diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md
index 318758220c239..825bb4043d993 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md
@@ -647,3 +647,15 @@ This module is activated when the following conditions are met:
 ### Known Issue
 
 If ego go over the stop line for a certain distance, then it will not transit from STOP.
+
+## Test Maps
+
+The intersections lanelet map consist of a variety of intersections including:
+
+- 4-way crossing with traffic light
+- 4-way crossing without traffic light
+- T-shape crossing without traffic light
+- intersection with a loop
+- complicated intersection
+
+![intersection_test](./docs/intersection_test_map.png)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
index 7772235342266..39ed187cd867a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -10,6 +10,7 @@
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
+  <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
 
   <license>Apache License 2.0</license>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt
index 9cb992312f52a..49ab46e26bd17 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt
@@ -26,4 +26,4 @@ if(BUILD_TESTING)
   )
 endif()
 
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE test_map)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md
index 2abbb83575af5..311728b6b58d5 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md
@@ -1,3 +1,17 @@
 # Behavior Velocity Planner Common
 
 This package provides common functions as a library, which are used in the `behavior_velocity_planner` node and modules.
+
+## Test map
+
+### intersection
+
+The intersections lanelet map consist of a variety of intersections including:
+
+- 4-way crossing with traffic light
+- 4-way crossing without traffic light
+- T-shape crossing without traffic light
+- intersection with a loop
+- complicated intersection
+
+![intersection_test](./docs/intersection_test_map.png)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png
new file mode 100644
index 0000000000000..a2f3db6ad2a31
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diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/pointcloud_map.pcd b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/pointcloud_map.pcd
new file mode 100644
index 0000000000000..d97cbe19e0085
Binary files /dev/null and b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/pointcloud_map.pcd differ