diff --git a/common/motion_utils/include/motion_utils/marker/marker_helper.hpp b/common/motion_utils/include/motion_utils/marker/marker_helper.hpp
index 714220d5dedc4..166d3a6661689 100644
--- a/common/motion_utils/include/motion_utils/marker/marker_helper.hpp
+++ b/common/motion_utils/include/motion_utils/marker/marker_helper.hpp
@@ -15,23 +15,28 @@
 #ifndef MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
 #define MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
 
+#include "motion_utils/resample/resample_utils.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
+#include <functional>
 #include <string>
+#include <vector>
 
 namespace motion_utils
 {
+using geometry_msgs::msg::Pose;
+
 visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
-  const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id, const double longitudinal_offset = 0.0);
+  const Pose & pose, const std::string & module_name, const rclcpp::Time & now, const int32_t id,
+  const double longitudinal_offset = 0.0);
 
 visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
-  const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id, const double longitudinal_offset = 0.0);
+  const Pose & pose, const std::string & module_name, const rclcpp::Time & now, const int32_t id,
+  const double longitudinal_offset = 0.0);
 
 visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
-  const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
-  const int32_t id, const double longitudinal_offset = 0.0);
+  const Pose & pose, const std::string & module_name, const rclcpp::Time & now, const int32_t id,
+  const double longitudinal_offset = 0.0);
 
 visualization_msgs::msg::MarkerArray createDeletedStopVirtualWallMarker(
   const rclcpp::Time & now, const int32_t id);
@@ -41,6 +46,46 @@ visualization_msgs::msg::MarkerArray createDeletedSlowDownVirtualWallMarker(
 
 visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
   const rclcpp::Time & now, const int32_t id);
+
+visualization_msgs::msg::MarkerArray createVirtualWallMarkerFromPreviousPoses(
+  const std::vector<Pose> & stop_poses, const std::vector<Pose> & previous_poses,
+  const rclcpp::Time & now, int32_t id);
+
+class VirtualWallMarkerCreator
+{
+public:
+  virtual ~VirtualWallMarkerCreator() = default;
+
+  using create_wall_function = std::function<visualization_msgs::msg::MarkerArray(
+    const geometry_msgs::msg::Pose & pose, const std::string & module_name,
+    const rclcpp::Time & now, const int32_t id, const double longitudinal_offset)>;
+
+  using delete_wall_function =
+    std::function<visualization_msgs::msg::MarkerArray(const rclcpp::Time & now, const int32_t id)>;
+
+  visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
+    const std::vector<Pose> & stop_poses, const std::string & module_name, const rclcpp::Time & now,
+    int32_t id, const double longitudinal_offset = 0.0);
+
+  visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
+    const std::vector<Pose> & slow_down_poses, const std::string & module_name,
+    const rclcpp::Time & now, int32_t id, const double longitudinal_offset = 0.0);
+
+  visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
+    const std::vector<Pose> & dead_line_poses, const std::string & module_name,
+    const rclcpp::Time & now, int32_t id, const double longitudinal_offset = 0.0);
+
+private:
+  visualization_msgs::msg::MarkerArray handleVirtualWallMarker(
+    const std::vector<Pose> & poses, const std::string & module_name, const rclcpp::Time & now,
+    int32_t id, create_wall_function function_create_wall_marker,
+    delete_wall_function function_delete_wall_marker,
+    std::vector<geometry_msgs::msg::Pose> & previous_poses, const double longitudinal_offset = 0.0);
+
+  std::vector<Pose> previous_stop_poses_;
+  std::vector<Pose> previous_slow_down_poses_;
+  std::vector<Pose> previous_dead_line_poses_;
+};
 }  // namespace motion_utils
 
 #endif  // MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
diff --git a/common/motion_utils/src/marker/marker_helper.cpp b/common/motion_utils/src/marker/marker_helper.cpp
index d88bcada25193..60e5f09bbea89 100644
--- a/common/motion_utils/src/marker/marker_helper.cpp
+++ b/common/motion_utils/src/marker/marker_helper.cpp
@@ -16,13 +16,16 @@
 
