diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index a1594a27f357f..2fced720886b2 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -17,6 +17,7 @@ common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
 common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp
 common/autoware_polar_grid/** yukihiro.saito@tier4.jp
+common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
 common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
@@ -28,7 +29,6 @@ common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.j
 common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/glog_component/** takamasa.horibe@tier4.jp
-common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
 common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
diff --git a/common/autoware_auto_common/design/comparisons.md b/common/autoware_auto_common/design/comparisons.md
index 3d00f77c1b0c3..d0f84c7475308 100644
--- a/common/autoware_auto_common/design/comparisons.md
+++ b/common/autoware_auto_common/design/comparisons.md
@@ -28,7 +28,7 @@ The `exclusive_or` function will test whether two values cast to different boole
 #include <iostream>
 
 // using-directive is just for illustration; don't do this in practice
-using namespace autoware::common::helper_functions::comparisons;
+using namespace autoware::qp_interface::helper_functions::comparisons;
 
 static constexpr auto epsilon = 0.2;
 static constexpr auto relative_epsilon = 0.01;
diff --git a/common/qp_interface/CMakeLists.txt b/common/autoware_qp_interface/CMakeLists.txt
similarity index 82%
rename from common/qp_interface/CMakeLists.txt
rename to common/autoware_qp_interface/CMakeLists.txt
index 00b2847309e9e..d2f2d6347cb3d 100644
--- a/common/qp_interface/CMakeLists.txt
+++ b/common/autoware_qp_interface/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(qp_interface)
+project(autoware_qp_interface)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -20,10 +20,10 @@ set(QP_INTERFACE_LIB_SRC
 )
 
 set(QP_INTERFACE_LIB_HEADERS
-  include/qp_interface/qp_interface.hpp
-  include/qp_interface/osqp_interface.hpp
-  include/qp_interface/osqp_csc_matrix_conv.hpp
-  include/qp_interface/proxqp_interface.hpp
+  include/autoware/qp_interface/qp_interface.hpp
+  include/autoware/qp_interface/osqp_interface.hpp
+  include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
+  include/autoware/qp_interface/proxqp_interface.hpp
 )
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
@@ -32,13 +32,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast)
 
-target_include_directories(qp_interface
+target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
     "${OSQP_INCLUDE_DIR}"
     "${EIGEN3_INCLUDE_DIR}"
 )
 
-ament_target_dependencies(qp_interface
+ament_target_dependencies(${PROJECT_NAME}
   Eigen3
   osqp_vendor
   proxsuite
diff --git a/common/qp_interface/design/qp_interface-design.md b/common/autoware_qp_interface/design/qp_interface-design.md
similarity index 94%
rename from common/qp_interface/design/qp_interface-design.md
rename to common/autoware_qp_interface/design/qp_interface-design.md
index 3843e5a742d1e..edc7fa9845206 100644
--- a/common/qp_interface/design/qp_interface-design.md
+++ b/common/autoware_qp_interface/design/qp_interface-design.md
@@ -1,6 +1,6 @@
 # Interface for QP solvers
 
-This is the design document for the `qp_interface` package.
+This is the design document for the `autoware_qp_interface` package.
 
 ## Purpose / Use cases
 
diff --git a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
similarity index 84%
rename from common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp
rename to common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
index 8ec7280cfc100..9575d9d18c69f 100644
--- a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp
+++ b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
-#define QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+#define AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
 
 #include "osqp/glob_opts.h"
 
@@ -21,7 +21,7 @@
 
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 /// \brief Compressed-Column-Sparse Matrix
 struct CSC_Matrix
@@ -41,6 +41,6 @@ CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat);
 /// \brief Print the given CSC matrix to the standard output
 void printCSCMatrix(const CSC_Matrix & csc_mat);
 
