diff --git a/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab b/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab
index 93ed36444..e78d5e80f 100644
--- a/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab	
+++ b/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab	
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@@ -22887,6 +24192,7 @@ Transform:
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+  - {fileID: 5984117683371609912}
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@@ -44164,14 +45470,6 @@ MonoBehaviour:
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   m_Name: 
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-  m_Version: 11
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   m_Intensity: 73123.09
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@@ -44275,6 +45573,14 @@ MonoBehaviour:
   m_AreaLightEmissiveMeshShadowCastingMode: 0
   m_AreaLightEmissiveMeshMotionVectorGenerationMode: 0
   m_AreaLightEmissiveMeshLayer: -1
+  m_Version: 11
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diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
index 8953a199c..1801fb646 100644
--- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
+++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
@@ -520,6 +520,7 @@ MonoBehaviour:
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+  semanticCategoryDictionaryFile: 
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@@ -838,6 +839,10 @@ PrefabInstance:
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       value: 210.75
       objectReference: {fileID: 0}
+    - target: {fileID: 5984117683371609910, guid: 58d73df60b244d146bdf5f5896f78355, type: 3}
+      propertyPath: egoVehicleTransform
+      value: 
+      objectReference: {fileID: 7808269042169720464}
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       value: 0
@@ -894,6 +899,10 @@ PrefabInstance:
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+      value: 
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       value: 10
@@ -4239,13 +4248,14 @@ PrefabInstance:
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       propertyPath: Topic
       value: /awsim/ground_truth/localization/kinematic_state
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+    - target: {fileID: 2019290181275176336, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3}
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+      value: 1
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diff --git a/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/LaneletLoader/LaneletLoader.cs b/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/LaneletLoader/LaneletLoader.cs
index 8896ee571..ee8dbcb7e 100644
--- a/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/LaneletLoader/LaneletLoader.cs
+++ b/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/LaneletLoader/LaneletLoader.cs
@@ -297,25 +297,33 @@ private void AssignLaneletElementIdToTrafficSignalGameObjects()
                 foreach (var line in regElem.Refers)
                 {
                     var trafficLightPosition = line.Points[1];
-                    var trafficLight = FindClosestTrafficLight(trafficLights, trafficLightPosition);
-                    if (trafficLight == null)
+                    var closestTrafficLight = FindClosestTrafficLight(trafficLights, trafficLightPosition);
+                    if (closestTrafficLight == null)
                     {
                         continue;
                     }
-                    EditorUtility.SetDirty(trafficLight);
-                    Undo.RecordObject(trafficLight, "Assigning lanelet id");
-                    var trafficLightLaneletID = trafficLight.GetComponentInParent<TrafficLightLaneletID>();
-                    if (trafficLightLaneletID == null)
-                    {
-                        trafficLight.gameObject.AddComponent<TrafficLightLaneletID>();
-                    }
-                    else
-                    {
-                        trafficLightLaneletID.LaneletElementID = line.ID;
-                    }
-                    PrefabUtility.RecordPrefabInstancePropertyModifications(trafficLight);
+                    FillTrafficLightRelationIDWayID(closestTrafficLight, regElem.ID, line.ID);
                 }
             }
         }
+
+        private void FillTrafficLightRelationIDWayID(TrafficLight trafficLight, long relationId, long wayID)
+        {
+            EditorUtility.SetDirty(trafficLight);
+            Undo.RecordObject(trafficLight, "Assigning lanelet id");
+            var trafficLightLaneletID = trafficLight.GetComponentInParent<TrafficLightLaneletID>();
+            if (trafficLightLaneletID == null)
+            {
+                trafficLight.gameObject.AddComponent<TrafficLightLaneletID>();
+                trafficLightLaneletID = trafficLight.GetComponentInParent<TrafficLightLaneletID>();
+            }
+
+            if (!trafficLightLaneletID.relationID.Contains(relationId))
+            {
+                trafficLightLaneletID.relationID.Add(relationId);
+            }
+            trafficLightLaneletID.wayID = wayID;
+            PrefabUtility.RecordPrefabInstancePropertyModifications(trafficLight);
+        }
     }
 }
diff --git a/Assets/AWSIM/Scripts/Environments/TrafficLightLaneletID.cs b/Assets/AWSIM/Scripts/Environments/TrafficLightLaneletID.cs
index cad6d8ea2..07725dfea 100644
--- a/Assets/AWSIM/Scripts/Environments/TrafficLightLaneletID.cs
+++ b/Assets/AWSIM/Scripts/Environments/TrafficLightLaneletID.cs
@@ -10,6 +10,7 @@ namespace AWSIM
     [RequireComponent(typeof(TrafficLight))]
     public class TrafficLightLaneletID : MonoBehaviour
     {
-        public long LaneletElementID = 0;
+        public long wayID = 0;
+        public List<long> relationID = new List<long>();
     }
 }
diff --git a/Assets/AWSIM/Scripts/Environments/V2I/V2I.cs b/Assets/AWSIM/Scripts/Environments/V2I/V2I.cs