 #include <string>
 
+using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::createDefaultMarker;
 using tier4_autoware_utils::createDeletedDefaultMarker;
 using tier4_autoware_utils::createMarkerColor;
 using tier4_autoware_utils::createMarkerScale;
+using visualization_msgs::msg::MarkerArray;
 
 namespace
 {
+
 inline visualization_msgs::msg::MarkerArray createVirtualWallMarkerArray(
   const geometry_msgs::msg::Pose & vehicle_front_pose, const std::string & module_name,
   const std::string & ns_prefix, const rclcpp::Time & now, const int32_t id,
@@ -128,4 +131,79 @@ visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
 {
   return createDeletedVirtualWallMarkerArray("dead_line_", now, id);
 }
+
+visualization_msgs::msg::MarkerArray VirtualWallMarkerCreator::handleVirtualWallMarker(
+  const std::vector<Pose> & poses, const std::string & module_name, const rclcpp::Time & now,
+  int32_t id, create_wall_function function_create_wall_marker,
+  delete_wall_function function_delete_wall_marker,
+  std::vector<geometry_msgs::msg::Pose> & previous_virtual_wall_poses,
+  const double longitudinal_offset)
+{
+  size_t id_to_create = id;
+  size_t id_to_delete = id;
+  visualization_msgs::msg::MarkerArray wall_marker;
+
+  if (poses.size() == 0 || previous_virtual_wall_poses.empty()) {
+    return wall_marker;
+  }
+
+  for (const auto & p : previous_virtual_wall_poses) {
+    const bool previous_stop_pose_is_in_stop_pose =
+      std::any_of(poses.begin(), poses.end(), [&](const geometry_msgs::msg::Pose & elem) {
+        std::vector<Pose> poses;
+        poses.push_back(p);
+        poses.push_back(elem);
+        return resample_utils::validate_points_duplication(poses);
+      });
+
+    if (!previous_stop_pose_is_in_stop_pose) {
+      appendMarkerArray(function_delete_wall_marker(now, id_to_delete), &wall_marker, now);
+    }
+    id_to_delete++;
+  }
+
+  for (const auto & p : poses) {
+    appendMarkerArray(
+      function_create_wall_marker(p, module_name, now, id_to_create++, longitudinal_offset),
+      &wall_marker);
+  }
+  previous_virtual_wall_poses = poses;
+  return wall_marker;
+}
+
+visualization_msgs::msg::MarkerArray VirtualWallMarkerCreator::createStopVirtualWallMarker(
+  const std::vector<Pose> & stop_poses, const std::string & module_name, const rclcpp::Time & now,
+  int32_t id, const double longitudinal_offset)
+{
+  create_wall_function creator = motion_utils::createStopVirtualWallMarker;
+  delete_wall_function deleter = motion_utils::createDeletedStopVirtualWallMarker;
+
+  return handleVirtualWallMarker(
+    stop_poses, module_name, now, id, creator, deleter, previous_stop_poses_, longitudinal_offset);
+}
+
+visualization_msgs::msg::MarkerArray VirtualWallMarkerCreator::createSlowDownVirtualWallMarker(
+  const std::vector<Pose> & slow_down_poses, const std::string & module_name,
+  const rclcpp::Time & now, int32_t id, const double longitudinal_offset)
+{
+  create_wall_function creator = motion_utils::createSlowDownVirtualWallMarker;
+  delete_wall_function deleter = motion_utils::createDeletedSlowDownVirtualWallMarker;
+
+  return handleVirtualWallMarker(
+    slow_down_poses, module_name, now, id, creator, deleter, previous_slow_down_poses_,
+    longitudinal_offset);
+}
+
+visualization_msgs::msg::MarkerArray VirtualWallMarkerCreator::createDeadLineVirtualWallMarker(
+  const std::vector<Pose> & dead_line_poses, const std::string & module_name,
+  const rclcpp::Time & now, int32_t id, const double longitudinal_offset)
+{
+  create_wall_function creator = motion_utils::createDeadLineVirtualWallMarker;
+  delete_wall_function deleter = motion_utils::createDeletedDeadLineVirtualWallMarker;
+
+  return handleVirtualWallMarker(
+    dead_line_poses, module_name, now, id, creator, deleter, previous_dead_line_poses_,
+    longitudinal_offset);
+}
+
 }  // namespace motion_utils
diff --git a/planning/behavior_velocity_planner/include/scene_module/blind_spot/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/blind_spot/scene.hpp
index 4b1c672ff2b08..d85bc002297df 100644
--- a/planning/behavior_velocity_planner/include/scene_module/blind_spot/scene.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/blind_spot/scene.hpp
@@ -217,6 +217,9 @@ class BlindSpotModule : public SceneModuleInterface
 