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
diff --git a/common/qp_interface/include/qp_interface/osqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp
similarity index 94%
rename from common/qp_interface/include/qp_interface/osqp_interface.hpp
rename to common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp
index 55792beaaff11..a5777dd545e9f 100644
--- a/common/qp_interface/include/qp_interface/osqp_interface.hpp
+++ b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp
@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__OSQP_INTERFACE_HPP_
-#define QP_INTERFACE__OSQP_INTERFACE_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_
+#define AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_
 
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 #include "osqp/osqp.h"
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
-#include "qp_interface/qp_interface.hpp"
 
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 constexpr c_float OSQP_INF = 1e30;
 
@@ -142,6 +142,6 @@ class OSQPInterface : public QPInterface
 
   std::vector<double> optimizeImpl() override;
 };
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__OSQP_INTERFACE_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_
diff --git a/common/qp_interface/include/qp_interface/proxqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp
similarity index 85%
rename from common/qp_interface/include/qp_interface/proxqp_interface.hpp
rename to common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp
index 775ba0fcc42b8..324da4b18c6fd 100644
--- a/common/qp_interface/include/qp_interface/proxqp_interface.hpp
+++ b/common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__PROXQP_INTERFACE_HPP_
-#define QP_INTERFACE__PROXQP_INTERFACE_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_
+#define AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_
 
-#include "qp_interface/qp_interface.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 
 #include <proxsuite/helpers/optional.hpp>
 #include <proxsuite/proxqp/sparse/sparse.hpp>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 class ProxQPInterface : public QPInterface
 {
@@ -52,6 +52,6 @@ class ProxQPInterface : public QPInterface
 
   std::vector<double> optimizeImpl() override;
 };
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__PROXQP_INTERFACE_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_
diff --git a/common/qp_interface/include/qp_interface/qp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp
similarity index 89%
rename from common/qp_interface/include/qp_interface/qp_interface.hpp
rename to common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp
index 85e2d103cde7a..be3c598512bf6 100644
--- a/common/qp_interface/include/qp_interface/qp_interface.hpp
+++ b/common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__QP_INTERFACE_HPP_
-#define QP_INTERFACE__QP_INTERFACE_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_
+#define AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_
 
 #include <Eigen/Core>
 
@@ -21,7 +21,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 class QPInterface
 {
@@ -56,6 +56,6 @@ class QPInterface
   std::optional<size_t> variables_num_{std::nullopt};
   std::optional<size_t> constraints_num_{std::nullopt};
 };
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__QP_INTERFACE_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_
diff --git a/common/qp_interface/package.xml b/common/autoware_qp_interface/package.xml
similarity index 96%
rename from common/qp_interface/package.xml
rename to common/autoware_qp_interface/package.xml
index 22cc3665ffaa0..a05b1e69e8af7 100644
--- a/common/qp_interface/package.xml
+++ b/common/autoware_qp_interface/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>qp_interface</name>
+  <name>autoware_qp_interface</name>
   <version>1.0.0</version>
   <description>Interface for the QP solvers</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/qp_interface/src/osqp_csc_matrix_conv.cpp b/common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp
similarity index 96%
rename from common/qp_interface/src/osqp_csc_matrix_conv.cpp
rename to common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp
index 77a481f442000..15314a9e4a5fa 100644
--- a/common/qp_interface/src/osqp_csc_matrix_conv.cpp
+++ b/common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
@@ -21,7 +21,7 @@
 #include <iostream>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
 {
@@ -131,4 +131,4 @@ void printCSCMatrix(const CSC_Matrix & csc_mat)
   }
   std::cout << "]\n";
 }
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
diff --git a/common/qp_interface/src/osqp_interface.cpp b/common/autoware_qp_interface/src/osqp_interface.cpp
similarity index 98%
rename from common/qp_interface/src/osqp_interface.cpp
rename to common/autoware_qp_interface/src/osqp_interface.cpp
index 377de8cf66a7a..b850036c0aebf 100644
--- a/common/qp_interface/src/osqp_interface.cpp
+++ b/common/autoware_qp_interface/src/osqp_interface.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/osqp_interface.hpp"
+#include "autoware/qp_interface/osqp_interface.hpp"
 
