diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index e52020adf3ebe..e6300523cc2be 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -176,7 +176,7 @@
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both">
-    <composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
+    <composable_node pkg="autoware_behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/route" to="$(var input_route_topic_name)"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
diff --git a/planning/.pages b/planning/.pages
index 7ed1d62bef738..e63db7308196a 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -1,10 +1,10 @@
 nav:
   - 'Introduction': planning
   - 'Behavior Path Planner':
-    - 'About Behavior Path': planning/behavior_path_planner
+    - 'About Behavior Path': planning/autoware_behavior_path_planner
     - 'Concept':
-        - 'Planner Manager': planning/behavior_path_planner/docs/behavior_path_planner_manager_design
-        - 'Scene Module Interface': planning/behavior_path_planner/docs/behavior_path_planner_interface_design
+        - 'Planner Manager': planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design
+        - 'Scene Module Interface': planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design
         - 'Path Generation': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design
         - 'Collision Assessment/Safety Check': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check
         - 'Dynamic Drivable Area': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design
@@ -12,7 +12,7 @@ nav:
     - 'Scene Module':
         - 'Avoidance by Lane Change': planning/autoware_behavior_path_avoidance_by_lane_change_module
         - 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module
-        - 'Goal Planner': planning/behavior_path_goal_planner_module
+        - 'Goal Planner': planning/autoware_behavior_path_goal_planner_module
         - 'Lane Change': planning/autoware_behavior_path_lane_change_module
         - 'Side Shift': planning/autoware_behavior_path_side_shift_module
         - 'Start Planner': planning/autoware_behavior_path_start_planner_module
diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt b/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt
index 2ab88e04f96e5..9cb5f7f5a9b03 100644
--- a/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_avoidance_by_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp
diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
index 8b31637776ff0..8bb9e96c881c1 100644
--- a/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
+++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
@@ -19,10 +19,10 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_lane_change_module</depend>
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_behavior_path_static_obstacle_avoidance_module</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 1f2c2208a8719..5d7094be64e23 100644
--- a/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt
index e7df28307e754..c295b71537781 100644
--- a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_dynamic_obstacle_avoidance_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp
diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
index afc7799094b92..a22e34f20a922 100644
--- a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
+++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -16,11 +16,11 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
   <depend>lanelet2_extension</depend>
diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index bd9e6fd483c7c..cb42e35639bba 100644
--- a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt b/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt
index 662d36618e766..521a125dec2c2 100644
--- a/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_external_request_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/manager.cpp
diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
index 42b7c76387dea..b794789bd19e0 100644
--- a/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
+++ b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -19,9 +19,9 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_lane_change_module</depend>
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 8e94ebeb61298..7efd35bb821e2 100644
--- a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
 #include "planning_test_utils/planning_test_utils.hpp"
 
 #include <gtest/gtest.h>
diff --git a/planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt
index c6f008a624960..670a61479e875 100644
--- a/planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_goal_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/default_fixed_goal_planner.cpp
diff --git a/planning/autoware_behavior_path_goal_planner_module/package.xml b/planning/autoware_behavior_path_goal_planner_module/package.xml
index e29bce5a5039a..952173564888a 100644
--- a/planning/autoware_behavior_path_goal_planner_module/package.xml
+++ b/planning/autoware_behavior_path_goal_planner_module/package.xml
@@ -20,9 +20,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/planning/autoware_behavior_path_lane_change_module/CMakeLists.txt b/planning/autoware_behavior_path_lane_change_module/CMakeLists.txt
index ac094dfe862fb..b0d9967e65ddd 100644
--- a/planning/autoware_behavior_path_lane_change_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_lane_change_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/interface.cpp
diff --git a/planning/autoware_behavior_path_lane_change_module/package.xml b/planning/autoware_behavior_path_lane_change_module/package.xml
index 7ccdf804945bd..dca36f99e3faa 100644
--- a/planning/autoware_behavior_path_lane_change_module/package.xml
+++ b/planning/autoware_behavior_path_lane_change_module/package.xml
@@ -19,9 +19,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 71ee395712474..1efad3dde0c3d 100644
--- a/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
 #include "planning_test_utils/planning_test_utils.hpp"
 
 #include <gtest/gtest.h>
diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/autoware_behavior_path_planner/CMakeLists.txt
similarity index 96%
rename from planning/behavior_path_planner/CMakeLists.txt
rename to planning/autoware_behavior_path_planner/CMakeLists.txt
index 54b4bf122da00..83b74886eb1bf 100644
--- a/planning/behavior_path_planner/CMakeLists.txt
+++ b/planning/autoware_behavior_path_planner/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_path_planner)
+project(autoware_behavior_path_planner)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/planning/behavior_path_planner/README.md b/planning/autoware_behavior_path_planner/README.md
similarity index 100%
rename from planning/behavior_path_planner/README.md
rename to planning/autoware_behavior_path_planner/README.md
diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml
similarity index 100%
rename from planning/behavior_path_planner/config/behavior_path_planner.param.yaml
rename to planning/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml
diff --git a/planning/behavior_path_planner/config/drivable_area_expansion.param.yaml b/planning/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml
similarity index 100%
rename from planning/behavior_path_planner/config/drivable_area_expansion.param.yaml
rename to planning/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml
diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/autoware_behavior_path_planner/config/scene_module_manager.param.yaml
similarity index 100%
rename from planning/behavior_path_planner/config/scene_module_manager.param.yaml
rename to planning/autoware_behavior_path_planner/config/scene_module_manager.param.yaml
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md b/planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md
similarity index 100%
rename from planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
rename to planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_limitations.md b/planning/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md
similarity index 100%
rename from planning/behavior_path_planner/docs/behavior_path_planner_limitations.md
rename to planning/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md b/planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md
similarity index 100%
rename from planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md
rename to planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md
diff --git a/planning/behavior_path_planner/image/checking_module_transition.png b/planning/autoware_behavior_path_planner/image/checking_module_transition.png
similarity index 100%
rename from planning/behavior_path_planner/image/checking_module_transition.png
rename to planning/autoware_behavior_path_planner/image/checking_module_transition.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation-chattering_shifts.png b/planning/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation-chattering_shifts.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation-corner.png b/planning/autoware_behavior_path_planner/image/limitations/limitation-corner.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation-corner.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation-corner.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation-intersection.png b/planning/autoware_behavior_path_planner/image/limitations/limitation-intersection.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation-intersection.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation-intersection.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation01-01.png b/planning/autoware_behavior_path_planner/image/limitations/limitation01-01.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation01-01.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation01-01.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation01-02-not-work.png b/planning/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation01-02-not-work.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png b/planning/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation01-04-equal-length.png b/planning/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation01-04-equal-length.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png
diff --git a/planning/behavior_path_planner/image/limitations/limitation01-04-not-equal.png b/planning/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png
similarity index 100%
rename from planning/behavior_path_planner/image/limitations/limitation01-04-not-equal.png
rename to planning/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png
diff --git a/planning/behavior_path_planner/image/manager/approved_modules_stack.svg b/planning/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg
similarity index 100%
rename from planning/behavior_path_planner/image/manager/approved_modules_stack.svg
rename to planning/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg
diff --git a/planning/behavior_path_planner/image/manager/avoidance.svg b/planning/autoware_behavior_path_planner/image/manager/avoidance.svg
similarity index 100%
rename from planning/behavior_path_planner/image/manager/avoidance.svg
rename to planning/autoware_behavior_path_planner/image/manager/avoidance.svg
diff --git a/planning/behavior_path_planner/image/manager/candidate_modules_stack.svg b/planning/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg
similarity index 100%
rename from planning/behavior_path_planner/image/manager/candidate_modules_stack.svg
rename to planning/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg
diff --git a/planning/behavior_path_planner/image/manager/current_route_lanelet.svg b/planning/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg
similarity index 100%
rename from planning/behavior_path_planner/image/manager/current_route_lanelet.svg
rename to planning/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg
diff --git a/planning/behavior_path_planner/image/manager/example_behavior.svg b/planning/autoware_behavior_path_planner/image/manager/example_behavior.svg
