diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages
index 58b7126bc06..f0af16f4b47 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages
@@ -3,3 +3,4 @@ nav:
- Lanelet 2: lanelet2
- Crosswalk: crosswalk
- Stop Line: stop-line
+ - Traffic light: traffic-light
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/images/crosswalk-test.png b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/images/crosswalk-test.png
new file mode 100644
index 00000000000..83065c11aa6
Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/images/crosswalk-test.png differ
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md
index 3af1335b411..f15ad647e15 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md
@@ -60,6 +60,15 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/
4. After that, please press `Shift`, then click right click button for inserting pedestrians.
5. You can control inserted pedestrian via dragging right click.
+Crosswalk markers on rviz:
+
+
+ { align=center }
+
+ Crosswalk test on the created map.
+
+
+
Video Demonstration:
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md
index 920ca673c7f..0d89863d7f5 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md
@@ -14,7 +14,11 @@ So, this process can be tedious and time-consuming.
You need a TIER IV account for using vector map builder tool.
So, if you have not before, please [create a TIER IV account](https://account.tier4.jp/registration?return_to=/oidc/login?login_challenge=81c846efae994bf8a79dac0aab6b8875)
in order to use [vector map builder tool](https://tools.tier4.jp/feature/vector_map_builder_ll2/).
+For more information about this tool, please check the [official guide](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction).
You can follow these pages for creating a Lanelet2 map and its regulatory elements.
- [Lanelet 2](./lanelet2)
+- [Crosswalk](./crosswalk)
+- [Stop Line](./stop-line)
+- [Traffic Light](./traffic-light)
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/images/stop-line-test.png b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/images/stop-line-test.png
new file mode 100644
index 00000000000..aa7a36fc919
Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/images/stop-line-test.png differ
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md
index 1072a8adc46..361855a9944 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md
@@ -8,7 +8,7 @@ In order to operate that, we will add stop line attribute to our lanelet2 map.
In order to create a stop line on your pointcloud map, please follow these steps:
-1. Please select lanelet to add stop line.
+1. Please select lanelet which stop line to be added.
2. Click `Abstraction` button on top panel.
3. Select `Stop Line` from the panel.
4. Click on the desired area for inserting stop line.
@@ -59,6 +59,15 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/
2. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
3. You can see the stop line marker on the rviz screen.
+Stop line markers on rviz:
+
+
+ { align=center }
+
+ Stop line test on the created map.
+
+
+
Video Demonstration:
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/.pages
new file mode 100644
index 00000000000..35fd5a113be
--- /dev/null
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/.pages
@@ -0,0 +1,2 @@
+nav:
+ - index.md
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/images/traffic-light-test.png b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/images/traffic-light-test.png
new file mode 100644
index 00000000000..4f231abc4ad
Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/images/traffic-light-test.png differ
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md
new file mode 100644
index 00000000000..71d6ae8e903
--- /dev/null
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md
@@ -0,0 +1,76 @@
+# Traffic light
+
+Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity
+according to the traffic light status.
+In order to operate that, we will add stop line attribute to our lanelet2 map.
+
+## Creating a traffic light regulatory element
+
+In order to create a traffic light on your pointcloud map, please follow these steps:
+
+1. Please select lanelet which traffic light to be added.
+2. Click `Abstraction` button on top panel.
+3. Select `Traffic Light` from the panel.
+4. Click on the desired area for inserting traffic light.
+
+Video Demonstration:
+
+
+
+### Testing created the traffic light element with planning simulator
+
+After the completing of creating the map, we need to save it.
+To that please click `File` --> `Export Lanelet2Maps` then download.
+
+After the download is finished,
+we need to put lanelet2 map and pointcloud map on the same location.
+The directory structure should be like this:
+
+```diff
++ /
++ ├─ pointcloud_map.pcd
++ └─ lanelet2_map.osm
+```
+
+If your .osm or .pcd map file's name is different from these names,
+you need to update autoware.launch.xml:
+
+```diff
+
+-
++
+-
++
+```
+
+Now we are ready to launch the planning simulator:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:= vehicle_model:= sensor_model:=
+```
+
+Example for tutorial_vehicle:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/autoware_map/tutorial_map/ vehicle_model:=tutorial_vehicle sensor_model:=tutorial_vehicle_sensor_kit vehicle_id:=tutorial_vehicle
+```
+
+1. Click `2D Pose Estimate` button on rviz or press `P` and give a pose for initialization.
+2. Click `Panels` -> `Add new panel`, select `TrafficLightPublishPanel`, and then press `OK`.
+3. In TrafficLightPublishPanel, set the ID and color of the traffic light.
+4. Then, Click `SET` and `PUBLISH` button.
+5. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
+6. You can see the traffic light marker on the rviz screen if you set the traffic light color as `RED`.
+
+Traffic Light markers on rviz:
+
+
+ { align=center }
+
+ Traffic light test on the created map.
+
+
+
+Video Demonstration:
+
+