diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
index 7acb80756d9..69dfb7484f0 100644
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
@@ -2,6 +2,7 @@ nav:
- index.md
- Launch vehicle: vehicle
- Launch system: system
+ - Launch map: map
- Launch sensing: sensing
- Launch localization: localization
- Launch perception: perception
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
index 01ac6f918e0..c5a3868544f 100644
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
@@ -5,7 +5,7 @@ We will explain how to run and launch autoware with these modules:
- [Vehicle](./vehicle)
- [System](./system)
-- Map
+- [Map](./map)
- [Sensing](./sensing)
- [Localization](./localization)
- [Perception](./perception)
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/map/images/map_launch_flow.svg b/docs/how-to-guides/integrating-autoware/launch-autoware/map/images/map_launch_flow.svg
new file mode 100644
index 00000000000..46fe56a390d
--- /dev/null
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/map/images/map_launch_flow.svg
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md
new file mode 100644
index 00000000000..705d92ef0eb
--- /dev/null
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md
@@ -0,0 +1,42 @@
+# Map Launch Files
+
+## Overview
+
+The Autoware map stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_map_component.launch.xml`
+for starting map launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware map launch files flow at `autoware_launch`
+and `autoware.universe` packages.
+
+
+ { align=center }
+
+ Autoware map launch flow diagram
+
+
+
+The map.launch.py launch file from the tier4_map_launch package directly includes
+the necessary node definitions for mapping. In the current design of Autoware, the `lanelet2_map_loader`,
+`lanelet2_map_visualization`, `pointcloud_map_loader`, and `vector_map_tf_generator` composable
+nodes are included in the `map_container`.
+
+We don't have many modification options in the map launching files
+(as the parameters are included in the config files).
+However, you can specify the names for your pointcloud and lanelet2 map during the launch
+(the default values are pointcloud_map.pcd and lanelet2_map.osm).
+For instance, if you wish to change your map file names, you can run Autoware using
+the following command line arguments:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml ... pointcloud_map_file:= lanelet2_map_file:= ...
+```
+
+Or you can change it on your `autoware.launch.xml` launch file:
+
+```diff
+-
++
+-
++
+```
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md
index b9a98222edb..871c15e8ab5 100644
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md
@@ -39,11 +39,11 @@ the `system.launch.xml` from the `tier4_system_launch` package directly launches
- [mrm_emergency_stop_operator](https://autowarefoundation.github.io/autoware.universe/main/system/mrm_emergency_stop_operator/)
- [dummy_diag_publisher](https://autowarefoundation.github.io/autoware.universe/main/system/dummy_diag_publisher/)
-We don't have many modification options here,
-but you can change your system_error_monitor parameter file path.
-For example,
-you can run autoware with the following command line arguments
-if you want to change your system_error_monitor.param.yaml file path:
+We don't have many modification options in the system launching files
+(as the parameters are included in config files),
+but you can modify the file path for the system_error_monitor parameter.
+For instance, if you want to change the path for your system_error_monitor.param.yaml file,
+you can run Autoware with the following command line argument:
```bash
ros2 launch autoware_launch autoware.launch.xml ... system_error_monitor_param_path:= ...
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md
index 218f7133904..468cf7948a1 100644
--- a/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md
+++ b/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md
@@ -25,10 +25,11 @@ the Autoware vehicle launch file flow within the `autoware_launch` and `autoware
if we define an argument at the top-level launch,
it will override the value on lower-level launches.
-We don't have many modification options here, but you can disable vehicle_interface launching.
-For example,
-if you want
-to run robot_state_publisher but not `vehicle_interface` you can run autoware with the following command line arguments:
+We don't have many modification options in the vehicle launching files
+(as the parameters are included in the vehicle_launch repository),
+but you can choose to disable the vehicle_interface launch.
+For instance, if you want to run robot_state_publisher but not vehicle_interface,
+you can launch Autoware with the following command line arguments:
```bash
ros2 launch autoware_launch autoware.launch.xml ... launch_vehicle_interface:=false ...