similarity index 100%
rename from planning/behavior_path_planner/image/manager/example_behavior.svg
rename to planning/autoware_behavior_path_planner/image/manager/example_behavior.svg
diff --git a/planning/behavior_path_planner/image/manager/failure_modules.svg b/planning/autoware_behavior_path_planner/image/manager/failure_modules.svg
similarity index 100%
rename from planning/behavior_path_planner/image/manager/failure_modules.svg
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rename to planning/autoware_behavior_path_planner/image/manager/scene_module.svg
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diff --git a/planning/behavior_path_planner/image/static_drivable_area_after_expansion.png b/planning/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png
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rename from planning/behavior_path_planner/image/static_drivable_area_after_expansion.png
rename to planning/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png
diff --git a/planning/behavior_path_planner/image/static_drivable_area_before_expansion.png b/planning/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png
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rename from planning/behavior_path_planner/image/static_drivable_area_before_expansion.png
rename to planning/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png
diff --git a/planning/behavior_path_planner/image/supported_module_avoidance.svg b/planning/autoware_behavior_path_planner/image/supported_module_avoidance.svg
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rename from planning/behavior_path_planner/image/supported_module_avoidance.svg
rename to planning/autoware_behavior_path_planner/image/supported_module_avoidance.svg
diff --git a/planning/behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg b/planning/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg
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rename from planning/behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg
rename to planning/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg
diff --git a/planning/behavior_path_planner/image/supported_module_goal_planner.svg b/planning/autoware_behavior_path_planner/image/supported_module_goal_planner.svg
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rename from planning/behavior_path_planner/image/supported_module_goal_planner.svg
rename to planning/autoware_behavior_path_planner/image/supported_module_goal_planner.svg
diff --git a/planning/behavior_path_planner/image/supported_module_lane_change.svg b/planning/autoware_behavior_path_planner/image/supported_module_lane_change.svg
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rename from planning/behavior_path_planner/image/supported_module_lane_change.svg
rename to planning/autoware_behavior_path_planner/image/supported_module_lane_change.svg
diff --git a/planning/behavior_path_planner/image/supported_module_lane_following.svg b/planning/autoware_behavior_path_planner/image/supported_module_lane_following.svg
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rename from planning/behavior_path_planner/image/supported_module_lane_following.svg
rename to planning/autoware_behavior_path_planner/image/supported_module_lane_following.svg
diff --git a/planning/behavior_path_planner/image/supported_module_start_planner.svg b/planning/autoware_behavior_path_planner/image/supported_module_start_planner.svg
similarity index 100%
rename from planning/behavior_path_planner/image/supported_module_start_planner.svg
rename to planning/autoware_behavior_path_planner/image/supported_module_start_planner.svg
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/autoware_behavior_path_planner/include/autoware_behavior_path_planner/behavior_path_planner_node.hpp
similarity index 97%
rename from planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
rename to planning/autoware_behavior_path_planner/include/autoware_behavior_path_planner/behavior_path_planner_node.hpp
index 48a14f71b5ddd..cbbcded16916a 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/autoware_behavior_path_planner/include/autoware_behavior_path_planner/behavior_path_planner_node.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
-#define BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
 
+#include "autoware_behavior_path_planner/planner_manager.hpp"
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/interface/steering_factor_interface.hpp"
-#include "behavior_path_planner/planner_manager.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -228,4 +228,4 @@ class BehaviorPathPlannerNode : public rclcpp::Node
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/autoware_behavior_path_planner/include/autoware_behavior_path_planner/planner_manager.hpp
similarity index 98%
rename from planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
rename to planning/autoware_behavior_path_planner/include/autoware_behavior_path_planner/planner_manager.hpp
index d376dbb6db68a..870fcb25a3d99 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
+++ b/planning/autoware_behavior_path_planner/include/autoware_behavior_path_planner/planner_manager.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
-#define BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
 
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
@@ -471,4 +471,4 @@ class PlannerManager
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_PLANNER__PLANNER_MANAGER_HPP_
diff --git a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml
similarity index 100%
rename from planning/behavior_path_planner/launch/behavior_path_planner.launch.xml
rename to planning/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml
diff --git a/planning/behavior_path_planner/package.xml b/planning/autoware_behavior_path_planner/package.xml
similarity index 98%
rename from planning/behavior_path_planner/package.xml
rename to planning/autoware_behavior_path_planner/package.xml
