diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
index 00c54d1a21b..17f5b7f7e38 100644
--- a/common/math/arithmetic/CHANGELOG.rst
+++ b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
index 96758d13ca5..eea3c355907 100644
--- a/common/math/arithmetic/package.xml
+++ b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
index 9bbf50dd75b..5568f98a17a 100644
--- a/common/math/geometry/CHANGELOG.rst
+++ b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge pull request `#1487 <https://github.com/tier4/scenario_simulator_v2/issues/1487>`_ from tier4/RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Review changes
+* Add new algorithm
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
index 709f268204a..86e554edba8 100644
--- a/common/math/geometry/package.xml
+++ b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
index a93330cc141..9c6e5daa9d5 100644
--- a/common/scenario_simulator_exception/CHANGELOG.rst
+++ b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
index 30522e48145..c9d77b087c1 100644
--- a/common/scenario_simulator_exception/package.xml
+++ b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
index 3e707e08d1d..e0445a3b211 100644
--- a/common/simple_junit/CHANGELOG.rst
+++ b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
index 930627d2650..4f30b3cbd39 100644
--- a/common/simple_junit/package.xml
+++ b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
index 65c1c5314ba..b931499ba3a 100644
--- a/common/status_monitor/CHANGELOG.rst
+++ b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
index 89fa1e00a4c..a163e75075d 100644
--- a/common/status_monitor/package.xml
+++ b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
index 15b63340b2a..8b3403b9388 100644
--- a/external/concealer/CHANGELOG.rst
+++ b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/external/concealer/package.xml b/external/concealer/package.xml
index d9b2601478a..ae1b319bc69 100644
--- a/external/concealer/package.xml
+++ b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
index c40618700aa..b9c76d962aa 100644
--- a/external/embree_vendor/CHANGELOG.rst
+++ b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,19 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
index 807aad54149..2d429d1d4ce 100644
--- a/external/embree_vendor/package.xml
+++ b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="ms.kataoka@gmail.com">masaya</maintainer>
   <license>Apache 2.0</license>
diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
index ad948a4418c..51519ac5445 100644
--- a/map/kashiwanoha_map/CHANGELOG.rst
+++ b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
index 80c5eee7249..b9b6c1e8887 100644
--- a/map/kashiwanoha_map/package.xml
+++ b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
index e38a5a15b76..b845b0949e8 100644
--- a/map/simple_cross_map/CHANGELOG.rst
+++ b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,19 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
index 0d08ad14166..3912eb712b1 100644
--- a/map/simple_cross_map/package.xml
+++ b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>map package for simple cross</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
index 41dd013208b..04d9cf09de6 100644
--- a/mock/cpp_mock_scenarios/CHANGELOG.rst
+++ b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
index 5e440e32c0c..401f0d9e37b 100644
--- a/mock/cpp_mock_scenarios/package.xml
+++ b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>C++ mock scenarios</description>
   <maintainer email="masaya.kataoka@tier4.jp">masaya</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
index 1fac03ccbb0..72e4d415c24 100644
--- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
+++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
index 709a71a5604..f54c8b8267a 100644
--- a/openscenario/openscenario_experimental_catalog/package.xml
+++ b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
index ba74d28fb1b..b78c4d88732 100644
--- a/openscenario/openscenario_interpreter/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,19 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
index c87bebd0df7..1c076870030 100644
--- a/openscenario/openscenario_interpreter/package.xml
+++ b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
index 1bd6c901fc1..b3c13b88a31 100644
--- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_interpreter_example
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
index 58762c83185..db3bbf89d44 100644
--- a/openscenario/openscenario_interpreter_example/package.xml
+++ b/openscenario/openscenario_interpreter_example/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_interpreter_example</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Examples for some TIER IV OpenSCENARIO Interpreter's features</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
index 22b68ba1a56..8d30b0ac4db 100644
--- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_interpreter_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
index 63a938bfaac..3ad28c69266 100644
--- a/openscenario/openscenario_interpreter_msgs/package.xml
+++ b/openscenario/openscenario_interpreter_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter_msgs</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>ROS message types for package openscenario_interpreter</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Yamasaki Tatsuya</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst
index d63287c8891..02f04b03342 100644
--- a/openscenario/openscenario_preprocessor/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_preprocessor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml
index 1233532a9a2..c6084913c8f 100644
--- a/openscenario/openscenario_preprocessor/package.xml