   // Debug
   mutable DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_crosswalk.hpp b/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_crosswalk.hpp
index f3930291d5b9f..acd0c45755b71 100644
--- a/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_crosswalk.hpp
@@ -38,6 +38,7 @@
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
+#include <memory>
 #include <string>
 #include <unordered_map>
 #include <utility>
@@ -174,6 +175,9 @@ class CrosswalkModule : public SceneModuleInterface
 
   // whether ego passed safety_slow_point
   bool passed_safety_slow_point_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_crosswalk_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_walkway.hpp b/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_walkway.hpp
index 8d05fc4f52d39..42be22f1386b6 100644
--- a/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_walkway.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_walkway.hpp
@@ -28,6 +28,7 @@
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_routing/RoutingGraphContainer.h>
 
+#include <memory>
 #include <utility>
 #include <vector>
 
@@ -72,6 +73,9 @@ class WalkwayModule : public SceneModuleInterface
 
   // Debug
   DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_walkway_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp
index 3d2ede0c970ab..b6896f4b68eb9 100644
--- a/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp
@@ -99,6 +99,9 @@ class DetectionAreaModule : public SceneModuleInterface
 
   // Debug
   DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
index f8e0fea2f23de..98589555bd7aa 100644
--- a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
@@ -15,6 +15,7 @@
 #ifndef SCENE_MODULE__INTERSECTION__SCENE_INTERSECTION_HPP_
 #define SCENE_MODULE__INTERSECTION__SCENE_INTERSECTION_HPP_
 
+#include <motion_utils/motion_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <scene_module/scene_module_interface.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
@@ -256,6 +257,9 @@ class IntersectionModule : public SceneModuleInterface
 
   // Debug
   mutable DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_merge_from_private_road.hpp b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_merge_from_private_road.hpp
index 137a3c6286705..a2d884240747d 100644
--- a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_merge_from_private_road.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_merge_from_private_road.hpp
@@ -100,6 +100,9 @@ class MergeFromPrivateRoadModule : public SceneModuleInterface
 
   // Debug
   mutable DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/no_stopping_area/scene_no_stopping_area.hpp b/planning/behavior_velocity_planner/include/scene_module/no_stopping_area/scene_no_stopping_area.hpp
index 181293144bd8b..e387b1b39cf2d 100644
--- a/planning/behavior_velocity_planner/include/scene_module/no_stopping_area/scene_no_stopping_area.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/no_stopping_area/scene_no_stopping_area.hpp
@@ -174,6 +174,9 @@ class NoStoppingAreaModule : public SceneModuleInterface
 
   // Debug
   DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp b/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp
index 05eab13f79e63..c7ee714b03a7b 100644
--- a/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp
@@ -68,6 +68,9 @@ class OcclusionSpotModule : public SceneModuleInterface
 
   // Debug
   mutable DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/run_out/debug.hpp b/planning/behavior_velocity_planner/include/scene_module/run_out/debug.hpp
index f833e4e0e46b2..414ce63ed8d7f 100644
--- a/planning/behavior_velocity_planner/include/scene_module/run_out/debug.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/run_out/debug.hpp
@@ -16,6 +16,7 @@
 
