diff --git a/control/lane_departure_checker/CMakeLists.txt b/control/autoware_lane_departure_checker/CMakeLists.txt
similarity index 100%
rename from control/lane_departure_checker/CMakeLists.txt
rename to control/autoware_lane_departure_checker/CMakeLists.txt
diff --git a/control/lane_departure_checker/README.md b/control/autoware_lane_departure_checker/README.md
similarity index 100%
rename from control/lane_departure_checker/README.md
rename to control/autoware_lane_departure_checker/README.md
diff --git a/control/lane_departure_checker/config/lane_departure_checker.param.yaml b/control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml
similarity index 100%
rename from control/lane_departure_checker/config/lane_departure_checker.param.yaml
rename to control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml
diff --git a/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
similarity index 100%
rename from control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
rename to control/autoware_lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
diff --git a/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp b/control/autoware_lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
similarity index 100%
rename from control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
rename to control/autoware_lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
diff --git a/control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp b/control/autoware_lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
similarity index 100%
rename from control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
rename to control/autoware_lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
diff --git a/control/lane_departure_checker/launch/lane_departure_checker.launch.xml b/control/autoware_lane_departure_checker/launch/lane_departure_checker.launch.xml
similarity index 100%
rename from control/lane_departure_checker/launch/lane_departure_checker.launch.xml
rename to control/autoware_lane_departure_checker/launch/lane_departure_checker.launch.xml
diff --git a/control/lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
similarity index 100%
rename from control/lane_departure_checker/package.xml
rename to control/autoware_lane_departure_checker/package.xml
diff --git a/control/lane_departure_checker/schema/lane_departure_checker.json b/control/autoware_lane_departure_checker/schema/lane_departure_checker.json
similarity index 100%
rename from control/lane_departure_checker/schema/lane_departure_checker.json
rename to control/autoware_lane_departure_checker/schema/lane_departure_checker.json
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
similarity index 100%
rename from control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
rename to control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
similarity index 100%
rename from control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
rename to control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp