diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png b/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png new file mode 100644 index 0000000000000..6a67573717ae1 Binary files /dev/null and b/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png differ