diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md
index c8e344dae..7bce333e4 100644
--- a/common/autoware_lanelet2_utility/README.md
+++ b/common/autoware_lanelet2_utility/README.md
@@ -22,30 +22,29 @@ This package aims to strictly define the meaning of several words to clarify the
 | `oncoming`                        | TBD                                                                                                                                 | TBD                                                                                                                                                                                                                                                                                                                                                             |
 | `upcoming`                        | TBD                                                                                                                                 | TBD                                                                                                                                                                                                                                                                                                                                                             |
 | `sequence`                        | `sequence` is a list of Lanelets whose each element is `connected from` or `adjacent to` the previous element.                      | ![sequence](./media/nomenclature/sequence.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/nomenclature/sequence.drawio.svg") }})                                                                                                                                                                                                       |
-| `similar`                         | A and B are called `similar` if and only if both of them have same valid `turn_direction` value.                                    |                                                                                                                                                                                                                                                                                                                                                                 |
 
 ## API description
 
-| Header                                     | function                      | description                                                                                                                                                               | average computational complexity                                                   | illustration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
-| ------------------------------------------ | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `<autoware_lanelet2_utility/kind.hpp>`     | `is_road_lane`                |                                                                                                                                                                           | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `is_shoulder_lane`            |                                                                                                                                                                           | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `is_bicycle_lane`             |                                                                                                                                                                           | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-| `<autoware_lanelet2_utility/topology.hpp>` | `instantiate_routing_graph`   | This function creates a `RoutingGraph` object only from "road" lanes, which means "road_shoulder" and "bicycle_lane" Lanelets are inaccessible from left/right adjacency. |                                                                                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `left_lanelet`                | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet.                                                                    | $O(1)$                                                                             | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.<br>In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.<br>![left_lanelet](./media/api/left_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/left_lanelet.drawio.svg") }})                                                                                                                                                                                       |
-|                                            | `right_lanelet`               | same as above `left_lanelet`                                                                                                                                              | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `left_similar_lanelet`(TODO)  | same as above `left_lanelet`                                                                                                                                              | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `right_similar_lanelet`(TODO) | same as above `left_lanelet`                                                                                                                                              | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `left_opposite_lanelet`       | same as below `right_opposite_lanelet`                                                                                                                                    | $O(1)$<br>see [`findUsage`](./#complexity-of-findusage) for detail                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `right_opposite_lanelet`      |                                                                                                                                                                           | $O(1)$<br>see [`findUsage`](./#complexity-of-findusage) for detail                 | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.<br>In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.<br>![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/right_opposite_lanelet.drawio.svg") }})                                                                                                                                     |
-|                                            | `leftmost_lanelet`            |                                                                                                                                                                           | $O(W)$ where $W$ is the size of the `bundle`.                                      | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.<br>In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.<br>![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/leftmost_lanelet.drawio.svg") }})                                                                                                                                                                   |
-|                                            | `rightmost_lanelet`           |                                                                                                                                                                           | $O(W)$ where $W$ is the size of the `bundle`.                                      | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.<br>In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.<br>![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/rightmost_lanelet.drawio.svg") }})                                                                                                                                                              |
