diff --git a/docs/design/autoware-interfaces/ad-api/features/routing.md b/docs/design/autoware-interfaces/ad-api/features/routing.md
index 5010b527342..30ef703212b 100644
--- a/docs/design/autoware-interfaces/ad-api/features/routing.md
+++ b/docs/design/autoware-interfaces/ad-api/features/routing.md
@@ -4,9 +4,11 @@
 
 - {{ link_ad_api('/api/routing/state') }}
 - {{ link_ad_api('/api/routing/route') }}
+- {{ link_ad_api('/api/routing/clear_route') }}
 - {{ link_ad_api('/api/routing/set_route_points') }}
 - {{ link_ad_api('/api/routing/set_route') }}
-- {{ link_ad_api('/api/routing/clear_route') }}
+- {{ link_ad_api('/api/routing/change_route_points') }}
+- {{ link_ad_api('/api/routing/change_route') }}
 
 ## Description
 
@@ -23,11 +25,11 @@ There are two ways to set the route. The one is a generic method that uses pose,
 | UNSET    | The route is not set. Waiting for a route request. |
 | SET      | The route is set.                                  |
 | ARRIVED  | The vehicle has arrived at the destination.        |
-| CHANGING | Trying to change the route. Not implemented yet.   |
+| CHANGING | Trying to change the route.                        |
 
 ## Options
 
-The `set_route_points` and `set_route` APIs have route options that allow applications to choose several behaviors regarding route planning.
+The route set and change APIs have route options that allow applications to choose several behaviors regarding route planning.
 See the sections below for supported options and details.
 
 ### allow_goal_modification
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md
new file mode 100644
index 00000000000..4a920ebe459
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md
@@ -0,0 +1,24 @@
+---
+title: /api/routing/change_route
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SetRoute
+  req:
+    - name: header
+      text: header for pose transformation
+    - name: goal
+      text: goal pose
+    - name: segments
+      text: waypoint segments in lanelet format
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Same as {{ link_ad_api('/api/routing/change_route') }}, but change the route while driving.
+This API only accepts the route when the route state is SET.
+In any other state, set the route first or wait for the route change to complete.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md
new file mode 100644
index 00000000000..5076174f974
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md
@@ -0,0 +1,24 @@
+---
+title: /api/routing/change_route_points
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SetRoutePoints
+  req:
+    - name: header
+      text: header for pose transformation
+    - name: goal
+      text: goal pose
+    - name: waypoints
+      text: waypoint poses
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Same as {{ link_ad_api('/api/routing/change_route_points') }}, but change the route while driving.
+This API only accepts the route when the route state is SET.
+In any other state, set the route first or wait for the route change to complete.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md
index deb2704a2f5..8b601f49c07 100644
--- a/docs/design/autoware-interfaces/ad-api/list/index.md
+++ b/docs/design/autoware-interfaces/ad-api/list/index.md
@@ -21,6 +21,8 @@
 | [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md)             | not released |
 | [/api/planning/steering_factors](./api/planning/steering_factors.md)                             | not released |
 | [/api/planning/velocity_factors](./api/planning/velocity_factors.md)                             | not released |
+| [/api/routing/change_route](./api/routing/change_route.md)                                       | not released |
+| [/api/routing/change_route_points](./api/routing/change_route_points.md)                         | not released |
 | [/api/routing/clear_route](./api/routing/clear_route.md)                                         | v1.0.0       |
 | [/api/routing/route](./api/routing/route.md)                                                     | v1.0.0       |
 | [/api/routing/set_route](./api/routing/set_route.md)                                             | v1.0.0       |