+++ b/openscenario/openscenario_preprocessor/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_preprocessor</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Example package for TIER IV OpenSCENARIO Interpreter</description>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
index 842a5f4ac3e..4805cbdb941 100644
--- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_preprocessor_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml
index f3e455f3027..d5bb253ed88 100644
--- a/openscenario/openscenario_preprocessor_msgs/package.xml
+++ b/openscenario/openscenario_preprocessor_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_preprocessor_msgs</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>ROS message types for package openscenario_preprocessor</description>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst
index 5c88a46eac0..a8a99b295a2 100644
--- a/openscenario/openscenario_utility/CHANGELOG.rst
+++ b/openscenario/openscenario_utility/CHANGELOG.rst
@@ -24,6 +24,19 @@ Changelog for package openscenario_utility
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml
index 2b78e04d162..8b4a68fdc51 100644
--- a/openscenario/openscenario_utility/package.xml
+++ b/openscenario/openscenario_utility/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_utility</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Utility tools for ASAM OpenSCENARIO 1.2.0</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst
index 19025dd9b10..c7d2098e8cf 100644
--- a/openscenario/openscenario_validator/CHANGELOG.rst
+++ b/openscenario/openscenario_validator/CHANGELOG.rst
@@ -10,6 +10,19 @@ Changelog for package openscenario_validator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml
index 980f59ca97d..486d88eb343 100644
--- a/openscenario/openscenario_validator/package.xml
+++ b/openscenario/openscenario_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_validator</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Validator for OpenSCENARIO 1.3</description>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst
index b41ae9e1784..c61a2374957 100644
--- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst
+++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_visualization
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml
index 61f70abad0d..7622fa9884e 100644
--- a/rviz_plugins/openscenario_visualization/package.xml
+++ b/rviz_plugins/openscenario_visualization/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_visualization</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Visualization tools for simulation results</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst
index 28799322145..3b210a6d5be 100644
--- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst
+++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package real_time_factor_control_rviz_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml
index fbe77094b82..d347b8f6f31 100644
--- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml
+++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>real_time_factor_control_rviz_plugin</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Slider controlling real time factor value.</description>
   <maintainer email="pawel.lech@robotec.ai">Paweł Lech</maintainer>
   <license>Apache License 2.0</license>
diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst
index 1f9d6587c93..42269869f32 100644
--- a/scenario_simulator_v2/CHANGELOG.rst
+++ b/scenario_simulator_v2/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package scenario_simulator_v2
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml
index fce689384a1..3b50923f579 100644
--- a/scenario_simulator_v2/package.xml
+++ b/scenario_simulator_v2/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_v2</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>scenario testing framework for Autoware</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst
index da20beca70b..4c1a91b059e 100644
--- a/simulation/behavior_tree_plugin/CHANGELOG.rst
+++ b/simulation/behavior_tree_plugin/CHANGELOG.rst
@@ -21,6 +21,37 @@ Changelog for package behavior_tree_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge pull request `#1487 <https://github.com/tier4/scenario_simulator_v2/issues/1487>`_ from tier4/RJD-1489/NpcCenterLine
+* Review changes
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Resolve building problem after merge
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* SonarCloud issues changes part 2
+* SonarCloud issues changes
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Fix spell check errors
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Formatting changes
+* Review changes
+* Move tranformToRoutableCanonicalizedLaneletPose to pose namespace
+* Move distance calculation method to utils
+* Review changes
+* Add new algorithm
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Changed comparing offset to distance between bounding boxes
+* Quality gate issues resolves
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Comment description change
+* Review stylistic changes
+* Removed unnecessary includes
+* RJD-1489 Changed calculating distance to front entity to boundingBoxRelativeLaneletPose longitudinal distance
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml
index f7a78122327..4d272a5668c 100644
--- a/simulation/behavior_tree_plugin/package.xml
+++ b/simulation/behavior_tree_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>behavior_tree_plugin</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Behavior tree plugin for traffic_simulator</description>
   <maintainer email="masaya.kataoka@tier4.jp">masaya</maintainer>
   <license>Apache 2.0</license>
diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst
index 0eb82686fd6..5de9409d23b 100644