 #include "scene_module/run_out/dynamic_obstacle.hpp"
 
+#include <memory>
 #include <string>
 #include <vector>
 namespace behavior_velocity_planner
@@ -130,6 +131,8 @@ class RunOutDebug
   DebugValues debug_values_;
   AccelReason accel_reason_;
   double height_{0};
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 
 }  // namespace behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
index b22c61b19f549..f9846f970beb5 100644
--- a/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
@@ -105,6 +105,9 @@ class StopLineModule : public SceneModuleInterface
 
   // Debug
   DebugData debug_data_;
+
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 };
 }  // namespace behavior_velocity_planner
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp
index 130e4a1715fde..2bd7078d93aeb 100644
--- a/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp
@@ -94,6 +94,8 @@ class VirtualTrafficLightModule : public SceneModuleInterface
   tier4_v2x_msgs::msg::InfrastructureCommand command_;
   MapData map_data_;
   ModuleData module_data_;
+  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
+    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
 
   void updateInfrastructureCommand();
 
diff --git a/planning/behavior_velocity_planner/src/scene_module/blind_spot/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/blind_spot/debug.cpp
index fbd525294a50e..67b364033b4fd 100644
--- a/planning/behavior_velocity_planner/src/scene_module/blind_spot/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/blind_spot/debug.cpp
@@ -78,8 +78,8 @@ visualization_msgs::msg::MarkerArray BlindSpotModule::createVirtualWallMarkerArr
 
   if (!isActivated() && !is_over_pass_judge_line_) {
     appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(
-        debug_data_.virtual_wall_pose, "blind_spot", now, module_id_),
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        {debug_data_.virtual_wall_pose}, "blind_spot", now, module_id_),
       &wall_marker, now);
   }
   return wall_marker;
diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/debug.cpp
index 6aab24b9a24fa..1b27e2b06cf55 100644
--- a/planning/behavior_velocity_planner/src/scene_module/crosswalk/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/crosswalk/debug.cpp
@@ -223,17 +223,26 @@ visualization_msgs::msg::MarkerArray CrosswalkModule::createVirtualWallMarkerArr
 {
   const auto now = this->clock_->now();
   auto id = module_id_;
+  std::vector<Pose> stop_poses;
+  std::vector<Pose> slow_down_poses;
 
   visualization_msgs::msg::MarkerArray wall_marker;
   for (const auto & p : debug_data_.stop_poses) {
     const auto p_front = calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
-    appendMarkerArray(createStopVirtualWallMarker(p_front, "crosswalk", now, id++), &wall_marker);
+    stop_poses.push_back(p_front);
   }
+  appendMarkerArray(
+    virtual_wall_marker_creator_crosswalk_->createStopVirtualWallMarker(
+      stop_poses, "crosswalk", now, id),
+    &wall_marker);
   for (const auto & p : debug_data_.slow_poses) {
     const auto p_front = calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
-    appendMarkerArray(
-      createSlowDownVirtualWallMarker(p_front, "crosswalk", now, id++), &wall_marker);
+    slow_down_poses.push_back(p_front);
   }
+  appendMarkerArray(
+    virtual_wall_marker_creator_crosswalk_->createSlowDownVirtualWallMarker(
+      slow_down_poses, "crosswalk", now, id),
+    &wall_marker);
 
   return wall_marker;
 }
@@ -242,12 +251,17 @@ visualization_msgs::msg::MarkerArray WalkwayModule::createVirtualWallMarkerArray
 {
   const auto now = this->clock_->now();
   auto id = module_id_;
+  std::vector<Pose> stop_poses;
 