-|                                            | `left_lanelets`               | The input Lanelet is not included in the output.                                                                                                                          | $O(W)$ where $W$ is the size of the `bundle`.                                      | In the first map, the green Lanelets are the `left_lanelets` of the orange Lanelet.<br>In the second and third map, `left_lanelets` of the orange Lanelet is empty.<br>If the flag `include_opposite = true`, the left opposite Lanelet and all of its `same_direction` Lanelets area also retrieved as illustrated in the fourth and fifth maps.<br>![left_lanelets](./media/api/left_lanelets.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg") }})       |
-|                                            | `right_lanelets`              | same as above `left_lanelets`.                                                                                                                                            | $O(W)$ where $W$ is the size of the `bundle.`                                      | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.<br>In the second and third map, `right_lanelets` of the orange Lanelet is empty.<br>If the flag `include_opposite = true`, the right opposite Lanelet and all of its `same_direction` Lanelets area also retrieved as illustrated in the fourth and fifth maps.<br>![right_lanelets](./media/api/right_lanelets.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/right_lanelets.drawio.svg") }}) |
-|                                            | `following_lanelets`          |                                                                                                                                                                           | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `previous_lanelets`           |                                                                                                                                                                           | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `sibling_lanelets`            |                                                                                                                                                                           | $O(E)$ where $E$ is the number of sibling Lanelets                                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-|                                            | `from_ids`                    |                                                                                                                                                                           | $O(n)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| Header                                         | function                                                           | description                                                                                                                                                               | average computational complexity                                                   | illustration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
+| ---------------------------------------------- | ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `<autoware_lanelet2_utility/kind.hpp>`         | `is_road_lane`                                                     | This function returns `true` if the input Lanelet is `road` subtype.                                                                                                      | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `is_shoulder_lane`                                                 | This function returns `true` if the input Lanelet is `road_shoulder` subtype.                                                                                             | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `is_bicycle_lane`                                                  | This function returns `true` if the input Lanelet is `bicycle_lane` subtype.                                                                                              | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| `<autoware_lanelet2_utility/topology.hpp>`     | `instantiate_routing_graph`                                        | This function creates a `RoutingGraph` object only from "road" lanes, which means "road_shoulder" and "bicycle_lane" Lanelets are inaccessible from left/right adjacency. |                                                                                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `left_lanelet`                                                     | This function ignores the permission of lane change. Also it ignores `shoulder` and `bicycle` Lanelet.                                                                    | $O(1)$                                                                             | In the first map, the green Lanelet is the `left_lanelet` of the orange Lanelet.<br>In the second and third map, the `left_lanelet` of the orange Lanelet is `null`.<br>![left_lanelet](./media/api/left_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/left_lanelet.drawio.svg") }})                                                                                                                                                                                       |
+|                                                | `right_lanelet`                                                    | same as above `left_lanelet`                                                                                                                                              | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `left_opposite_lanelet`                                            | same as below `right_opposite_lanelet`                                                                                                                                    | $O(1)$<br>see [`findUsage`](./#complexity-of-findusage) for detail                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `right_opposite_lanelet`                                           | This functions returns the right `opposite` Lanelet of the input Lanelet if available, otherwise returns null.                                                            | $O(1)$<br>see [`findUsage`](./#complexity-of-findusage) for detail                 | In the first and second map, the green Lanelet is the `right_opposite_lanelet` of the orange Lanelet.<br>In the third map, the `right_opposite_lanelet` of the orange Lanelet is `null`.<br>![right_opposite_lanelet](./media/api/right_opposite_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/right_opposite_lanelet.drawio.svg") }})                                                                                                                                     |
+|                                                | `leftmost_lanelet`                                                 | This function returns the Lanelet which is recursively left adjacent to the input Lanelet.                                                                                | $O(W)$ where $W$ is the size of the `bundle`.                                      | In the first and second map, the green Lanelet is the `leftmost_lanelet` of the orange Lanelet.<br>In the third map, the `leftmost_lanelet` of the orange Lanelet is `null`.<br>![leftmost_lanelet](./media/api/leftmost_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/leftmost_lanelet.drawio.svg") }})                                                                                                                                                                   |
+|                                                | `rightmost_lanelet`                                                | This function returns the Lanelet which is recursively right adjacent to the input Lanelet.                                                                               | $O(W)$ where $W$ is the size of the `bundle`.                                      | In the first map, the green Lanelet is the `rightmost_lanelet` of the orange Lanelet.<br>In the second and third map, the `rightmost_lanelet` of the orange Lanelet is `null`.<br>![rightmost_lanelet](./media/api/rightmost_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/rightmost_lanelet.drawio.svg") }})                                                                                                                                                              |
