diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt
index 10b694ce22cbd..52ec6203b6343 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CMakeLists.txt
@@ -14,7 +14,8 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-    test/test_crosswalk.cpp
+    # test/test_crosswalk.cpp
+    test/test_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
 endif()
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
index 699f80ec8356e..6a0b5151546e3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -21,6 +21,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_grid_map_utils</depend>
   <depend>autoware_interpolation</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_node_interface.cpp
new file mode 100644
index 0000000000000..7a875327d4dde
--- /dev/null
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_node_interface.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <autoware/behavior_velocity_planner/test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::behavior_velocity_planner
+{
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
+
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
+    "crosswalk", "autoware::behavior_velocity_planner::CrosswalkModulePlugin"}};
+
+  auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
+  auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
+  autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
+}  // namespace autoware::behavior_velocity_planner