   visualization_msgs::msg::MarkerArray wall_marker;
   for (const auto & p : debug_data_.stop_poses) {
     const auto p_front = calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
-    appendMarkerArray(createStopVirtualWallMarker(p_front, "walkway", now, id++), &wall_marker);
+    stop_poses.push_back(p_front);
   }
+  appendMarkerArray(
+    virtual_wall_marker_creator_walkway_->createStopVirtualWallMarker(
+      stop_poses, "walkway", now, id),
+    &wall_marker);
   return wall_marker;
 }
 
diff --git a/planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp
index 5d62dfbc35d4e..9bd56c79cf70d 100644
--- a/planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp
@@ -175,21 +175,29 @@ visualization_msgs::msg::MarkerArray DetectionAreaModule::createVirtualWallMarke
   const rclcpp::Time now = clock_->now();
 
   auto id = getModuleId();
+
+  std::vector<Pose> stop_poses;
+  std::vector<Pose> dead_line_poses;
+
   for (const auto & p : debug_data_.stop_poses) {
     const auto p_front =
       tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
-    appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(p_front, "detection_area", now, id++), &wall_marker,
-      now);
+    stop_poses.push_back(p_front);
   }
+  appendMarkerArray(
+    virtual_wall_marker_creator_->createStopVirtualWallMarker(
+      stop_poses, "detection_area", now, id),
+    &wall_marker, now);
 
   for (const auto & p : debug_data_.dead_line_poses) {
     const auto p_front =
       tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
-    appendMarkerArray(
-      motion_utils::createDeadLineVirtualWallMarker(p_front, "detection_area", now, id++),
-      &wall_marker, now);
+    dead_line_poses.push_back(p_front);
   }
+  appendMarkerArray(
+    virtual_wall_marker_creator_->createDeadLineVirtualWallMarker(
+      dead_line_poses, "detection_area", now, id),
+    &wall_marker, now);
 
   return wall_marker;
 }
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp
index 8697be34d0222..23ebdcef0f09a 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp
@@ -193,13 +193,13 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createVirtualWallMarker
 
   if (debug_data_.stop_required) {
     appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(
-        debug_data_.stop_wall_pose, "intersection", now, module_id_),
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        {debug_data_.stop_wall_pose}, "intersection", now, module_id_),
       &wall_marker, now);
   } else if (state == StateMachine::State::STOP) {
     appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(
-        debug_data_.slow_wall_pose, "intersection", now, module_id_),
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        {debug_data_.slow_wall_pose}, "intersection", now, module_id_),
       &wall_marker, now);
   }
   return wall_marker;
@@ -230,9 +230,10 @@ visualization_msgs::msg::MarkerArray MergeFromPrivateRoadModule::createVirtualWa
 
   const auto now = this->clock_->now();
   if (state == StateMachine::State::STOP) {
+    const std::vector<Pose> & pose = {debug_data_.virtual_wall_pose};
     appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(
-        debug_data_.virtual_wall_pose, "merge_from_private_road", now, module_id_),
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        pose, "merge_from_private_road", now, module_id_),
       &wall_marker, now);
   }
 
diff --git a/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/debug.cpp
index b50fa38e48d6d..205d9314c2505 100644
--- a/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/debug.cpp
@@ -168,13 +168,18 @@ visualization_msgs::msg::MarkerArray NoStoppingAreaModule::createVirtualWallMark
   const auto now = clock_->now();
 
   auto id = module_id_;
+  std::vector<Pose> stop_poses;
+
   for (const auto & p : debug_data_.stop_poses) {
     const auto p_front =
       tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
-    appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(p_front, "no_stopping_area", now, id++),
-      &wall_marker, now);
+    stop_poses.push_back(p_front);
   }
+  appendMarkerArray(
+    virtual_wall_marker_creator_->createStopVirtualWallMarker(
+      stop_poses, "no_stopping_area", now, id),
+    &wall_marker, now);
+
   return wall_marker;
 }
 }  // namespace behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/debug.cpp
index 73c8b12b79162..bf82bd74552df 100644
--- a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/debug.cpp
@@ -219,11 +219,15 @@ MarkerArray OcclusionSpotModule::createVirtualWallMarkerArray()
 
