diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt
index ee7dd7c07a77a..37a02b844dfe9 100644
--- a/planning/behavior_velocity_planner/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_planner)
+project(autoware_behavior_velocity_planner)
 
 find_package(autoware_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
@@ -19,7 +19,7 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_lib
-  PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
+  PLUGIN "autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
index c1631fdb739de..2b8431d17dfee 100644
--- a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
+++ b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
@@ -30,7 +30,7 @@
   <!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
   <arg name="behavior_velocity_planner_param_file" default="$(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml"/>
 
-  <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
+  <node pkg="autoware_behavior_velocity_planner" exec="autoware_behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <!-- topic remap -->
     <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
     <remap from="~/input/vector_map" to="/map/vector_map"/>
diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml
index 1357b555f0ba4..573d862f1725b 100644
--- a/planning/behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/package.xml
@@ -1,9 +1,9 @@
 <?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_velocity_planner</name>
+  <name>autoware_behavior_velocity_planner</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_planner package</description>
+  <description>The autoware_behavior_velocity_planner package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index aa9613a35dd7c..f040c5d359a0a 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -52,6 +52,8 @@ rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr)
 }
 }  // namespace
 
+namespace autoware
+{
 namespace behavior_velocity_planner
 {
 namespace
@@ -476,6 +478,7 @@ void BehaviorVelocityPlannerNode::publishDebugMarker(
   debug_viz_pub_->publish(output_msg);
 }
 }  // namespace behavior_velocity_planner
+}  // namespace autoware
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(behavior_velocity_planner::BehaviorVelocityPlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode)
diff --git a/planning/behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/src/node.hpp
index dd6edf6ae0bc0..20fac2feb4928 100644
--- a/planning/behavior_velocity_planner/src/node.hpp
+++ b/planning/behavior_velocity_planner/src/node.hpp
@@ -44,11 +44,13 @@
 #include <string>
 #include <vector>
 
+namespace autoware
+{
 namespace behavior_velocity_planner
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
-using behavior_velocity_planner::srv::LoadPlugin;
-using behavior_velocity_planner::srv::UnloadPlugin;
+using autoware::behavior_velocity_planner::srv::LoadPlugin;
+using autoware::behavior_velocity_planner::srv::UnloadPlugin;
 using tier4_planning_msgs::msg::VelocityLimit;
 
 class BehaviorVelocityPlannerNode : public rclcpp::Node
@@ -135,5 +137,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace behavior_velocity_planner
+}  // namespace autoware
 
 #endif  // NODE_HPP_
diff --git a/planning/behavior_velocity_planner/src/planner_manager.cpp b/planning/behavior_velocity_planner/src/planner_manager.cpp
index cb491920c87d4..a646b66c727f3 100644
--- a/planning/behavior_velocity_planner/src/planner_manager.cpp
+++ b/planning/behavior_velocity_planner/src/planner_manager.cpp
@@ -19,6 +19,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware
+{
 namespace behavior_velocity_planner
 {
 namespace
@@ -50,7 +52,7 @@ diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag(
 }  // namespace
 
 BehaviorVelocityPlannerManager::BehaviorVelocityPlannerManager()
-: plugin_loader_("behavior_velocity_planner", "behavior_velocity_planner::PluginInterface")
+: plugin_loader_("behavior_velocity_planner", "autoware::behavior_velocity_planner::PluginInterface")
 {
 }
 
@@ -82,7 +84,7 @@ void BehaviorVelocityPlannerManager::removeScenePlugin(
 {
   auto it = std::remove_if(
     scene_manager_plugins_.begin(), scene_manager_plugins_.end(),
-    [&](const std::shared_ptr<behavior_velocity_planner::PluginInterface> plugin) {
+    [&](const std::shared_ptr<autoware::behavior_velocity_planner::PluginInterface> plugin) {
       return plugin->getModuleName() == name;
     });
 
@@ -129,3 +131,4 @@ diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopRe
   return stop_reason_diag_;
 }
 }  // namespace behavior_velocity_planner
+}  // namespace autoware
diff --git a/planning/behavior_velocity_planner/src/planner_manager.hpp b/planning/behavior_velocity_planner/src/planner_manager.hpp
index 7485e5faba8bf..02c343f82a7b9 100644
--- a/planning/behavior_velocity_planner/src/planner_manager.hpp
+++ b/planning/behavior_velocity_planner/src/planner_manager.hpp
@@ -36,6 +36,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware
+{
 namespace behavior_velocity_planner
 {
 class BehaviorVelocityPlannerManager
@@ -57,5 +59,6 @@ class BehaviorVelocityPlannerManager
   std::vector<std::shared_ptr<PluginInterface>> scene_manager_plugins_;
 };
 }  // namespace behavior_velocity_planner
+}  // namespace autoware
 
 #endif  // PLANNER_MANAGER_HPP_
diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
index 935530b52e175..5b180d514638a 100644
--- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -23,7 +23,7 @@
 #include <cmath>
 #include <vector>
 
-using behavior_velocity_planner::BehaviorVelocityPlannerNode;
+using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()