diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp
index e4fcedb09ea..51709601576 100644
--- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp
+++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp
@@ -435,6 +435,40 @@ TEST(HdMapUtils, getNearbyLaneletIds_unsuccessful)
   EXPECT_TRUE(lanelets.empty());
 }
 
+TEST(HdMapUtils, getNearbyLaneletIds_crosswalkIncluded)
+{
+  auto hdmap_utils = makeHdMapUtilsInstance();
+
+  auto point = makePoint(3768.01, 73750.97);
+  const double distance_threshold = 0.0;
+  bool include_crosswalk = true;
+  size_t search_count = 100;
+  auto lanelets =
+    hdmap_utils.getNearbyLaneletIds(point, distance_threshold, include_crosswalk, search_count);
+
+  lanelet::Id id_crosswalk = 34399;
+  lanelet::Id id_road = 34633;
+  EXPECT_EQ(lanelets.size(), 2);
+  EXPECT_TRUE(std::find(lanelets.begin(), lanelets.end(), id_crosswalk) != lanelets.end());
+  EXPECT_TRUE(std::find(lanelets.begin(), lanelets.end(), id_road) != lanelets.end());
+}
+
+TEST(HdMapUtils, getNearbyLaneletIds_crosswalkNotIncluded)
+{
+  auto hdmap_utils = makeHdMapUtilsInstance();
+
+  auto point = makePoint(3768.01, 73750.97);
+  const double distance_threshold = 0.0;
+  bool include_crosswalk = false;
+  size_t search_count = 100;
+  auto lanelets =
+    hdmap_utils.getNearbyLaneletIds(point, distance_threshold, include_crosswalk, search_count);
+
+  lanelet::Id id_road = 34633;
+  EXPECT_EQ(lanelets.size(), 1);
+  EXPECT_EQ(lanelets[0], id_road);
+}
+
 TEST(HdMapUtils, getNearbyLaneletIds_crosswalkUnsuccessful)
 {
   auto hdmap_utils = makeHdMapUtilsInstance();
@@ -1213,6 +1247,42 @@ TEST(HdMapUtils, getLaneChangeableLaneletId_shift0)
   EXPECT_EQ(result_lanelet.value(), end_lanelet);
 }
 
+TEST(HdMapUtils, getPreviousLanelets_straightBefore)
+{
+  auto hdmap_utils = makeHdMapUtilsInstance(four_track_highway_map_path);
+  const lanelet::Id lanelet_id = 202;
+
+  auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 50.0);
+
+  lanelet::Ids actual_previous{202, 3002185, 3002181};
+
+  EXPECT_EQ(result_previous, actual_previous);
+}
+
+TEST(HdMapUtils, getPreviousLanelets_curveBefore)
+{
+  auto hdmap_utils = makeHdMapUtilsInstance();
+  const lanelet::Id lanelet_id = 34600;
+
+  auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 100.0);
+
+  lanelet::Ids actual_previous{34600, 34783, 34606, 34795, 34507};
+
+  EXPECT_EQ(result_previous, actual_previous);
+}
+
+TEST(HdMapUtils, getPreviousLanelets_notEnoughLaneletsBefore)
+{
+  auto hdmap_utils = makeHdMapUtilsInstance(four_track_highway_map_path);
+  const lanelet::Id lanelet_id = 202;
+
+  auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 200.0);
+
+  lanelet::Ids actual_previous{202, 3002185, 3002181, 3002178};
+
+  EXPECT_EQ(result_previous, actual_previous);
+}
+
 TEST(HdMapUtils, getTrafficLightIds_correct)
 {
   auto hdmap_utils = makeHdMapUtilsInstance();
@@ -2159,6 +2229,14 @@ TEST(HdMapUtils, getStopLinePolygon_stopLine)
   EXPECT_POINT_NEAR(result_stoplines_points.at(1), actual_stoplines_points.at(1), epsilon);
 }
 
+TEST(HdMapUtils, getStopLinePolygon_noStopLine)
+{
+  auto hdmap_utils = makeHdMapUtilsInstance(crossroads_with_stoplines_map_path);
+  const lanelet::Id linestring_id_no_stopline{34629};
+
+  EXPECT_THROW(hdmap_utils.getStopLinePolygon(linestring_id_no_stopline), std::runtime_error);
+}
+
 TEST(HdMapUtils, getStopLinePolygon_invalidLaneletId)
 {
   auto hdmap_utils = makeHdMapUtilsInstance(crossroads_with_stoplines_map_path);