-          },
-          "stopping_distance": {
-            "type": "number",
-            "default": 0.0,
-            "description": "Distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied."
-          },
-          "extract_ahead_dist": {
-            "type": "number",
-            "default": 200.0,
-            "description": "Forward trajectory distance used for planning [m]"
-          },
-          "extract_behind_dist": {
-            "type": "number",
-            "default": 5.0,
-            "description": "Backward trajectory distance used for planning [m]"
-          },
-          "delta_yaw_threshold": {
-            "type": "number",
-            "default": 1.0472,
-            "description": "Allowed delta yaw between ego pose and trajectory pose [radian]"
-          },
-          "max_trajectory_length": {
-            "type": "number",
-            "default": 200.0,
-            "description": "Max trajectory length for resampling [m]"
-          },
-          "min_trajectory_length": {
-            "type": "number",
-            "default": 150.0,
-            "description": "Min trajectory length for resampling [m]"
-          },
-          "resample_time": {
-            "type": "number",
-            "default": 2.0,
-            "description": "Resample total time for dense sampling [s]"
-          },
-          "dense_resample_dt": {
-            "type": "number",
-            "default": 0.2,
-            "description": "Resample time interval for dense sampling [s]"
-          },
-          "dense_min_interval_distance": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Minimum points-interval length for dense sampling [m]"
-          },
-          "sparse_resample_dt": {
-            "type": "number",
-            "default": 0.5,
-            "description": "Resample time interval for sparse sampling [s]"
-          },
-          "sparse_min_interval_distance": {
-            "type": "number",
-            "default": 4.0,
-            "description": "Minimum points-interval length for sparse sampling [m]"
-          },
-          "post_max_trajectory_length": {
-            "type": "number",
-            "default": 300.0,
-            "description": "Max trajectory length for resampling [m]"
-          },
-          "post_min_trajectory_length": {
-            "type": "number",
-            "default": 30.0,
-            "description": "Min trajectory length for resampling [m]"
-          },
-          "post_resample_time": {
-            "type": "number",
-            "default": 10.0,
-            "description": "Resample total time for dense sampling [s]"
-          },
-          "post_dense_resample_dt": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Resample time interval for dense sampling [s]"
-          },
-          "post_dense_min_interval_distance": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Minimum points-interval length for dense sampling [m]"
-          },
-          "post_sparse_resample_dt": {
-            "type": "number",
-            "default": 0.1,
-            "description": "Resample time interval for sparse sampling [s]"
-          },
-          "post_sparse_min_interval_distance": {
-            "type": "number",
-            "default": 1.0,
-            "description": "Minimum points-interval length for sparse sampling [m]"
-          },
-          "over_stop_velocity_warn_thr": {
-            "type": "number",
-            "default": 1.389,
-            "description": "Used to check if the optimization exceeds the input velocity on the stop point"
-          },
-          "plan_from_ego_speed_on_manual_mode": {
-            "type": "boolean",
-            "default": true,
-            "description": "Planning is done from ego velocity/acceleration on MANUAL mode."
-          },
-          "publish_debug_trajs": {
-            "type": "boolean",
-            "default": false,
-            "description": "Publish debug trajectories"
-          }
-        },
-        "required": [
-          "max_velocity",
-          "stop_decel",
-          "margin_to_insert_external_velocity_limit",
-          "curvature_calculation_distance",
-          "ego_nearest_dist_threshold",
-          "ego_nearest_yaw_threshold",
-          "algorithm_type",
-          "enable_lateral_acc_limit",
-          "max_lateral_accel",
-          "min_curve_velocity",
-          "decel_distance_before_curve",
-          "decel_distance_after_curve",
-          "min_decel_for_lateral_acc_lim_filter",
-          "enable_steering_rate_limit",
-          "max_steering_angle_rate",
-          "resample_ds",
-          "curvature_threshold",
-          "replan_vel_deviation",
-          "engage_velocity",
-          "engage_acceleration",
-          "engage_exit_ratio",
-          "stop_dist_to_prohibit_engage",
-          "stopping_velocity",
-          "stopping_distance",
-          "extract_ahead_dist",
-          "extract_behind_dist",
-          "delta_yaw_threshold",
