diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
index 38501cc059c1e..288c8270aa874 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -9,6 +9,7 @@
   <arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
   <arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
   <arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/>
+  <arg name="fusion/traffic_signals" default="/perception/traffic_light_recognition/fusion/traffic_signals"/>
   <arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
   <arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
   <arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
@@ -62,7 +63,7 @@
         <arg name="input/camera_info" value="$(var input/camera_info)"/>
         <arg name="input/cloud" value="$(var input/cloud)"/>
         <arg name="input/rois" value="$(var output/rois1)"/>
-        <arg name="input/traffic_signals" value="estimated/traffic_signals"/>
+        <arg name="input/traffic_signals" value="classified/traffic_signals"/>
         <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
       </include>
     </group>
@@ -112,7 +113,7 @@
         <arg name="input/camera_info" value="$(var input/camera_info)"/>
         <arg name="input/cloud" value="$(var input/cloud)"/>
         <arg name="input/rois" value="$(var output/rois2)"/>
-        <arg name="input/traffic_signals" value="estimated/traffic_signals"/>
+        <arg name="input/traffic_signals" value="classified/traffic_signals"/>
         <arg name="output/traffic_signals" value="$(var output/traffic_signals2)"/>
       </include>
     </group>
@@ -124,9 +125,27 @@
       <param name="camera_namespaces" value="$(var all_camera_namespaces)"/>
       <param name="perform_group_fusion" value="true"/>
       <remap from="~/input/vector_map" to="/map/vector_map"/>
+      <remap from="~/output/traffic_signals" to="$(var fusion/traffic_signals)"/>
+    </node>
+  </group>
+
+  <group if="$(var use_crosswalk_traffic_light_estimator)">
+    <node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
+      <remap from="~/input/vector_map" to="/map/vector_map"/>
+      <remap from="~/input/route" to="/planning/mission_planning/route"/>
+      <remap from="~/input/classified/traffic_signals" to="$(var fusion/traffic_signals)"/>
       <remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/>
     </node>
   </group>
+
+  <group unless="$(var use_crosswalk_traffic_light_estimator)">
+    <node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen">
+      <param name="input_topic" value="$(var fusion/traffic_signals)"/>
+      <param name="output_topic" value="$(var internal/traffic_signals)"/>
+      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
+    </node>
+  </group>
+
   <!-- V2X fusion -->
   <group>
     <include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
index 8b3d15f2cff95..a6bcb40e81252 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
@@ -73,7 +73,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("classifier_mean", "[123.675, 116.28, 103.53]")
     add_launch_arg("classifier_std", "[58.395, 57.12, 57.375]")
 
-    add_launch_arg("use_crosswalk_traffic_light_estimator", "True")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("use_multithread", "False")
 
@@ -137,46 +136,6 @@ def create_parameter_dict(*args):
         output="both",
     )
 
-    estimator_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            ComposableNode(
-                package="crosswalk_traffic_light_estimator",
-                plugin="traffic_light::CrosswalkTrafficLightEstimatorNode",
-                name="crosswalk_traffic_light_estimator",
-                namespace="classification",
-                remappings=[
-                    ("~/input/vector_map", "/map/vector_map"),
-                    ("~/input/route", "/planning/mission_planning/route"),
-                    ("~/input/classified/traffic_signals", "classified/traffic_signals"),
-                    ("~/output/traffic_signals", "estimated/traffic_signals"),
-                ],
-                extra_arguments=[{"use_intra_process_comms": False}],
-            ),
-        ],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_crosswalk_traffic_light_estimator")),
-    )
-
-    relay_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            ComposableNode(
-                package="topic_tools",
-                plugin="topic_tools::RelayNode",
-                name="classified_signals_relay",
-                namespace="classification",
-                parameters=[
-                    {"input_topic": "classified/traffic_signals"},
-                    {"output_topic": "estimated/traffic_signals"},
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        ],
-        target_container=container,
-        condition=UnlessCondition(LaunchConfiguration("use_crosswalk_traffic_light_estimator")),
-    )
-
     decompressor_loader = LoadComposableNodes(
         composable_node_descriptions=[
             ComposableNode(
@@ -251,7 +210,5 @@ def create_parameter_dict(*args):
             container,
             decompressor_loader,
             fine_detector_loader,
-            estimator_loader,
-            relay_loader,
         ]
     )
diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
index 0850436851e6a..3b4855f1f38e9 100644
--- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
@@ -22,6 +22,7 @@
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_element.hpp>
@@ -47,9 +48,9 @@ using autoware_planning_msgs::msg::LaneletRoute;
 using tier4_autoware_utils::DebugPublisher;
 using tier4_autoware_utils::StopWatch;
 using tier4_debug_msgs::msg::Float64Stamped;
-using tier4_perception_msgs::msg::TrafficLightElement;
-using tier4_perception_msgs::msg::TrafficSignal;
-using tier4_perception_msgs::msg::TrafficSignalArray;
+using TrafficSignal = autoware_perception_msgs::msg::TrafficSignal;
+using TrafficSignalArray = autoware_perception_msgs::msg::TrafficSignalArray;
+using TrafficSignalElement = autoware_perception_msgs::msg::TrafficSignalElement;
 using TrafficSignalAndTime = std::pair<TrafficSignal, rclcpp::Time>;
 using TrafficLightIdMap = std::unordered_map<lanelet::Id, TrafficSignalAndTime>;
 
