diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index f347430e765f7..212fc0ce84d89 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -27,9 +27,84 @@ TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
 
 TEST_F(TestRouteHandler, checkIfIDReturned)
 {
-  const auto lanelet = route_handler_->getLaneletsFromId(4870);
-  const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);
+  const auto lanelet1 = route_handler_->getLaneletsFromId(4785);
+  const auto is_lanelet1_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet1);
+  ASSERT_TRUE(is_lanelet1_in_goal_route_section);
 
-  ASSERT_TRUE(is_in_goal_route_section);
+  const auto lanelet2 = route_handler_->getLaneletsFromId(4780);
+  const auto is_lanelet2_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet2);
+  ASSERT_FALSE(is_lanelet2_in_goal_route_section);
 }
+
+TEST_F(TestRouteHandler, getGoalLaneId)
+{
+  lanelet::ConstLanelet goal_lane;
+
+  const auto goal_lane_obtained = route_handler_->getGoalLanelet(&goal_lane);
+  ASSERT_TRUE(goal_lane_obtained);
+  ASSERT_EQ(goal_lane.id(), 5088);
+}
+
+// TEST_F(TestRouteHandler, getClosestLaneletWithinRouteWhenPointsInRoute)
+// {
+//   lanelet::ConstLanelet closest_lane;
+
+//   Pose search_pose;
+
+//   search_pose.position = tier4_autoware_utils::createPoint(-1.0, 1.75, 0);
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   const auto closest_lane_obtained7 =
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained7);
+//   ASSERT_EQ(closest_lane.id(), 4775);
+
+//   search_pose.position = tier4_autoware_utils::createPoint(-0.5, 1.75, 0);
+//   const auto closest_lane_obtained =
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained);
+//   ASSERT_EQ(closest_lane.id(), 4775);
+
+//   search_pose.position = tier4_autoware_utils::createPoint(-.01, 1.75, 0);
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   const auto closest_lane_obtained3 =
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained3);
+//   ASSERT_EQ(closest_lane.id(), 4775);
+
+//   search_pose.position = tier4_autoware_utils::createPoint(0.0, 1.75, 0);
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   const auto closest_lane_obtained1 =
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained1);
+//   ASSERT_EQ(closest_lane.id(), 4775);
+
+//   search_pose.position = tier4_autoware_utils::createPoint(0.01, 1.75, 0);
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   const auto closest_lane_obtained2 =
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained2);
+//   ASSERT_EQ(closest_lane.id(), 4424);
+
+//   search_pose.position = tier4_autoware_utils::createPoint(0.5, 1.75, 0);
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   const auto closest_lane_obtained4 =
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained4);
+//   ASSERT_EQ(closest_lane.id(), 4424);
+
+//   search_pose.position = tier4_autoware_utils::createPoint(1.0, 1.75, 0);
+//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   const auto closest_lane_obtained5 =
+//     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+//   ASSERT_TRUE(closest_lane_obtained5);
+//   ASSERT_EQ(closest_lane.id(), 4424);
+// }
 }  // namespace route_handler::test
diff --git a/planning/route_handler/test_route/lane_change_test_route.yaml b/planning/route_handler/test_route/lane_change_test_route.yaml
index 34d0080354ee8..8b4c423c622a0 100644
--- a/planning/route_handler/test_route/lane_change_test_route.yaml
+++ b/planning/route_handler/test_route/lane_change_test_route.yaml
@@ -1,6 +1,11 @@
+header:
+  stamp:
+    sec: 1715936953
+    nanosec: 67206425
+  frame_id: map
 start_pose:
   position:
-    x: -200.0
+    x: -50.0
     y: 1.75
     z: 0.0
   orientation:
@@ -10,7 +15,7 @@ start_pose:
     w: 1.0
 goal_pose:
   position:
-    x: 500.0
+    x: 70.0
     y: -1.75
     z: 0.0
   orientation:
@@ -19,54 +24,6 @@ goal_pose:
     z: 0.0
     w: 1.0
 segments:
-  - preferred_primitive:
-      id: 4735
-      primitive_type: ""
-    primitives:
-      - id: 4735
-        primitive_type: lane
-      - id: 5044
-        primitive_type: lane
-  - preferred_primitive:
-      id: 4740
-      primitive_type: ""
-    primitives:
-      - id: 4740
-        primitive_type: lane
-      - id: 5048