--- a/simulation/do_nothing_plugin/CHANGELOG.rst
+++ b/simulation/do_nothing_plugin/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package do_nothing_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml
index a0a6297d7e8..4b8a240d152 100644
--- a/simulation/do_nothing_plugin/package.xml
+++ b/simulation/do_nothing_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>do_nothing_plugin</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Behavior plugin for do nothing</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache 2.0</license>
diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst
index 58299f2eb47..b893040c032 100644
--- a/simulation/simple_sensor_simulator/CHANGELOG.rst
+++ b/simulation/simple_sensor_simulator/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package simple_sensor_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge pull request `#1509 <https://github.com/tier4/scenario_simulator_v2/issues/1509>`_ from tier4/RJD-1505/fix_slope_acceleration_sign
diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml
index 24e05fe718d..7dd41f7d767 100644
--- a/simulation/simple_sensor_simulator/package.xml
+++ b/simulation/simple_sensor_simulator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>simple_sensor_simulator</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>simple_sensor_simulator package</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst
index fd49e050e38..b51747a0127 100644
--- a/simulation/simulation_interface/CHANGELOG.rst
+++ b/simulation/simulation_interface/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package simulation_interface
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml
index 91b1648eac9..77204aad535 100644
--- a/simulation/simulation_interface/package.xml
+++ b/simulation/simulation_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simulation_interface</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>packages to define interface between simulator and scenario interpreter</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst
index 315fe8f22d0..5b6bbfa79b1 100644
--- a/simulation/traffic_simulator/CHANGELOG.rst
+++ b/simulation/traffic_simulator/CHANGELOG.rst
@@ -21,6 +21,30 @@ Changelog for package traffic_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge pull request `#1487 <https://github.com/tier4/scenario_simulator_v2/issues/1487>`_ from tier4/RJD-1489/NpcCenterLine
+* Remove std::midpoint
+* Review changes
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* SonarCloud issues changes part 2
+* SonarCloud issues changes
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Formatting changes
+* Review changes
+* Move tranformToRoutableCanonicalizedLaneletPose to pose namespace
+* Move distance calculation method to utils
+* Review changes
+* Add new algorithm
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge pull request `#1509 <https://github.com/tier4/scenario_simulator_v2/issues/1509>`_ from tier4/RJD-1505/fix_slope_acceleration_sign
diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml
index 6641ef9c25b..6973ca05bf9 100644
--- a/simulation/traffic_simulator/package.xml
+++ b/simulation/traffic_simulator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>traffic_simulator</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>control traffic flow</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst
index 30f501f76f2..92d33373d2c 100644
--- a/simulation/traffic_simulator_msgs/CHANGELOG.rst
+++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package openscenario_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml
index 7effa128b20..c6558edeb74 100644
--- a/simulation/traffic_simulator_msgs/package.xml
+++ b/simulation/traffic_simulator_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>traffic_simulator_msgs</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>ROS messages for openscenario</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst
index 5c6f5af2dec..1e4ed79cc88 100644
--- a/test_runner/random_test_runner/CHANGELOG.rst
+++ b/test_runner/random_test_runner/CHANGELOG.rst
@@ -21,6 +21,19 @@ Changelog for package random_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml
index ab12db08c5c..5e56445136f 100644
--- a/test_runner/random_test_runner/package.xml
+++ b/test_runner/random_test_runner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>random_test_runner</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>Random behavior test runner</description>
   <maintainer email="piotr-zyskowski@robotec.ai">piotr-zyskowski-rai</maintainer>
   <license>Apache License 2.0</license>
diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst
index c34362ad0aa..02fbae5ccc9 100644
--- a/test_runner/scenario_test_runner/CHANGELOG.rst
+++ b/test_runner/scenario_test_runner/CHANGELOG.rst
@@ -35,6 +35,19 @@ Changelog for package scenario_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+9.1.0 (2025-02-04)
+------------------
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' of github.com:tier4/scenario_simulator_v2 into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Merge branch 'master' into RJD-1489/NpcCenterLine
+* Contributors: Dawid Moszyński, Grzegorz Maj, Kotaro Yoshimoto
+
 9.0.3 (2025-01-31)
 ------------------
 * Merge branch 'master' into RJD-1505/fix_slope_acceleration_sign
diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml
index 8603defbef2..465bb4c3abf 100644
--- a/test_runner/scenario_test_runner/package.xml
+++ b/test_runner/scenario_test_runner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_test_runner</name>
-  <version>9.0.3</version>
+  <version>9.1.0</version>
   <description>scenario test runner package</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>