-          "max_trajectory_length",
-          "min_trajectory_length",
-          "resample_time",
-          "dense_resample_dt",
-          "dense_min_interval_distance",
-          "sparse_resample_dt",
-          "sparse_min_interval_distance",
-          "post_max_trajectory_length",
-          "post_min_trajectory_length",
-          "post_resample_time",
-          "post_dense_resample_dt",
-          "post_dense_min_interval_distance",
-          "post_sparse_resample_dt",
-          "post_sparse_min_interval_distance",
-          "over_stop_velocity_warn_thr",
-          "plan_from_ego_speed_on_manual_mode",
-          "publish_debug_trajs"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/velocity_smoother_params"
-          }
-        },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for default_velocity_smoother",
+  "type": "object",
+  "definitions": {
+    "velocity_smoother_params": {
+      "type": "object",
+      "properties": {
+        "max_velocity": {
+          "type": "number",
+          "default": 20.0,
+          "description": "Max velocity limit [m/s]"
+        },
+        "stop_decel": {
+          "type": "number",
+          "default": 0.0,
+          "description": "Deceleration at a stop point [m/ss]"
+        },
+        "margin_to_insert_external_velocity_limit": {
+          "type": "number",
+          "default": 0.3,
+          "description": "Margin distance to insert external velocity limit [m]"
+        },
+        "curvature_calculation_distance": {
+          "type": "number",
+          "default": 5.0,
+          "description": "Distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]"
+        },
+        "algorithm_type": {
+          "type": "string",
+          "enum": ["JerkFiltered", "L2", "Linf", "Analytical"],
+          "default": "JerkFiltered",
+          "description": "Algorithm type for velocity smoother."
+        },
+        "enable_lateral_acc_limit": {
+          "type": "boolean",
+          "default": true,
+          "description": "To toggle the lateral acc filter on and off."
+        },
+        "max_lateral_accel": {
+          "type": "number",
+          "default": 0.8,
+          "description": "Max lateral acceleration limit [m/ss]"
+        },
+        "min_curve_velocity": {
+          "type": "number",
+          "default": 2.74,
+          "description": "Min velocity at lateral acceleration limit and steering angle rate limit [m/s]"
+        },
+        "decel_distance_before_curve": {
+          "type": "number",
+          "default": 3.5,
+          "description": "Slow speed distance before a curve for lateral acceleration limit [m]"
+        },
+        "decel_distance_after_curve": {
+          "type": "number",
+          "default": 2.0,
+          "description": "Slow speed distance after a curve for lateral acceleration limit [m]"
+        },
+        "min_decel_for_lateral_acc_lim_filter": {
+          "type": "number",
+          "default": -2.5,
+          "description": "Deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]"
+        },
+        "enable_steering_rate_limit": {
+          "type": "boolean",
+          "default": true,
+          "description": "To toggle the steer rate filter on and off."
+        },
+        "max_steering_angle_rate": {
+          "type": "number",
+          "default": 40.0,
+          "description": "Maximum steering angle rate [degree/s]"
+        },
+        "resample_ds": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Distance between trajectory points [m]"
+        },
+        "curvature_threshold": {
+          "type": "number",
+          "default": 0.02,
+          "description": "If curvature > curvature_threshold, steeringRateLimit is triggered [1/m]"
+        },
+        "replan_vel_deviation": {
+          "type": "number",
+          "default": 5.53,
+          "description": "Velocity deviation to replan initial velocity [m/s]"
+        },
+        "engage_velocity": {
+          "type": "number",
+          "default": 0.25,
+          "description": "Engage velocity threshold [m/s]"
+        },
+        "engage_acceleration": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Engage acceleration [m/ss]"
+        },
+        "engage_exit_ratio": {
+          "type": "number",
+          "default": 0.5,
+          "description": "Exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity."
+        },
+        "stop_dist_to_prohibit_engage": {
+          "type": "number",
+          "default": 0.5,
+          "description": "If the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]"
+        },
+        "stopping_velocity": {
+          "type": "number",
+          "default": 2.778,
+          "description": "Change target velocity to this value before v=0 point [m/s]"
+        },
+        "stopping_distance": {
+          "type": "number",
+          "default": 0.0,
+          "description": "Distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied."
