diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder.osm b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm
similarity index 74%
rename from planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder.osm
rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm
index 88f1da37f46d1..53954c3ca47aa 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder.osm
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm
@@ -1,6794 +1,6794 @@
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     <member type="way" role="left" ref="673"/>
     <member type="way" role="right" ref="669"/>
-    <member type="relation" role="regulatory_element" ref="808"/>
     <tag k="type" v="lanelet"/>
     <tag k="subtype" v="road_shoulder"/>
     <tag k="speed_limit" v="10"/>
@@ -9852,7 +9851,6 @@
     <tag k="speed_limit" v="30"/>
     <tag k="location" v="urban"/>
     <tag k="one_way" v="yes"/>
-    <tag k="intersection_area" v="454"/>
   </relation>
   <relation id="18390">
     <member type="way" role="left" ref="18370"/>
@@ -9952,7 +9950,6 @@
     <tag k="speed_limit" v="30"/>
     <tag k="location" v="urban"/>
     <tag k="one_way" v="yes"/>
-    <tag k="intersection_area" v="454"/>
   </relation>
   <relation id="18499">
     <member type="way" role="left" ref="18490"/>
@@ -9972,10 +9969,6 @@
     <tag k="location" v="urban"/>
     <tag k="one_way" v="yes"/>
   </relation>
-  <relation id="808">
-    <tag k="type" v="regulatory_element"/>
-    <tag k="subtype" v="no_parking_area"/>
-  </relation>
   <relation id="831">
     <member type="way" role="refers" ref="819"/>
     <tag k="type" v="regulatory_element"/>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/pointcloud_map.pcd b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/pointcloud_map.pcd
new file mode 100644
index 0000000000000..d97cbe19e0085
Binary files /dev/null and b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/pointcloud_map.pcd differ