diff --git a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp
new file mode 100644
index 0000000000000..55032a7b62e79
--- /dev/null
+++ b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp
@@ -0,0 +1,26 @@
+// Copyright 2023 TierIV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}
diff --git a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
new file mode 100644
index 0000000000000..908a28583eab1
--- /dev/null
+++ b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
@@ -0,0 +1,208 @@
+// Copyright 2023 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
+#include <gtest/gtest.h>
+
+std::shared_ptr<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode> get_node(
+  float angle_threshold, float velocity_threshold)
+{
+  rclcpp::NodeOptions node_options;
+
+  node_options.parameter_overrides(
+  {
+    {"angle_threshold", angle_threshold},
+    {"velocity_threshold", velocity_threshold}
+  }
+);
+  auto node =
+    std::make_shared<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode>(node_options);
+  return node;
+}
+
+
+std::shared_ptr<autoware_auto_perception_msgs::msg::DetectedObject> get_object(
+  float twist_x, float twist_y, float twist_z,
+  float orientation_x, float orientation_y, float orientation_z, float orientation_w,
+  float pose_x, float pose_y
+  )
+{
+  
+  auto ret =
+    std::make_shared<autoware_auto_perception_msgs::msg::DetectedObject>();
+  ret->kinematics.twist_with_covariance.twist.linear.x = static_cast<double>(twist_x);
+  ret->kinematics.twist_with_covariance.twist.linear.y = static_cast<double>(twist_y);
+  ret->kinematics.twist_with_covariance.twist.linear.z = static_cast<double>(twist_z);
+  ret->kinematics.pose_with_covariance.pose.position.x = static_cast<double>(pose_x);
+  ret->kinematics.pose_with_covariance.pose.position.y = static_cast<double>(pose_y);
+  ret->kinematics.pose_with_covariance.pose.orientation.x = static_cast<double>(orientation_x);
+  ret->kinematics.pose_with_covariance.pose.orientation.y = static_cast<double>(orientation_y);
+  ret->kinematics.pose_with_covariance.pose.orientation.z = static_cast<double>(orientation_z);
+  ret->kinematics.pose_with_covariance.pose.orientation.w = static_cast<double>(orientation_w);
+  return ret;
+}
+
+TEST(RadarCrossingObjectsFilter, IsNoise)
+{
+  rclcpp::init(0, nullptr);
+
+  {
+    float twist_x = 40.0;
+    float twist_y = 30.0;
+    float twist_z = 0.0;
+    float orientation_x = 1.0;
+    float orientation_y = 1.0;
+    float orientation_z = 1.0;
+    float orientation_w = 0.0;
+    float pose_x = 1.0;
+    float pose_y = 0.0;
+    auto object = get_object(twist_x, twist_y, twist_z, orientation_x, orientation_y, orientation_z, orientation_w, pose_x, pose_y);
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(*object));
+    }
+  }
+
+  {
+    float twist_x = 40.0;
+    float twist_y = 30.0;
+    float twist_z = 0.0;
+    float orientation_x = 1.0;
+    float orientation_y = 1.0;
+    float orientation_z = 1.0;
+    float orientation_w = 0.0;
+    float pose_x = 1.0;
+    float pose_y = 2.0;
+    auto object = get_object(twist_x, twist_y, twist_z, orientation_x, orientation_y, orientation_z, orientation_w, pose_x, pose_y);
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+  }
+
+  {
+    float twist_x = 24.0;
+    float twist_y = 18.0;
+    float twist_z = 0.0;
+    float orientation_x = 1.0;
+    float orientation_y = 1.0;
+    float orientation_z = 1.0;
+    float orientation_w = 0.0;
+    float pose_x = 1.0;
+    float pose_y = 0.0;
+    auto object = get_object(twist_x, twist_y, twist_z, orientation_x, orientation_y, orientation_z, orientation_w, pose_x, pose_y);
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(*object));
+    }
+  }
+
+  {
+    float twist_x = 24.0;
+    float twist_y = 18.0;
+    float twist_z = 0.0;
+    float orientation_x = 1.0;
+    float orientation_y = 1.0;
+    float orientation_z = 1.0;
+    float orientation_w = 0.0;
+    float pose_x = 1.0;
+    float pose_y = 2.0;
+    auto object = get_object(twist_x, twist_y, twist_z, orientation_x, orientation_y, orientation_z, orientation_w, pose_x, pose_y);
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = 40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = 1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+    {
+      float velocity_threshold = -40.0;
+      float angle_threshold = -1.0472; 
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(*object));
+    }
+  }
+}
+