diff --git a/common/perception_utils/include/perception_utils/object_classification.hpp b/common/perception_utils/include/perception_utils/object_classification.hpp
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+++ b/common/perception_utils/include/perception_utils/object_classification.hpp
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+// Copyright 2022 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.
+
+#ifndef PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#define PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_
+
+#include "autoware_auto_perception_msgs/msg/object_classification.hpp"
+
+namespace perception_utils
+{
+using autoware_auto_perception_msgs::msg::ObjectClassification;
+
+bool isVehicle(const uint8_t object_classification)
+{
+  return object_classification == ObjectClassification::BICYCLE ||
+         object_classification == ObjectClassification::BUS ||
+         object_classification == ObjectClassification::CAR ||
+         object_classification == ObjectClassification::MOTORCYCLE ||
+         object_classification == ObjectClassification::TRAILER ||
+         object_classification == ObjectClassification::TRUCK;
+}
+
+bool isCarLikeVehicle(const uint8_t object_classification)
+{
+  return object_classification == ObjectClassification::BUS ||
+         object_classification == ObjectClassification::CAR ||
+         object_classification == ObjectClassification::TRAILER ||
+         object_classification == ObjectClassification::TRUCK;
+}
+
+bool isLargeVehicle(const uint8_t object_classification)
+{
+  return object_classification == ObjectClassification::BUS ||
+         object_classification == ObjectClassification::TRAILER ||
+         object_classification == ObjectClassification::TRUCK;
+}
+}  // namespace perception_utils
+
+#endif  // PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_