diff --git a/scenarionet/builder/filters.py b/scenarionet/builder/filters.py
index 6b89991..76c1521 100644
--- a/scenarionet/builder/filters.py
+++ b/scenarionet/builder/filters.py
@@ -53,6 +53,18 @@ class ScenarioFilter:
     def no_traffic_light(metadata, file_path):
         return metadata[SD.SUMMARY.NUMBER_SUMMARY][SD.SUMMARY.NUM_TRAFFIC_LIGHTS] == 0
 
+    @staticmethod
+    def no_pedestrian(metadata, file_path):
+        """Return True if the scenario has no pedestrians"""
+        num = metadata[SD.SUMMARY.NUMBER_SUMMARY][SD.SUMMARY.NUM_OBJECTS_EACH_TYPE].get("PEDESTRIAN", 0)
+        return num == 0
+
+    @staticmethod
+    def no_cyclist(metadata, file_path):
+        """Return True if the scenario has no cyclists"""
+        num = metadata[SD.SUMMARY.NUMBER_SUMMARY][SD.SUMMARY.NUM_OBJECTS_EACH_TYPE].get("CYCLIST", 0)
+        return num == 0
+
     @staticmethod
     def no_overpass(metadata, file_path):
         """
diff --git a/scenarionet/filter.py b/scenarionet/filter.py
index 6d0fe7e..01987bd 100644
--- a/scenarionet/filter.py
+++ b/scenarionet/filter.py
@@ -3,6 +3,7 @@ desc = "Filter unwanted scenarios out and build a new database"
 if __name__ == '__main__':
     import argparse
 
+    from metadrive.type import MetaDriveType
     from scenarionet.builder.filters import ScenarioFilter
     from scenarionet.builder.utils import merge_database
 
@@ -59,6 +60,31 @@ if __name__ == '__main__':
         "--exclude_ids", nargs='+', default=[], help="Scenarios with indicated name will NOT be selected"
     )
 
+    parser.add_argument(
+        "--num_vehicle", 
+        action="store_true", 
+        help="add this flag to select cases with vehicle_num < max_num_vehicle"
+    )
+
+    parser.add_argument(
+        "--max_num_vehicle", 
+        default=50, 
+        type=int, 
+        help="case will be selected if num_vehicle < this argument"
+    )
+
+    parser.add_argument(
+        "--no_pedestrian", 
+        action="store_true", 
+        help="Scenarios with pedestrians WON'T be selected"
+    )
+
+    parser.add_argument(
+        "--no_cyclist", 
+        action="store_true", 
+        help="Scenarios with cyclists WON'T be selected"
+    )
+
     args = parser.parse_args()
     target = args.sdc_moving_dist_min
     obj_threshold = args.max_num_object
@@ -75,6 +101,19 @@ if __name__ == '__main__':
         filters.append(ScenarioFilter.make(ScenarioFilter.no_traffic_light))
     if args.id_filter:
         filters.append(ScenarioFilter.make(ScenarioFilter.id_filter, ids=args.exclude_ids))
+    if args.num_vehicle:
+        filters.append(
+            ScenarioFilter.make(
+                ScenarioFilter.object_number, 
+                number_threshold=args.max_num_vehicle,
+                object_type=MetaDriveType.VEHICLE,
+                condition=ScenarioFilter.SMALLER
+            )
+        )
+    if args.no_pedestrian:
+        filters.append(ScenarioFilter.make(ScenarioFilter.no_pedestrian))
+    if args.no_cyclist:
+        filters.append(ScenarioFilter.make(ScenarioFilter.no_cyclist))
 
     if len(filters) == 0:
         raise ValueError("No filters are applied. Abort.")