+        },
+        "extract_ahead_dist": {
+          "type": "number",
+          "default": 200.0,
+          "description": "Forward trajectory distance used for planning [m]"
+        },
+        "extract_behind_dist": {
+          "type": "number",
+          "default": 5.0,
+          "description": "Backward trajectory distance used for planning [m]"
+        },
+        "delta_yaw_threshold": {
+          "type": "number",
+          "default": 1.0472,
+          "description": "Allowed delta yaw between ego pose and trajectory pose [radian]"
+        },
+        "max_trajectory_length": {
+          "type": "number",
+          "default": 200.0,
+          "description": "Max trajectory length for resampling [m]"
+        },
+        "min_trajectory_length": {
+          "type": "number",
+          "default": 150.0,
+          "description": "Min trajectory length for resampling [m]"
+        },
+        "resample_time": {
+          "type": "number",
+          "default": 2.0,
+          "description": "Resample total time for dense sampling [s]"
+        },
+        "dense_resample_dt": {
+          "type": "number",
+          "default": 0.2,
+          "description": "Resample time interval for dense sampling [s]"
+        },
+        "dense_min_interval_distance": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Minimum points-interval length for dense sampling [m]"
+        },
+        "sparse_resample_dt": {
+          "type": "number",
+          "default": 0.5,
+          "description": "Resample time interval for sparse sampling [s]"
+        },
+        "sparse_min_interval_distance": {
+          "type": "number",
+          "default": 4.0,
+          "description": "Minimum points-interval length for sparse sampling [m]"
+        },
+        "post_max_trajectory_length": {
+          "type": "number",
+          "default": 300.0,
+          "description": "Max trajectory length for resampling [m]"
+        },
+        "post_min_trajectory_length": {
+          "type": "number",
+          "default": 30.0,
+          "description": "Min trajectory length for resampling [m]"
+        },
+        "post_resample_time": {
+          "type": "number",
+          "default": 10.0,
+          "description": "Resample total time for dense sampling [s]"
+        },
+        "post_dense_resample_dt": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Resample time interval for dense sampling [s]"
+        },
+        "post_dense_min_interval_distance": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Minimum points-interval length for dense sampling [m]"
+        },
+        "post_sparse_resample_dt": {
+          "type": "number",
+          "default": 0.1,
+          "description": "Resample time interval for sparse sampling [s]"
+        },
+        "post_sparse_min_interval_distance": {
+          "type": "number",
+          "default": 1.0,
+          "description": "Minimum points-interval length for sparse sampling [m]"
+        },
+        "over_stop_velocity_warn_thr": {
+          "type": "number",
+          "default": 1.389,
+          "description": "Used to check if the optimization exceeds the input velocity on the stop point"
+        },
+        "plan_from_ego_speed_on_manual_mode": {
+          "type": "boolean",
+          "default": true,
+          "description": "Planning is done from ego velocity/acceleration on MANUAL mode."
+        },
+        "publish_debug_trajs": {
+          "type": "boolean",
+          "default": false,
+          "description": "Publish debug trajectories"
+        }
+      },
+      "required": [
+        "max_velocity",
+        "stop_decel",
+        "margin_to_insert_external_velocity_limit",
+        "curvature_calculation_distance",
+        "ego_nearest_dist_threshold",
+        "ego_nearest_yaw_threshold",
+        "algorithm_type",
+        "enable_lateral_acc_limit",
+        "max_lateral_accel",
+        "min_curve_velocity",
+        "decel_distance_before_curve",
+        "decel_distance_after_curve",
+        "min_decel_for_lateral_acc_lim_filter",
+        "enable_steering_rate_limit",
+        "max_steering_angle_rate",
+        "resample_ds",
+        "curvature_threshold",
+        "replan_vel_deviation",
+        "engage_velocity",
+        "engage_acceleration",
+        "engage_exit_ratio",
+        "stop_dist_to_prohibit_engage",
+        "stopping_velocity",
+        "stopping_distance",
+        "extract_ahead_dist",
+        "extract_behind_dist",
+        "delta_yaw_threshold",
+        "max_trajectory_length",
+        "min_trajectory_length",
+        "resample_time",
+        "dense_resample_dt",
+        "dense_min_interval_distance",
+        "sparse_resample_dt",
+        "sparse_min_interval_distance",
+        "post_max_trajectory_length",
+        "post_min_trajectory_length",
+        "post_resample_time",
+        "post_dense_resample_dt",
+        "post_dense_min_interval_distance",
+        "post_sparse_resample_dt",
+        "post_sparse_min_interval_distance",
+        "over_stop_velocity_warn_thr",
+        "plan_from_ego_speed_on_manual_mode",
+        "publish_debug_trajs"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/velocity_smoother_params"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}