-        primitive_type: lane
-  - preferred_primitive:
-      id: 4745
-      primitive_type: ""
-    primitives:
-      - id: 4745
-        primitive_type: lane
-      - id: 5052
-        primitive_type: lane
-  - preferred_primitive:
-      id: 4750
-      primitive_type: ""
-    primitives:
-      - id: 4750
-        primitive_type: lane
-      - id: 5056
-        primitive_type: lane
-  - preferred_primitive:
-      id: 4755
-      primitive_type: ""
-    primitives:
-      - id: 4755
-        primitive_type: lane
-      - id: 5060
-        primitive_type: lane
-  - preferred_primitive:
-      id: 4760
-      primitive_type: ""
-    primitives:
-      - id: 4760
-        primitive_type: lane
-      - id: 5064
-        primitive_type: lane
   - preferred_primitive:
       id: 4765
       primitive_type: ""
@@ -84,7 +41,7 @@ segments:
       - id: 5072
         primitive_type: lane
   - preferred_primitive:
-      id: 9594
+      id: 4775
       primitive_type: ""
     primitives:
       - id: 4775
@@ -115,139 +72,22 @@ segments:
         primitive_type: lane
       - id: 5088
         primitive_type: lane
-  - preferred_primitive:
-      id: 5092
-      primitive_type: ""
-    primitives:
-      - id: 4790
-        primitive_type: lane
-      - id: 5092
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5096
-      primitive_type: ""
-    primitives:
-      - id: 4795
-        primitive_type: lane
-      - id: 5096
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5104
-      primitive_type: ""
-    primitives:
-      - id: 4800
-        primitive_type: lane
-      - id: 5104
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5100
-      primitive_type: ""
-    primitives:
-      - id: 4805
-        primitive_type: lane
-      - id: 5100
-        primitive_type: lane
-  - preferred_primitive:
-      id: 9813
-      primitive_type: ""
-    primitives:
-      - id: 4810
-        primitive_type: lane
-      - id: 9813
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5112
-      primitive_type: ""
-    primitives:
-      - id: 4815
-        primitive_type: lane
-      - id: 5112
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5116
-      primitive_type: ""
-    primitives:
-      - id: 4820
-        primitive_type: lane
-      - id: 5116
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5120
-      primitive_type: ""
-    primitives:
-      - id: 4825
-        primitive_type: lane
-      - id: 5120
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5124
-      primitive_type: ""
-    primitives:
-      - id: 4830
-        primitive_type: lane
-      - id: 5124
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5128
-      primitive_type: ""
-    primitives:
-      - id: 4835
-        primitive_type: lane
-      - id: 5128
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5132
-      primitive_type: ""
-    primitives:
-      - id: 4840
-        primitive_type: lane
-      - id: 5132
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5136
-      primitive_type: ""
-    primitives:
-      - id: 4845
-        primitive_type: lane
-      - id: 5136
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5140
-      primitive_type: ""
-    primitives:
-      - id: 4850
-        primitive_type: lane
-      - id: 5140
-        primitive_type: lane
-  - preferred_primitive:
-      id: 9817
-      primitive_type: ""
-    primitives:
-      - id: 4855
-        primitive_type: lane
-      - id: 9817
-        primitive_type: lane
-  - preferred_primitive:
-      id: 9821
-      primitive_type: ""
-    primitives:
-      - id: 4860
-        primitive_type: lane
-      - id: 9821
-        primitive_type: lane
-  - preferred_primitive:
-      id: 9825
-      primitive_type: ""
-    primitives:
-      - id: 4865
-        primitive_type: lane
-      - id: 9825
-        primitive_type: lane
-  - preferred_primitive:
-      id: 5156
-      primitive_type: ""
-    primitives:
-      - id: 4870
-        primitive_type: lane
-      - id: 5156
-        primitive_type: lane
+uuid:
+  uuid:
+    - 231
+    - 254
+    - 143
+    - 227
+    - 194
+    - 8
+    - 220
+    - 88
+    - 30
+    - 194
+    - 172
+    - 147
+    - 127
+    - 143
+    - 176
+    - 133
+allow_modification: false