@@ -89,6 +90,9 @@ class CrosswalkTrafficLightEstimatorNode : public rclcpp::Node
     const lanelet::ConstLineStringsOrPolygons3d & traffic_lights,
     const TrafficLightIdMap & traffic_light_id_map) const;
 
+  boost::optional<uint8_t> getHighestConfidenceTrafficSignal(
+    const lanelet::Id & id, const TrafficLightIdMap & traffic_light_id_map) const;
+
   // Node param
   bool use_last_detect_color_;
   double last_detect_color_hold_time_;
diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml
index 435ecf6e6fa3d..f029972f7124f 100644
--- a/perception/crosswalk_traffic_light_estimator/package.xml
+++ b/perception/crosswalk_traffic_light_estimator/package.xml
@@ -12,6 +12,7 @@
 
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
diff --git a/perception/crosswalk_traffic_light_estimator/src/node.cpp b/perception/crosswalk_traffic_light_estimator/src/node.cpp
index 55d272cb71cfe..dd7a9ea04ae38 100644
--- a/perception/crosswalk_traffic_light_estimator/src/node.cpp
+++ b/perception/crosswalk_traffic_light_estimator/src/node.cpp
@@ -160,7 +160,7 @@ void CrosswalkTrafficLightEstimatorNode::onTrafficLightArray(
 
   TrafficLightIdMap traffic_light_id_map;
   for (const auto & traffic_signal : msg->signals) {
-    traffic_light_id_map[traffic_signal.traffic_light_id] =
+    traffic_light_id_map[traffic_signal.traffic_signal_id] =
       std::pair<TrafficSignal, rclcpp::Time>(traffic_signal, get_clock()->now());
   }
 
@@ -191,11 +191,11 @@ void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal(
       continue;
     }
 
-    if (elements.front().color == TrafficLightElement::UNKNOWN) {
+    if (elements.front().color == TrafficSignalElement::UNKNOWN) {
       continue;
     }
 
-    const auto & id = input_traffic_signal.second.first.traffic_light_id;
+    const auto & id = input_traffic_signal.second.first.traffic_signal_id;
 
     if (last_detect_color_.count(id) == 0) {
       last_detect_color_.insert(std::make_pair(id, input_traffic_signal.second));
@@ -207,7 +207,7 @@ void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal(
 
   std::vector<int32_t> erase_id_list;
   for (auto & last_traffic_signal : last_detect_color_) {
-    const auto & id = last_traffic_signal.second.first.traffic_light_id;
+    const auto & id = last_traffic_signal.second.first.traffic_signal_id;
 
     if (traffic_light_id_map.count(id) == 0) {
       // hold signal recognition results for [last_detect_color_hold_time_] seconds.
@@ -227,19 +227,13 @@ void CrosswalkTrafficLightEstimatorNode::setCrosswalkTrafficSignal(
   const auto tl_reg_elems = crosswalk.regulatoryElementsAs<const lanelet::TrafficLight>();
 
   for (const auto & tl_reg_elem : tl_reg_elems) {
-    const auto crosswalk_traffic_lights = tl_reg_elem->trafficLights();
-
-    for (const auto & traffic_light : crosswalk_traffic_lights) {
-      const auto ll_traffic_light = static_cast<lanelet::ConstLineString3d>(traffic_light);
-
-      TrafficSignal output_traffic_signal;
-      TrafficLightElement output_traffic_light;
-      output_traffic_light.color = color;
-      output_traffic_light.confidence = 1.0;
-      output_traffic_signal.elements.push_back(output_traffic_light);
-      output_traffic_signal.traffic_light_id = ll_traffic_light.id();
-      msg.signals.push_back(output_traffic_signal);
-    }
+    TrafficSignal output_traffic_signal;
+    TrafficSignalElement output_traffic_signal_element;
+    output_traffic_signal_element.color = color;
+    output_traffic_signal_element.confidence = 1.0;
+    output_traffic_signal.elements.push_back(output_traffic_signal_element);
+    output_traffic_signal.traffic_signal_id = tl_reg_elem->id();
+    msg.signals.push_back(output_traffic_signal);
   }
 }
 