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 OSQPInterface::OSQPInterface(
   const bool enable_warm_start, const int max_iteration, const c_float eps_abs,
@@ -386,4 +386,4 @@ std::vector<double> OSQPInterface::optimize(
   return result;
 }
 
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
diff --git a/common/qp_interface/src/proxqp_interface.cpp b/common/autoware_qp_interface/src/proxqp_interface.cpp
similarity index 97%
rename from common/qp_interface/src/proxqp_interface.cpp
rename to common/autoware_qp_interface/src/proxqp_interface.cpp
index d26543f907e62..ccfd74e70dace 100644
--- a/common/qp_interface/src/proxqp_interface.cpp
+++ b/common/autoware_qp_interface/src/proxqp_interface.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/proxqp_interface.hpp"
+#include "autoware/qp_interface/proxqp_interface.hpp"
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 using proxsuite::proxqp::QPSolverOutput;
 
@@ -150,4 +150,4 @@ std::vector<double> ProxQPInterface::optimizeImpl()
   }
   return result;
 }
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
diff --git a/common/qp_interface/src/qp_interface.cpp b/common/autoware_qp_interface/src/qp_interface.cpp
similarity index 94%
rename from common/qp_interface/src/qp_interface.cpp
rename to common/autoware_qp_interface/src/qp_interface.cpp
index afd26132d7769..f01e57772dc4f 100644
--- a/common/qp_interface/src/qp_interface.cpp
+++ b/common/autoware_qp_interface/src/qp_interface.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/qp_interface.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 
 #include <iostream>
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 void QPInterface::initializeProblem(
   const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<double> & q,
@@ -67,4 +67,4 @@ std::vector<double> QPInterface::optimize(
 
   return result;
 }
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
diff --git a/common/qp_interface/test/test_csc_matrix_conv.cpp b/common/autoware_qp_interface/test/test_csc_matrix_conv.cpp
similarity index 93%
rename from common/qp_interface/test/test_csc_matrix_conv.cpp
rename to common/autoware_qp_interface/test/test_csc_matrix_conv.cpp
index a6bd5e3df0be1..1f377a1a24535 100644
--- a/common/qp_interface/test/test_csc_matrix_conv.cpp
+++ b/common/autoware_qp_interface/test/test_csc_matrix_conv.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
 #include "gtest/gtest.h"
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
 
 #include <Eigen/Core>
 
@@ -23,8 +23,8 @@
 
 TEST(TestCscMatrixConv, Nominal)
 {
-  using autoware::common::calCSCMatrix;
-  using autoware::common::CSC_Matrix;
+  using autoware::qp_interface::calCSCMatrix;
+  using autoware::qp_interface::CSC_Matrix;
 
   Eigen::MatrixXd rect1(1, 2);
   rect1 << 0.0, 1.0;
@@ -117,8 +117,8 @@ TEST(TestCscMatrixConv, Nominal)
 }
 TEST(TestCscMatrixConv, Trapezoidal)
 {
-  using autoware::common::calCSCMatrixTrapezoidal;
-  using autoware::common::CSC_Matrix;
+  using autoware::qp_interface::calCSCMatrixTrapezoidal;
+  using autoware::qp_interface::CSC_Matrix;
 