+|                                                | `left_lanelets`                                                    | The input Lanelet is not included in the output, and output is ordered from left to right.                                                                                | $O(W)$ where $W$ is the size of the `bundle`.                                      | In the first map, the green Lanelets are the `left_lanelets` of the orange Lanelet.<br>In the second and third map, `left_lanelets` of the orange Lanelet is empty.<br>If the flag `include_opposite = true`, the left opposite Lanelet and all of its `same_direction` Lanelets area also retrieved as illustrated in the fourth and fifth maps.<br>![left_lanelets](./media/api/left_lanelets.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg") }})       |
+|                                                | `right_lanelets`                                                   | The input Lanelet is not included in the output, and output is ordered from right to left.                                                                                | $O(W)$ where $W$ is the size of the `bundle.`                                      | In the first map, the green Lanelets are the `right_lanelets` of the orange Lanelet.<br>In the second and third map, `right_lanelets` of the orange Lanelet is empty.<br>If the flag `include_opposite = true`, the right opposite Lanelet and all of its `same_direction` Lanelets area also retrieved as illustrated in the fourth and fifth maps.<br>![right_lanelets](./media/api/right_lanelets.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utility/media/api/right_lanelets.drawio.svg") }}) |
+|                                                | `following_lanelets`                                               | This function returns the `following` Lanelets of the input Lanelet. The order is not defined.                                                                            | $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `previous_lanelets`                                                | This function returns the `previous` Lanelets of the input Lanelet. The order is not defined.                                                                             | $O(E)$ where $E$ is the number of Lanelets from which the input is connected from. |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `sibling_lanelets`                                                 | This function returns the `sibling` Lanelets of the input Lanelet excluding itself. The order is not defined.                                                             | $O(E)$ where $E$ is the number of sibling Lanelets                                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `from_ids`                                                         | This function returns Lanelet objects in the same order as the input IDs.                                                                                                 | $O(n)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| `<autoware_lanelet2_utility/intersection.hpp>` | `is_intersection_lanelet`                                          | This function returns `true` if and only if the input Lanelet has `turn_direction` attribute.                                                                             | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+|                                                | `is_straight_lanelet`,<br>`is_left_lanelet`,<br>`is_right_lanelet` | This function returns `true` if and only if the input Lanelet has `turn_direction` attribute and its value is `straight`/`left`/`right`.                                  | $O(1)$                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
 
 ### complexity of `findUsage`
 
diff --git a/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg b/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg
index 5eac8f02d..0838adc7c 100644
--- a/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg
+++ b/common/autoware_lanelet2_utility/media/api/left_lanelets.drawio.svg
@@ -6,9 +6,9 @@
   xmlns:xlink="http://www.w3.org/1999/xlink"
   version="1.1"
   width="1129px"
-  height="1230px"
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-      transform="rotate(270,151.44,413.5)"
+      transform="rotate(270,151.45,413.5)"
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diff --git a/common/autoware_lanelet2_utility/media/api/right_lanelets.drawio.svg b/common/autoware_lanelet2_utility/media/api/right_lanelets.drawio.svg
index 318269020..b1bb1faa4 100644
--- a/common/autoware_lanelet2_utility/media/api/right_lanelets.drawio.svg
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+      d="M 1022.51 180.3 L 1037.71 180.3 L 1037.71 177.49 L 1041.51 181.5 L 1037.71 185.5 L 1037.71 182.7 L 1022.51 182.7 Z"
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@@ -419,11 +419,11 @@
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+      d="M 851.49 412.3 L 866.69 412.3 L 866.69 409.49 L 870.49 413.5 L 866.69 417.5 L 866.69 414.7 L 851.49 414.7 Z"
       fill="#cccccc"
       stroke="rgb(0, 0, 0)"
       stroke-miterlimit="10"
-      transform="rotate(270,861,413.5)"
+      transform="rotate(270,860.99,413.5)"
       pointer-events="all"
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@@ -446,12 +446,12 @@
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-    <g transform="translate(-0.5 -0.5)rotate(-90 110 299.4999999999999)">
+    <g transform="translate(-0.5 -0.5)rotate(-90 110 299.5)">
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-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 136px; height: 1px; padding-top: 299px; margin-left: 42px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 136px; height: 1px; padding-top: 300px; margin-left: 42px;"
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+    <g transform="translate(-0.5 -0.5)rotate(-90 273.5 1082)">
+      <switch>
+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
+            xmlns="http://www.w3.org/1999/xhtml"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 117px; height: 1px; padding-top: 1082px; margin-left: 215px;"
+          >
+            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                2
+              </div>
+            </div>
+          </div>
+        </foreignObject>
+        <text x="274" y="1086" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">2</text>
+      </switch>
+    </g>
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@@ -515,6 +532,23 @@
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+    <g transform="translate(-0.5 -0.5)rotate(-90 314.5 1082)">
+      <switch>
+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
+            xmlns="http://www.w3.org/1999/xhtml"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 117px; height: 1px; padding-top: 1082px; margin-left: 256px;"
+          >
+            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                3
+              </div>
+            </div>
+          </div>
+        </foreignObject>
+        <text x="315" y="1086" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">3</text>
+      </switch>
+    </g>
     <rect x="255" y="1180" width="119" height="40" fill="#cccccc" stroke="none" transform="rotate(-90,314.5,1200)" pointer-events="all"/>
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@@ -759,6 +793,23 @@
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+    <g transform="translate(-0.5 -0.5)rotate(-90 232.5 1083)">
+      <switch>
+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
+            xmlns="http://www.w3.org/1999/xhtml"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 117px; height: 1px; padding-top: 1083px; margin-left: 174px;"
+          >
+            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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+                1
+              </div>
+            </div>
+          </div>
+        </foreignObject>
+        <text x="233" y="1087" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">1</text>
+      </switch>
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