diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt
index 80af8e75..36776605 100644
--- a/map/autoware_lanelet2_map_validator/CMakeLists.txt
+++ b/map/autoware_lanelet2_map_validator/CMakeLists.txt
@@ -32,42 +32,34 @@ target_link_libraries(autoware_lanelet2_map_validator
 )
 
 if(BUILD_TESTING)
-  find_package(ament_index_cpp REQUIRED)
+  file(GLOB_RECURSE test_src "test/src/test_*.cpp")
+  ament_auto_add_library(autoware_lanelet2_map_validator_test_lib ${test_src})
 
-  # test for json processing
-  ament_add_ros_isolated_gtest(
-    json_processing_test
-    test/src/test_json_processing.cpp
-  )
+  target_include_directories(autoware_lanelet2_map_validator_test_lib PUBLIC
+    test/src/include
+    src/include)
 
-  target_link_libraries(
-    json_processing_test
+  target_link_libraries(autoware_lanelet2_map_validator_test_lib
     autoware_lanelet2_map_validator_lib
-    ament_index_cpp::ament_index_cpp
   )
 
   # test for general lanelet2 map validators
-  function(add_validation_test VALIDATION_NAME)
+  function(add_validation_test TEST_FILE)
+    get_filename_component(TEST_NAME ${TEST_FILE} NAME_WE)
+    string(REPLACE "test_" "" VALIDATION_NAME ${TEST_NAME})
     ament_add_ros_isolated_gtest(
       ${VALIDATION_NAME}_test
-      test/src/test_${VALIDATION_NAME}.cpp
+      ${TEST_FILE}
     )
     target_link_libraries(
       ${VALIDATION_NAME}_test
-      autoware_lanelet2_map_validator_lib
+      autoware_lanelet2_map_validator_test_lib
     )
   endfunction()
 
-  add_validation_test(missing_regulatory_elements_for_stop_lines)
-  add_validation_test(missing_regulatory_elements_for_crosswalks)
-  add_validation_test(missing_regulatory_elements_for_traffic_lights)
-  add_validation_test(regulatory_elements_details_for_crosswalks)
-  add_validation_test(regulatory_elements_details_for_traffic_lights)
-  add_validation_test(traffic_light_facing)
-  add_validation_test(missing_referrers_for_traffic_lights)
-  add_validation_test(intersection_area_validity)
-  add_validation_test(intersection_area_segment_type)
-  add_validation_test(intersection_area_dangling_reference)
+  foreach(TEST_FILE ${test_src})
+    add_validation_test(${TEST_FILE})
+  endforeach()
 endif()
 
 ament_auto_package(
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_crosswalks.cpp b/map/autoware_lanelet2_map_validator/test/src/crosswalk/test_missing_regulatory_elements_for_crosswalks.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_crosswalks.cpp
rename to map/autoware_lanelet2_map_validator/test/src/crosswalk/test_missing_regulatory_elements_for_crosswalks.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_crosswalks.cpp b/map/autoware_lanelet2_map_validator/test/src/crosswalk/test_regulatory_elements_details_for_crosswalks.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_crosswalks.cpp
rename to map/autoware_lanelet2_map_validator/test/src/crosswalk/test_regulatory_elements_details_for_crosswalks.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/map_validation_tester.hpp b/map/autoware_lanelet2_map_validator/test/src/include/map_validation_tester.hpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/map_validation_tester.hpp
rename to map/autoware_lanelet2_map_validator/test/src/include/map_validation_tester.hpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_dangling_reference.cpp b/map/autoware_lanelet2_map_validator/test/src/intersection/test_intersection_area_dangling_reference.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_intersection_area_dangling_reference.cpp
rename to map/autoware_lanelet2_map_validator/test/src/intersection/test_intersection_area_dangling_reference.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp b/map/autoware_lanelet2_map_validator/test/src/intersection/test_intersection_area_segment_type.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_intersection_area_segment_type.cpp
rename to map/autoware_lanelet2_map_validator/test/src/intersection/test_intersection_area_segment_type.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp b/map/autoware_lanelet2_map_validator/test/src/intersection/test_intersection_area_validity.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_intersection_area_validity.cpp
rename to map/autoware_lanelet2_map_validator/test/src/intersection/test_intersection_area_validity.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_stop_lines.cpp b/map/autoware_lanelet2_map_validator/test/src/stop_line/test_missing_regulatory_elements_for_stop_lines.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_stop_lines.cpp
rename to map/autoware_lanelet2_map_validator/test/src/stop_line/test_missing_regulatory_elements_for_stop_lines.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_referrers_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/test/src/traffic_light/test_missing_referrers_for_traffic_lights.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_missing_referrers_for_traffic_lights.cpp
rename to map/autoware_lanelet2_map_validator/test/src/traffic_light/test_missing_referrers_for_traffic_lights.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/test/src/traffic_light/test_missing_regulatory_elements_for_traffic_lights.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements_for_traffic_lights.cpp
rename to map/autoware_lanelet2_map_validator/test/src/traffic_light/test_missing_regulatory_elements_for_traffic_lights.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/test/src/traffic_light/test_regulatory_elements_details_for_traffic_lights.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_regulatory_elements_details_for_traffic_lights.cpp
rename to map/autoware_lanelet2_map_validator/test/src/traffic_light/test_regulatory_elements_details_for_traffic_lights.cpp
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_traffic_light_facing.cpp b/map/autoware_lanelet2_map_validator/test/src/traffic_light/test_traffic_light_facing.cpp
similarity index 100%
rename from map/autoware_lanelet2_map_validator/test/src/test_traffic_light_facing.cpp
rename to map/autoware_lanelet2_map_validator/test/src/traffic_light/test_traffic_light_facing.cpp