   Eigen::MatrixXd square1(2, 2);
   Eigen::MatrixXd square2(3, 3);
@@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal)
 }
 TEST(TestCscMatrixConv, Print)
 {
-  using autoware::common::calCSCMatrix;
-  using autoware::common::calCSCMatrixTrapezoidal;
-  using autoware::common::CSC_Matrix;
-  using autoware::common::printCSCMatrix;
+  using autoware::qp_interface::calCSCMatrix;
+  using autoware::qp_interface::calCSCMatrixTrapezoidal;
+  using autoware::qp_interface::CSC_Matrix;
+  using autoware::qp_interface::printCSCMatrix;
   Eigen::MatrixXd square1(2, 2);
   Eigen::MatrixXd rect1(1, 2);
   square1 << 1.0, 2.0, 2.0, 4.0;
diff --git a/common/qp_interface/test/test_osqp_interface.cpp b/common/autoware_qp_interface/test/test_osqp_interface.cpp
similarity index 87%
rename from common/qp_interface/test/test_osqp_interface.cpp
rename to common/autoware_qp_interface/test/test_osqp_interface.cpp
index 4d0a88c50475c..873e5d501dc7d 100644
--- a/common/qp_interface/test/test_osqp_interface.cpp
+++ b/common/autoware_qp_interface/test/test_osqp_interface.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/qp_interface/osqp_interface.hpp"
 #include "gtest/gtest.h"
-#include "qp_interface/osqp_interface.hpp"
 
 #include <Eigen/Core>
 
@@ -39,9 +39,9 @@ namespace
 
 TEST(TestOsqpInterface, BasicQp)
 {
-  using autoware::common::calCSCMatrix;
-  using autoware::common::calCSCMatrixTrapezoidal;
-  using autoware::common::CSC_Matrix;
+  using autoware::qp_interface::calCSCMatrix;
+  using autoware::qp_interface::calCSCMatrixTrapezoidal;
+  using autoware::qp_interface::CSC_Matrix;
 
   auto check_result =
     [](const auto & solution, const std::string & status, const int polish_status) {
@@ -58,12 +58,12 @@ TEST(TestOsqpInterface, BasicQp)
   const Eigen::MatrixXd P = (Eigen::MatrixXd(2, 2) << 4, 1, 1, 2).finished();
   const Eigen::MatrixXd A = (Eigen::MatrixXd(4, 2) << 1, 1, 1, 0, 0, 1, 0, 1).finished();
   const std::vector<double> q = {1.0, 1.0};
-  const std::vector<double> l = {1.0, 0.0, 0.0, -autoware::common::OSQP_INF};
-  const std::vector<double> u = {1.0, 0.7, 0.7, autoware::common::OSQP_INF};
+  const std::vector<double> l = {1.0, 0.0, 0.0, -autoware::qp_interface::OSQP_INF};
+  const std::vector<double> u = {1.0, 0.7, 0.7, autoware::qp_interface::OSQP_INF};
 
   {
     // Define problem during optimization
-    autoware::common::OSQPInterface osqp(false, 4000, 1e-6);
+    autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6);
     const auto solution = osqp.QPInterface::optimize(P, A, q, l, u);
     const auto status = osqp.getStatus();
     const auto polish_status = osqp.getPolishStatus();
@@ -72,7 +72,7 @@ TEST(TestOsqpInterface, BasicQp)
 
   {
     // Define problem during initialization
-    autoware::common::OSQPInterface osqp(false, 4000, 1e-6);
+    autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6);
     const auto solution = osqp.QPInterface::optimize(P, A, q, l, u);
     const auto status = osqp.getStatus();
     const auto polish_status = osqp.getPolishStatus();
@@ -87,7 +87,7 @@ TEST(TestOsqpInterface, BasicQp)
     std::vector<double> q_ini(2, 0.0);
     std::vector<double> l_ini(4, 0.0);
     std::vector<double> u_ini(4, 0.0);
-    autoware::common::OSQPInterface osqp(false, 4000, 1e-6);
+    autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6);
     osqp.QPInterface::optimize(P_ini, A_ini, q_ini, l_ini, u_ini);
   }
 
@@ -95,7 +95,7 @@ TEST(TestOsqpInterface, BasicQp)
     // Define problem during initialization with csc matrix
     CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P);
     CSC_Matrix A_csc = calCSCMatrix(A);
-    autoware::common::OSQPInterface osqp(false, 4000, 1e-6);
+    autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6);
 
     const auto solution = osqp.optimize(P_csc, A_csc, q, l, u);
     const auto status = osqp.getStatus();
@@ -111,7 +111,7 @@ TEST(TestOsqpInterface, BasicQp)
     std::vector<double> q_ini(2, 0.0);
     std::vector<double> l_ini(4, 0.0);
     std::vector<double> u_ini(4, 0.0);
-    autoware::common::OSQPInterface osqp(false, 4000, 1e-6);
+    autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6);
     osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini);
 
