diff --git a/planning/route_handler/test_route/rh_test.route b/planning/route_handler/test_route/rh_test.route
new file mode 100644
index 0000000000000..dc2be043195bc
--- /dev/null
+++ b/planning/route_handler/test_route/rh_test.route
@@ -0,0 +1,253 @@
+start_pose:
+  position:
+    x: -200.0
+    y: 1.75
+    z: 0.0
+  orientation:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    w: 1.0
+goal_pose:
+  position:
+    x: 500.0
+    y: -1.75
+    z: 0.0
+  orientation:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    w: 1.0
+segments:
+- preferred_primitive:
+    id: 4735
+    primitive_type: ''
+  primitives:
+  - id: 4735
+    primitive_type: lane
+  - id: 5044
+    primitive_type: lane
+- preferred_primitive:
+    id: 4740
+    primitive_type: ''
+  primitives:
+  - id: 4740
+    primitive_type: lane
+  - id: 5048
+    primitive_type: lane
+- preferred_primitive:
+    id: 4745
+    primitive_type: ''
+  primitives:
+  - id: 4745
+    primitive_type: lane
+  - id: 5052
+    primitive_type: lane
+- preferred_primitive:
+    id: 4750
+    primitive_type: ''
+  primitives:
+  - id: 4750
+    primitive_type: lane
+  - id: 5056
+    primitive_type: lane
+- preferred_primitive:
+    id: 4755
+    primitive_type: ''
+  primitives:
+  - id: 4755
+    primitive_type: lane
+  - id: 5060
+    primitive_type: lane
+- preferred_primitive:
+    id: 4760
+    primitive_type: ''
+  primitives:
+  - id: 4760
+    primitive_type: lane
+  - id: 5064
+    primitive_type: lane
+- preferred_primitive:
+    id: 4765
+    primitive_type: ''
+  primitives:
+  - id: 4765
+    primitive_type: lane
+  - id: 9590
+    primitive_type: lane
+- preferred_primitive:
+    id: 4770
+    primitive_type: ''
+  primitives:
+  - id: 4770
+    primitive_type: lane
+  - id: 5072
+    primitive_type: lane
+- preferred_primitive:
+    id: 9594
+    primitive_type: ''
+  primitives:
+  - id: 4775
+    primitive_type: lane
+  - id: 9594
+    primitive_type: lane
+- preferred_primitive:
+    id: 9598
+    primitive_type: ''
+  primitives:
+  - id: 4424
+    primitive_type: lane
+  - id: 9598
+    primitive_type: lane
+- preferred_primitive:
+    id: 5084
+    primitive_type: ''
+  primitives:
+  - id: 4780
+    primitive_type: lane
+  - id: 5084
+    primitive_type: lane
+- preferred_primitive:
+    id: 5088
+    primitive_type: ''
+  primitives:
+  - id: 4785
+    primitive_type: lane
+  - id: 5088
+    primitive_type: lane
+- preferred_primitive:
+    id: 5092
+    primitive_type: ''
+  primitives:
+  - id: 4790
+    primitive_type: lane
+  - id: 5092
+    primitive_type: lane
+- preferred_primitive:
+    id: 5096
+    primitive_type: ''
+  primitives:
+  - id: 4795
+    primitive_type: lane
+  - id: 5096
+    primitive_type: lane
+- preferred_primitive:
+    id: 5104
+    primitive_type: ''
+  primitives:
+  - id: 4800
+    primitive_type: lane
+  - id: 5104
+    primitive_type: lane
+- preferred_primitive:
+    id: 5100
+    primitive_type: ''
+  primitives:
+  - id: 4805
+    primitive_type: lane
+  - id: 5100
+    primitive_type: lane
+- preferred_primitive:
+    id: 9813
+    primitive_type: ''
+  primitives:
+  - id: 4810
+    primitive_type: lane
+  - id: 9813
+    primitive_type: lane
+- preferred_primitive:
+    id: 5112
+    primitive_type: ''
+  primitives:
+  - id: 4815
+    primitive_type: lane
+  - id: 5112
+    primitive_type: lane
+- preferred_primitive:
+    id: 5116
+    primitive_type: ''
+  primitives:
+  - id: 4820
+    primitive_type: lane
+  - id: 5116
+    primitive_type: lane
+- preferred_primitive:
+    id: 5120
+    primitive_type: ''
+  primitives:
+  - id: 4825
+    primitive_type: lane
+  - id: 5120
+    primitive_type: lane
+- preferred_primitive:
+    id: 5124
+    primitive_type: ''
+  primitives:
+  - id: 4830
+    primitive_type: lane
+  - id: 5124
+    primitive_type: lane
+- preferred_primitive:
+    id: 5128
+    primitive_type: ''
+  primitives:
+  - id: 4835
+    primitive_type: lane
+  - id: 5128
+    primitive_type: lane
+- preferred_primitive:
+    id: 5132
+    primitive_type: ''
+  primitives:
+  - id: 4840
+    primitive_type: lane
+  - id: 5132
+    primitive_type: lane
+- preferred_primitive:
+    id: 5136
+    primitive_type: ''
+  primitives:
+  - id: 4845
+    primitive_type: lane
+  - id: 5136
+    primitive_type: lane
+- preferred_primitive:
+    id: 5140
+    primitive_type: ''
+  primitives:
+  - id: 4850
+    primitive_type: lane
+  - id: 5140
+    primitive_type: lane
+- preferred_primitive:
+    id: 9817
+    primitive_type: ''
+  primitives:
+  - id: 4855
+    primitive_type: lane
+  - id: 9817
+    primitive_type: lane
+- preferred_primitive:
+    id: 9821
+    primitive_type: ''
+  primitives:
+  - id: 4860
+    primitive_type: lane
+  - id: 9821
+    primitive_type: lane
+- preferred_primitive:
+    id: 9825
+    primitive_type: ''
+  primitives:
+  - id: 4865
+    primitive_type: lane
+  - id: 9825
+    primitive_type: lane
+- preferred_primitive:
+    id: 5156
+    primitive_type: ''
+  primitives:
+  - id: 4870
+    primitive_type: lane
+  - id: 5156
+    primitive_type: lane
\ No newline at end of file