diff --git a/autoware_lanelet2_extension/docs/lanelet2_format_extension.md b/autoware_lanelet2_extension/docs/lanelet2_format_extension.md
index 57a62ed..94f3ada 100644
--- a/autoware_lanelet2_extension/docs/lanelet2_format_extension.md
+++ b/autoware_lanelet2_extension/docs/lanelet2_format_extension.md
@@ -16,14 +16,8 @@ The following is the extra format added for Autoware:
   - Bus Stop Area
 - [extra lanelet subtype](extra_lanelet_subtypes.md)
   - Roadside Lane
-  - Road Shoulder
-  - Pedestrian Lane
   - Bicycle Lane
 
-Note that each `extra_regulatory_elements` and `extra_lanelet_subtypes` should faithfully represent the real world map primitives as-is for realizing appropriate behavior on public roads. Although they are not necessarily mandatory for running minimal Autoware, each ODD requires different set of `extra_regulatory_elements` and `extra_lanelet_subtypes` respectively.
-
-[Autoware Vector Map Requirements](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/) provides more details and guidelines for how to create the Lanelet2 maps without ambiguity while avoiding unintended behaviors due to invalid Lanelet2 map settings.
-
 ## Mandatory Tags
 
 ### Meta Info