   MarkerArray wall_marker;
   std::string module_name = "occlusion_spot";
+  std::vector<Pose> slow_down_poses;
+  size_t module_id = 0;
   for (size_t id = 0; id < debug_data_.debug_poses.size(); id++) {
     const auto p_front =
       calcOffsetPose(debug_data_.debug_poses.at(id), debug_data_.baselink_to_front, 0.0, 0.0);
+    slow_down_poses.push_back(p_front);
     appendMarkerArray(
-      motion_utils::createSlowDownVirtualWallMarker(p_front, module_name, current_time, id),
+      virtual_wall_marker_creator_->createSlowDownVirtualWallMarker(
+        slow_down_poses, module_name, current_time, module_id),
       &wall_marker, current_time);
   }
   return wall_marker;
diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/debug.cpp
index 61577891224c3..cdd94bfb9b001 100644
--- a/planning/behavior_velocity_planner/src/scene_module/run_out/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/run_out/debug.cpp
@@ -165,12 +165,12 @@ visualization_msgs::msg::MarkerArray RunOutDebug::createVirtualWallMarkerArray()
 {
   visualization_msgs::msg::MarkerArray wall_marker;
   rclcpp::Time now = node_.now();
+
   size_t id = 0;
 
-  for (const auto & p : stop_pose_) {
-    appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(p, "run_out", now, id++), &wall_marker);
-  }
+  appendMarkerArray(
+    virtual_wall_marker_creator_->createStopVirtualWallMarker(stop_pose_, "run_out", now, id),
+    &wall_marker, now);
 
   stop_pose_.clear();
 
diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp
index 72daa9012a8b7..d86c6f72b1649 100644
--- a/planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp
@@ -98,6 +98,7 @@ visualization_msgs::msg::MarkerArray StopLineModule::createVirtualWallMarkerArra
 {
   const auto now = this->clock_->now();
   visualization_msgs::msg::MarkerArray wall_marker;
+
   if (!debug_data_.stop_pose) {
     return wall_marker;
   }
@@ -105,9 +106,11 @@ visualization_msgs::msg::MarkerArray StopLineModule::createVirtualWallMarkerArra
     *debug_data_.stop_pose, debug_data_.base_link2front, 0.0, 0.0);
   if (state_ == State::APPROACH || state_ == State::STOPPED) {
     appendMarkerArray(
-      motion_utils::createStopVirtualWallMarker(p_front, "stopline", now, module_id_), &wall_marker,
-      now);
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        {p_front}, "stopline", now, module_id_),
+      &wall_marker, now);
   }
+
   return wall_marker;
 }
 }  // namespace behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/debug.cpp
index e001e581232eb..f60a317de996e 100644
--- a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/debug.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/debug.cpp
@@ -58,18 +58,18 @@ visualization_msgs::msg::MarkerArray VirtualTrafficLightModule::createVirtualWal
 
   // virtual_wall_stop_line
   if (d.stop_head_pose_at_stop_line) {
-    const auto markers = createStopVirtualWallMarker(
-      *d.stop_head_pose_at_stop_line, "virtual_traffic_light", now, module_id_);
-
-    appendMarkerArray(markers, &wall_marker);
+    appendMarkerArray(
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        {*d.stop_head_pose_at_stop_line}, "virtual_traffic_light", now, module_id_),
+      &wall_marker, now);
   }
 
   // virtual_wall_end_line
   if (d.stop_head_pose_at_end_line) {
-    const auto markers = createStopVirtualWallMarker(
-      *d.stop_head_pose_at_end_line, "virtual_traffic_light", now, module_id_);
-
-    appendMarkerArray(markers, &wall_marker);
+    appendMarkerArray(
+      virtual_wall_marker_creator_->createStopVirtualWallMarker(
+        {*d.stop_head_pose_at_end_line}, "virtual_traffic_light", now, module_id_),
+      &wall_marker, now);
   }
 
   return wall_marker;