index 1597f626b..1df262001 100644
--- a/Assets/AWSIM/Scripts/Environments/V2I/V2I.cs
+++ b/Assets/AWSIM/Scripts/Environments/V2I/V2I.cs
@@ -65,7 +65,7 @@ private TrafficLight[] FindClosestTrafficLights(TrafficLight[] trafficLights, Ve
                 var distance2D = GeometryUtility.Distance2D(trafficLights[i].transform.position, position);
                 var trafficLightLaneletID = trafficLights[i].GetComponentInParent<TrafficLightLaneletID>();
 
-                if(distance2D <= radius && trafficLightLaneletID != null && trafficLightLaneletID.LaneletElementID != 0)
+                if(distance2D <= radius && trafficLightLaneletID != null && trafficLightLaneletID.relationID != null && trafficLightLaneletID.relationID.Count != 0)
                 {
                     filteredLights.Add(trafficLights[i]);
                 }
diff --git a/Assets/AWSIM/Scripts/Environments/V2I/V2IRos2Publisher.cs b/Assets/AWSIM/Scripts/Environments/V2I/V2IRos2Publisher.cs
index ad7643e46..127e8a999 100644
--- a/Assets/AWSIM/Scripts/Environments/V2I/V2IRos2Publisher.cs
+++ b/Assets/AWSIM/Scripts/Environments/V2I/V2IRos2Publisher.cs
@@ -8,6 +8,13 @@ namespace AWSIM
     [RequireComponent(typeof(V2I))]
     public class V2IRos2Publisher : MonoBehaviour
     {
+        public enum TrafficSignalID{
+            RelationID,
+            WayID
+        }
+
+        public TrafficSignalID trafficSignalID;
+
         [SerializeField, Tooltip("On this topic, the traffic_signals are published (as a ")]
         string trafficSignalsTopic = "/v2x/traffic_signals";
         
@@ -44,33 +51,51 @@ void UpdateMessageAndPublish(V2I.OutputData outputData)
         private void UpdateTrafficSignalArrayMsg(V2I.OutputData data)
         {
             var trafficSignalList = new List<autoware_perception_msgs.msg.TrafficSignal>();
+            var allRelationID = new List<long>();
             foreach (var trafficLight in data.trafficLights)
             {
-                var trafficSignalMsg = new autoware_perception_msgs.msg.TrafficSignal();
                 var trafficLightLaneletID = trafficLight.GetComponentInParent<TrafficLightLaneletID>();
                 if (trafficLightLaneletID != null)
                 {
-                    trafficSignalMsg.Traffic_signal_id = trafficLightLaneletID.LaneletElementID;
-                }
-                //Get bulbData
-                var trafficLightBulbData = trafficLight.GetBulbData();
-                //Fill TrafficSignal with bulbData
-                var trafficLightElementList = new List<autoware_perception_msgs.msg.TrafficLightElement>();
-                foreach (var bulbData in trafficLightBulbData)
-                {
-                    if (isBulbTurnOn(bulbData.Status))
+                    var ids = new List<long>();
+                    if (trafficSignalID == TrafficSignalID.RelationID)
+                    {
+                        ids = trafficLightLaneletID.relationID;
+                    }
+                    else if (trafficSignalID == TrafficSignalID.WayID)
+                    {
+                        ids.Add(trafficLightLaneletID.wayID);
+                    }
+                    foreach (var relationID in ids)
                     {
-                        var trafficLightElementMsg = new autoware_perception_msgs.msg.TrafficLightElement();
-                        trafficLightElementMsg.Color = V2IROS2Utility.UnityToRosBulbColor(bulbData.Color);
-                        trafficLightElementMsg.Shape = V2IROS2Utility.UnityToRosBulbShape(bulbData.Type);
-                        trafficLightElementMsg.Status = V2IROS2Utility.UnityToRosBulbStatus(bulbData.Status);
-                        trafficLightElementMsg.Confidence = 1.0f;
-                        trafficLightElementList.Add(trafficLightElementMsg);
+                        var trafficSignalMsg = new autoware_perception_msgs.msg.TrafficSignal();
+                        if (allRelationID.Contains(relationID))
+                        {
+                            continue;
+                        }
+                        trafficSignalMsg.Traffic_signal_id = relationID;
+                        //Get bulbData
+                        var trafficLightBulbData = trafficLight.GetBulbData();
+                        //Fill TrafficSignal with bulbData
+                        var trafficLightElementList = new List<autoware_perception_msgs.msg.TrafficLightElement>();
+                        foreach (var bulbData in trafficLightBulbData)
+                        {
+                            if (isBulbTurnOn(bulbData.Status))
+                            {
+                                var trafficLightElementMsg = new autoware_perception_msgs.msg.TrafficLightElement();
+                                trafficLightElementMsg.Color = V2IROS2Utility.UnityToRosBulbColor(bulbData.Color);
+                                trafficLightElementMsg.Shape = V2IROS2Utility.UnityToRosBulbShape(bulbData.Type);
+                                trafficLightElementMsg.Status = V2IROS2Utility.UnityToRosBulbStatus(bulbData.Status);
+                                trafficLightElementMsg.Confidence = 1.0f;
+                                trafficLightElementList.Add(trafficLightElementMsg);
+                            }
+                        }
+                        //Add TrafficLight signal to list
+                        trafficSignalMsg.Elements = trafficLightElementList.ToArray();
+                        trafficSignalList.Add(trafficSignalMsg);
+                        allRelationID.Add(relationID);
                     }
                 }
-                //Add TrafficLight signal to list
-                trafficSignalMsg.Elements = trafficLightElementList.ToArray();
-                trafficSignalList.Add(trafficSignalMsg);
             }
             trafficSignalArrayMsg.Stamp = SimulatorROS2Node.GetCurrentRosTime();
             trafficSignalArrayMsg.Signals = trafficSignalList.ToArray();