diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
index 09da8f4cc27d6..ea952fdc7e209 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -23,7 +23,6 @@
 #include "motion_utils/motion_utils.hpp"
 #include "perception_utils/predicted_path_utils.hpp"
 
-#include <opencv2/opencv.hpp>
 #include <route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index 4e8f546753bf5..9f2743e1cefac 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -54,7 +54,6 @@
   <depend>lane_departure_checker</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>
-  <depend>libopencv-dev</depend>
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>perception_utils</depend>
diff --git a/planning/behavior_path_planner/test/input.cpp b/planning/behavior_path_planner/test/input.cpp
index 83bfda132aed8..c2735abd3e932 100644
--- a/planning/behavior_path_planner/test/input.cpp
+++ b/planning/behavior_path_planner/test/input.cpp
@@ -32,7 +32,7 @@ PathWithLaneId generateStraightSamplePathWithLaneId(
 
     PathPointWithLaneId path_point_with_lane_id;
     path_point_with_lane_id.point = point;
-    path_point_with_lane_id.lane_ids = std::vector<int64>();
+    path_point_with_lane_id.lane_ids = std::vector<int64_t>();
 
     path.header.frame_id = "map";
     path.points.push_back(path_point_with_lane_id);
@@ -56,7 +56,7 @@ PathWithLaneId generateDiagonalSamplePathWithLaneId(
 
     PathPointWithLaneId path_point_with_lane_id;
     path_point_with_lane_id.point = point;
-    path_point_with_lane_id.lane_ids = std::vector<int64>();
+    path_point_with_lane_id.lane_ids = std::vector<int64_t>();
 
     path.header.frame_id = "map";
     path.points.push_back(path_point_with_lane_id);