diff --git a/common/perception_utils/test/src/test_object_classification.cpp b/common/perception_utils/test/src/test_object_classification.cpp
index be389634ef5a2..9c1fe50294025 100644
--- a/common/perception_utils/test/src/test_object_classification.cpp
+++ b/common/perception_utils/test/src/test_object_classification.cpp
@@ -64,6 +64,137 @@ TEST(object_classification, test_getHighestProbLabel)
   }
 }
 
+// Test isVehicle
+TEST(object_classification, test_isVehicle)
+{
+  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using perception_utils::isVehicle;
+
+  {  // True Case with uint8_t
+    EXPECT_TRUE(isVehicle(ObjectClassification::BICYCLE));
+    EXPECT_TRUE(isVehicle(ObjectClassification::BUS));
+    EXPECT_TRUE(isVehicle(ObjectClassification::CAR));
+    EXPECT_TRUE(isVehicle(ObjectClassification::MOTORCYCLE));
+    EXPECT_TRUE(isVehicle(ObjectClassification::TRAILER));
+    EXPECT_TRUE(isVehicle(ObjectClassification::TRUCK));
+  }
+
+  // False Case with uint8_t
+  {
+    EXPECT_FALSE(isVehicle(ObjectClassification::UNKNOWN));
+    EXPECT_FALSE(isVehicle(ObjectClassification::PEDESTRIAN));
+  }
+
+  // True Case with object_classifications
+  {  // normal case
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.5));
+    classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));
+    EXPECT_TRUE(isVehicle(classification));
+  }
+
+  // False Case with object_classifications
+  {  // false case
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::PEDESTRIAN, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::BICYCLE, 0.7));
+    EXPECT_FALSE(isVehicle(classification));
+  }
+}  // TEST isVehicle
+
+// TEST isCarLikeVehicle
+TEST(object_classification, test_isCarLikeVehicle)
+{
+  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using perception_utils::isCarLikeVehicle;
+
+  {  // True Case with uint8_t
+    EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::BUS));
+    EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::CAR));
+    EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::TRAILER));
+    EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::TRUCK));
+  }
+
+  // False Case with uint8_t
+  {
+    EXPECT_FALSE(isCarLikeVehicle(ObjectClassification::UNKNOWN));
+    EXPECT_FALSE(isCarLikeVehicle(ObjectClassification::BICYCLE));
+    EXPECT_FALSE(isCarLikeVehicle(ObjectClassification::PEDESTRIAN));
+    EXPECT_FALSE(isCarLikeVehicle(ObjectClassification::MOTORCYCLE));
+  }
+
+  // True Case with object_classifications
+  {  // normal case
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.5));
+    classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::BICYCLE, 0.7));
+    EXPECT_TRUE(isCarLikeVehicle(classification));
+  }
+
+  // False Case with object_classifications
+  {  // false case
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::MOTORCYCLE, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::BICYCLE, 0.8));
+    EXPECT_FALSE(isCarLikeVehicle(classification));
+  }
+
+  // Edge case
+  // When classification has more multiple labels with same maximum probability
+  // getHighestProbLabel() returns only first highest-scored label.
+  // so, in edge case it returns a label earlier added.
+  {  // When car and non-car label has same probability
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::MOTORCYCLE, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
+    EXPECT_FALSE(
+      isCarLikeVehicle(classification));  // evaluated with earlier appended "MOTORCYCLE" label
+  }
+}  // TEST isCarLikeVehicle
+
+// TEST isLargeVehicle
+TEST(object_classification, test_isLargeVehicle)
+{
+  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using perception_utils::isLargeVehicle;
+
+  {  // True Case with uint8_t
+    EXPECT_TRUE(isLargeVehicle(ObjectClassification::BUS));
+    EXPECT_TRUE(isLargeVehicle(ObjectClassification::TRAILER));
+    EXPECT_TRUE(isLargeVehicle(ObjectClassification::TRUCK));
+  }
+
+  // False Case with uint8_t
+  {
+    EXPECT_FALSE(isLargeVehicle(ObjectClassification::UNKNOWN));
+    EXPECT_FALSE(isLargeVehicle(ObjectClassification::BICYCLE));
+    EXPECT_FALSE(isLargeVehicle(ObjectClassification::PEDESTRIAN));
+    EXPECT_FALSE(isLargeVehicle(ObjectClassification::MOTORCYCLE));
+    EXPECT_FALSE(isLargeVehicle(ObjectClassification::CAR));
+  }
+
+  {  // false case
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::MOTORCYCLE, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::BICYCLE, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
+    EXPECT_FALSE(isLargeVehicle(classification));
+  }
+
+  // Edge case
+  // When classification has more multiple labels with same maximum probability
+  // getHighestProbLabel() returns only first highest-scored label.
+  // so, in edge case it returns a label earlier added.
+  {  // When large-vehicle and non-large-vehicle label has same probability
+    std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+    classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.8));
+    classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
+    EXPECT_TRUE(isLargeVehicle(classification));  // evaluated with earlier appended "BUS" label
+  }
+}  // TEST isLargeVehicle
+
 TEST(object_classification, test_getHighestProbClassification)
 {
   using autoware_auto_perception_msgs::msg::ObjectClassification;