@@ -256,34 +250,32 @@ lanelet::ConstLanelets CrosswalkTrafficLightEstimatorNode::getNonRedLanelets(
     }
 
     const auto tl_reg_elem = tl_reg_elems.front();
-    const auto traffic_lights_for_vehicle = tl_reg_elem->trafficLights();
-
     const auto current_detected_signal =
-      getHighestConfidenceTrafficSignal(traffic_lights_for_vehicle, traffic_light_id_map);
+      getHighestConfidenceTrafficSignal(tl_reg_elem->id(), traffic_light_id_map);
 
     if (!current_detected_signal && !use_last_detect_color_) {
       continue;
     }
 
     const auto current_is_not_red =
-      current_detected_signal ? current_detected_signal.get() == TrafficLightElement::GREEN ||
-                                  current_detected_signal.get() == TrafficLightElement::AMBER
+      current_detected_signal ? current_detected_signal.get() == TrafficSignalElement::GREEN ||
+                                  current_detected_signal.get() == TrafficSignalElement::AMBER
                               : true;
 
     const auto current_is_unknown_or_none =
-      current_detected_signal ? current_detected_signal.get() == TrafficLightElement::UNKNOWN
+      current_detected_signal ? current_detected_signal.get() == TrafficSignalElement::UNKNOWN
                               : true;
 
     const auto last_detected_signal =
-      getHighestConfidenceTrafficSignal(traffic_lights_for_vehicle, last_detect_color_);
+      getHighestConfidenceTrafficSignal(tl_reg_elem->id(), last_detect_color_);
 
     if (!last_detected_signal) {
       continue;
     }
 
     const auto was_not_red = current_is_unknown_or_none &&
-                             (last_detected_signal.get() == TrafficLightElement::GREEN ||
-                              last_detected_signal.get() == TrafficLightElement::AMBER) &&
+                             (last_detected_signal.get() == TrafficSignalElement::GREEN ||
+                              last_detected_signal.get() == TrafficSignalElement::AMBER) &&
                              use_last_detect_color_;
 
     if (!current_is_not_red && !was_not_red) {
@@ -324,13 +316,13 @@ uint8_t CrosswalkTrafficLightEstimatorNode::estimateCrosswalkTrafficSignal(
   }
 
   if (has_straight_non_red_lane || has_related_non_red_tl) {
-    return TrafficLightElement::RED;
+    return TrafficSignalElement::RED;
   }
 
   const auto has_merge_lane = hasMergeLane(non_red_lanelets, routing_graph_ptr_);
   return !has_merge_lane && has_left_non_red_lane && has_right_non_red_lane
-           ? TrafficLightElement::RED
-           : TrafficLightElement::UNKNOWN;
+           ? TrafficSignalElement::RED
+           : TrafficSignalElement::UNKNOWN;
 }
 
 boost::optional<uint8_t> CrosswalkTrafficLightEstimatorNode::getHighestConfidenceTrafficSignal(
@@ -367,6 +359,28 @@ boost::optional<uint8_t> CrosswalkTrafficLightEstimatorNode::getHighestConfidenc
 
   return ret;
 }
+
+boost::optional<uint8_t> CrosswalkTrafficLightEstimatorNode::getHighestConfidenceTrafficSignal(
+  const lanelet::Id & id, const TrafficLightIdMap & traffic_light_id_map) const
+{
+  boost::optional<uint8_t> ret{boost::none};
+
+  double highest_confidence = 0.0;
+  if (traffic_light_id_map.count(id) == 0) {
+    return ret;
+  }
+
+  for (const auto & element : traffic_light_id_map.at(id).first.elements) {
+    if (element.confidence < highest_confidence) {
+      continue;
+    }
+
+    highest_confidence = element.confidence;
+    ret = element.color;
+  }
+
+  return ret;
+}
 }  // namespace traffic_light
 
 #include <rclcpp_components/register_node_macro.hpp>