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 285f7f94796..2c06fdc40bf 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
@@ -1 +1,65 @@
-# Creating a crosswalk attribute
+# Crosswalk attribute
+
+Behavior velocity planner's [crosswalk module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity
+to stop or decelerate for pedestrians approaching or walking on a crosswalk.
+In order to operate that, we will add crosswalk attribute to our lanelet2 map.
+
+## Creating a crosswalk attribute
+
+In order to create a crosswalk on your map, please follow these steps:
+
+1. Click `Abstraction` button on top panel.
+2. Select `Crosswalk` from the panel.
+3. Click and draw crosswalk on your pointcloud map.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/J6WrL8dkFhI)
+
+### Test crosswalk with planning simulator
+
+After the completing of creating 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
++ <YOUR-MAP-DIRECTORY>/
++  ├─ 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
+  <!-- Map -->
+-  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
++  <arg name="lanelet2_map_file" default="<YOUR-LANELET-MAP-NAME>.osm" description="lanelet2 map file name"/>
+-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
++  <arg name="pointcloud_map_file" default="<YOUR-POINTCLOUD-MAP-NAME>.pcd" description="pointcloud map file name"/>
+```
+
+Now we are ready to launch the planning simulator:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT>
+```
+
+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 `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
+3. We need to add pedestrians to crosswalk, so activate interactive pedestrians from `Tool Properties` panel on rviz.
+4. After that, please press `Shift`, then click right click button for inserting pedestrians.
+5. You can control inserted pedestrian via dragging right click.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/hhwBku_1qmA)
\ No newline at end of file
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md
index 4abd7c212de..fd9c33a9c84 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md
@@ -85,9 +85,9 @@ we need to put lanelet2 map and pointcloud map on the same location.
 The directory structure should be like this:
 
 ```diff
-+ <YOUR-MAP-DIRECTORY>/
-+  ├─ pointcloud_map.pcd
-+  └─ lanelet2_map.osm
+<YOUR-MAP-DIRECTORY>/
+ ├─ pointcloud_map.pcd
+ └─ lanelet2_map.osm
 ```
 
 If your .osm or .pcd map file's name is different from these names,