diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
index f3708e7a449..c9af5146eb4 100644
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
@@ -1,4 +1,4 @@
nav:
- index.md
- Localization methods: localization-methods
- - Perception mode: perception.md
+ - Perception Launch: perception
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
index 59a177765c1..fe2a38e1365 100644
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
@@ -131,6 +131,20 @@ you will need to update these map file name arguments:
### Perception
+You can define your `autoware_data` path here.
+Autoware gets yabloc_pose_initializer,
+image_projection_based_fusion,
+lidar_apollo_instance_segmentation etc. models file with `autoware_data` path.
+If you use ansible for autoware installation,
+the necessary artifacts will be downloaded at `autoware_data` folder on your `$HOME` directory.
+If you want to download artifacts manually,
+please check ansible [`artifacts`](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) page for information.
+
+```diff
+-
++
+```
+
Also, you can change your perception method here.
The Autoware provides `camera-lidar-radar fusion`,
`camera-lidar fusion`, `lidar-radar fusion`, `lidar only` and `radar only` perception modes.
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception.md b/docs/how-to-guides/integrating-autoware/launch-autoware/perception.md
deleted file mode 100644
index 708715e6b43..00000000000
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/perception.md
+++ /dev/null
@@ -1,33 +0,0 @@
-# Perception mode
-
-!!! warning
-
- Under Construction
-
-By specifying the `perception_mode`, users can switch between different sensor configurations for perception.
-This allows you to choose the specific sensor setup that you want to use for the perception tasks.
-
-```bash
-ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \
- perception_mode:=lidar
-```
-
-## LiDAR
-
-`perception_mode:=lidar`
-
-## Radar
-
-`perception_mode:=radar`
-
-## Camera LiDAR fusion
-
-`perception_mode:=camera_lidar_fusion`
-
-## Camera LiDAR Radar fusion
-
-`perception_mode:=camera_lidar_radar_fusion`
-
-## LiDAR Radar fusion
-
-`perception_mode:=lidar_radar_fusion`
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/images/perception_launch_flow.svg b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/images/perception_launch_flow.svg
new file mode 100644
index 00000000000..ad789f19d42
--- /dev/null
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/images/perception_launch_flow.svg
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md
new file mode 100644
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+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md
@@ -0,0 +1,112 @@
+# Perception Launch Files
+
+## Overview
+
+The Autoware perception stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_perception_component.launch.xml`
+for starting perception launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware perception launch files flow at `autoware_launch` and `autoware.universe` packages.
+
+
+ { align=center }
+
+ Autoware perception launch flow diagram
+
+
+
+The Autoware project is large. Therefore, as we manage the Autoware project, we utilize specific
+arguments in the launch files. ROS 2 offers an argument-overriding feature for these launch files.
+Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. For instance,
+if we define an argument at the top-level launch, it will override the value on lower-level launches.
+
+## tier4_perception_component.launch.xml
+
+The `tier4_perception_component.launch.xml` launch file is the main perception component launch at the `autoware_launch` package.
+This launch file calls `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch) package from `autoware.universe` repository.
+We can modify perception launch arguments at tier4_perception_component.launch.xml.
+Also,
+we can add any other necessary arguments
+that we want
+to change it since `tier4_perception_component.launch.xml` is the top-level launch file of other perception launch files.
+Here are some predefined perception launch arguments:
+
+- **occupancy_grid_map_method:** This parameter determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) package for detailed information.
+ The default probabilistic occupancy grid map method is `pointcloud_based_occupancy_grid_map`.
+ If you want to change it to the `laserscan_based_occupancy_grid_map`, you can change it here:
+
+ ```diff
+ -
+ +
+ ```
+
+- **detected_objects_filter_method:** This parameter determines the filter method for detected objects.
+ Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about lanelet and position filter.
+ The default detected object filter method is `lanelet_filter`.
+ If you want to change it to the `position_filter`, you can change it here:
+
+ ```diff
+ -
+ +
+ ```
+
+- **detected_objects_validation_method:** This parameter determines the validation method for detected objects.
+ Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about validation methods.
+ The default detected object filter method is `obstacle_pointcloud`.
+ If you want to change it to the `occupancy_grid`, you can change it here,
+ but remember it requires `laserscan_based_occupancy_grid_map` method as `occupancy_grid_map_method`:
+
+ ```diff
+ -
+ +
+
+ ```
+
+The predefined `tier4_perception_component.launch.xml` arguments explained above,
+but there is the lot of perception arguments
+included in `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch).
+Since we didn't fork `autoware.universe` repository,
+we can add the necessary launch argument to tier4_perception_component.launch.xml file.
+Please follow the guidelines for some examples.
+
+## perception.launch.xml
+
+The `perception.launch.xml` launch file is the main perception launch at the `autoware.universe`.
+This launch file calls necessary perception launch files
+as we mentioned [`Autoware perception launch flow diagram`](#overview) above.
+The top-level launch file of `perception.launch.xml` is `tier4_perception_component.launch.xml`,
+so if we want to change anything on `perception.launch.xml`,
+we will apply these changes `tier4_perception_component.launch.xml` instead of `perception.launch.xml`.
+
+Here are some example changes for the perception pipeline:
+
+- **remove_unknown:** This parameter determines the remove unknown objects at camera-lidar fusion.
+ Please check [roi_cluster_fusion](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md) node for detailed information.
+ The default value is `true`.
+ If you want to change it to the `false`,
+ you can add this argument to `tier4_perception_component.launch.xml`,
+ so it will override the `perception.launch.xml`'s `argument`:
+
+ ```diff
+ -
+ +
+ ```
+
+- **camera topics:** If you are using camera-lidar fusion or camera-lidar-radar fusion as a perception_mode,
+ you can add your camera and info topics on `tier4_perception_component.launch.xml` as well,
+ it will override the `perception.launch.xml` launch file arguments:
+
+ ```diff
+ +
+ +
+ +
+ ...
+ ```
+
+You can add every necessary argument
+to `tier4_perception_component.launch.xml` launch file like these examples.