diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
index c146957bbd314..dd05ab226f6b7 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
+++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
@@ -18,8 +18,6 @@
 #include "lane_departure_checker/lane_departure_checker.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
 #include <tier4_autoware_utils/ros/processing_time_publisher.hpp>
@@ -34,6 +32,8 @@
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
+#include <lanelet2_routing/RoutingGraph.h>
+#include <lanelet2_traffic_rules/TrafficRules.h>
 
 #include <map>
 #include <memory>
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
index f788e64316171..b40a0d0473135 100644
--- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
+++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -14,8 +14,10 @@
 
 #include "lane_departure_checker/lane_departure_checker_node.hpp"
 
+#include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/route_checker.hpp>
+#include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>