index 2c88a6d156f3d..2efc32531432b 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/autoware_behavior_path_planner/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_path_planner</name>
+  <name>autoware_behavior_path_planner</name>
   <version>0.1.0</version>
   <description>The behavior_path_planner package</description>
 
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/behavior_path_planner_node.cpp
rename to planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
index d5b49f5efa4d2..24c4ad6d67b5e 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include "autoware_behavior_path_planner_common/marker_utils/utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/autoware_behavior_path_planner/src/planner_manager.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/planner_manager.cpp
rename to planning/autoware_behavior_path_planner/src/planner_manager.cpp
index 499468cd2796c..8ba0817115096 100644
--- a/planning/behavior_path_planner/src/planner_manager.cpp
+++ b/planning/autoware_behavior_path_planner/src/planner_manager.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/planner_manager.hpp"
+#include "autoware_behavior_path_planner/planner_manager.hpp"
 
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
@@ -31,7 +31,8 @@
 namespace behavior_path_planner
 {
 PlannerManager::PlannerManager(rclcpp::Node & node, const size_t max_iteration_num)
-: plugin_loader_("behavior_path_planner", "behavior_path_planner::SceneModuleManagerInterface"),
+: plugin_loader_(
+    "autoware_behavior_path_planner", "behavior_path_planner::SceneModuleManagerInterface"),
   logger_(node.get_logger().get_child("planner_manager")),
   clock_(*node.get_clock()),
   max_iteration_num_{max_iteration_num}
diff --git a/planning/behavior_path_planner/test/input.cpp b/planning/autoware_behavior_path_planner/test/input.cpp
similarity index 100%
rename from planning/behavior_path_planner/test/input.cpp
rename to planning/autoware_behavior_path_planner/test/input.cpp
diff --git a/planning/behavior_path_planner/test/input.hpp b/planning/autoware_behavior_path_planner/test/input.hpp
similarity index 100%
rename from planning/behavior_path_planner/test/input.hpp
rename to planning/autoware_behavior_path_planner/test/input.hpp
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
similarity index 98%
rename from planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
rename to planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
index f8630a0c61973..8780d1628f2c1 100644
--- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
diff --git a/planning/behavior_path_planner/test/test_utils.cpp b/planning/autoware_behavior_path_planner/test/test_utils.cpp
similarity index 100%
rename from planning/behavior_path_planner/test/test_utils.cpp
rename to planning/autoware_behavior_path_planner/test/test_utils.cpp
diff --git a/planning/autoware_behavior_path_sampling_planner_module/CMakeLists.txt b/planning/autoware_behavior_path_sampling_planner_module/CMakeLists.txt
index a9dd1ebdcb05e..2bab2904cc1e0 100644
--- a/planning/autoware_behavior_path_sampling_planner_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_sampling_planner_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_sampling_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/sampling_planner_module.cpp
diff --git a/planning/autoware_behavior_path_side_shift_module/CMakeLists.txt b/planning/autoware_behavior_path_side_shift_module/CMakeLists.txt
index c36a4ffd73254..520132dbd3363 100644
--- a/planning/autoware_behavior_path_side_shift_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_side_shift_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_side_shift_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp
diff --git a/planning/autoware_behavior_path_side_shift_module/package.xml b/planning/autoware_behavior_path_side_shift_module/package.xml
index 98d765fbe2fc7..f3ac76d2bb1bb 100644
--- a/planning/autoware_behavior_path_side_shift_module/package.xml
+++ b/planning/autoware_behavior_path_side_shift_module/package.xml
@@ -18,9 +18,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
diff --git a/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
index 244c59bf5e6f9..d7c3d9762c001 100644
--- a/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
diff --git a/planning/autoware_behavior_path_start_planner_module/CMakeLists.txt b/planning/autoware_behavior_path_start_planner_module/CMakeLists.txt
index b2882727f50d8..1d0aa23200f96 100644
--- a/planning/autoware_behavior_path_start_planner_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_start_planner_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_start_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/start_planner_module.cpp
diff --git a/planning/autoware_behavior_path_start_planner_module/package.xml b/planning/autoware_behavior_path_start_planner_module/package.xml
index e4d6de4324bfe..5b2ad9f8dc9c1 100644
--- a/planning/autoware_behavior_path_start_planner_module/package.xml
+++ b/planning/autoware_behavior_path_start_planner_module/package.xml
@@ -20,9 +20,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt b/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt
index e646ad29ed42a..359a0a75dd1ca 100644
--- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt
+++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_behavior_path_static_obstacle_avoidance_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_path_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/scene.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
index 5a93e620979be..a6da4d5550562 100644
--- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
+++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -21,13 +21,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_vehicle_info_utils</depend>
-  <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>magic_enum</depend>
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index c70b78265a17b..5bf74ed9d8d30 100644
--- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
+#include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>