     // Redefine problem before optimization
@@ -132,7 +132,7 @@ TEST(TestOsqpInterface, BasicQp)
     std::vector<double> q_ini(2, 0.0);
     std::vector<double> l_ini(4, 0.0);
     std::vector<double> u_ini(4, 0.0);
-    autoware::common::OSQPInterface osqp(true, 4000, 1e-6);  // enable warm start
+    autoware::qp_interface::OSQPInterface osqp(true, 4000, 1e-6);  // enable warm start
     osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini);
 
     // Redefine problem before optimization
diff --git a/common/qp_interface/test/test_proxqp_interface.cpp b/common/autoware_qp_interface/test/test_proxqp_interface.cpp
similarity index 92%
rename from common/qp_interface/test/test_proxqp_interface.cpp
rename to common/autoware_qp_interface/test/test_proxqp_interface.cpp
index e9cb90ef5d442..5bf85b026478d 100644
--- a/common/qp_interface/test/test_proxqp_interface.cpp
+++ b/common/autoware_qp_interface/test/test_proxqp_interface.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/qp_interface/proxqp_interface.hpp"
 #include "gtest/gtest.h"
-#include "qp_interface/proxqp_interface.hpp"
 
 #include <Eigen/Core>
 
@@ -57,7 +57,7 @@ TEST(TestProxqpInterface, BasicQp)
 
   {
     // Define problem during optimization
-    autoware::common::ProxQPInterface proxqp(false, 4000, 1e-9, 1e-9, false);
+    autoware::qp_interface::ProxQPInterface proxqp(false, 4000, 1e-9, 1e-9, false);
     const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u);
     const auto status = proxqp.getStatus();
     check_result(solution, status);
@@ -65,7 +65,7 @@ TEST(TestProxqpInterface, BasicQp)
 
   {
     // Define problem during optimization with warm start
-    autoware::common::ProxQPInterface proxqp(true, 4000, 1e-9, 1e-9, false);
+    autoware::qp_interface::ProxQPInterface proxqp(true, 4000, 1e-9, 1e-9, false);
     {
       const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u);
       const auto status = proxqp.getStatus();
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp
index 79dd5cda20d4b..6ddba29bf05a7 100644
--- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp
+++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp
@@ -16,10 +16,10 @@
 #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__JERK_FILTERED_SMOOTHER_HPP_
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/system/time_keeper.hpp"
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
-#include "qp_interface/qp_interface.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 
@@ -60,7 +60,7 @@ class JerkFilteredSmoother : public SmootherBase
 
 private:
   Param smoother_param_;
-  std::shared_ptr<autoware::common::QPInterface> qp_interface_;
+  std::shared_ptr<autoware::qp_interface::QPInterface> qp_interface_;
   rclcpp::Logger logger_{rclcpp::get_logger("smoother").get_child("jerk_filtered_smoother")};
 
   TrajectoryPoints forwardJerkFilter(
diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml
index 222b189057820..91e5024ace1d2 100644
--- a/planning/autoware_velocity_smoother/package.xml
+++ b/planning/autoware_velocity_smoother/package.xml
@@ -26,11 +26,11 @@
   <depend>autoware_osqp_interface</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_qp_interface</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
-  <depend>qp_interface</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
diff --git a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
index 3e363b8bcbab9..b218a662de175 100644
--- a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp"
 
+#include "autoware/qp_interface/proxqp_interface.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
-#include "qp_interface/proxqp_interface.hpp"
 
 #include <Eigen/Core>
 
@@ -42,7 +42,7 @@ JerkFilteredSmoother::JerkFilteredSmoother(
   p.jerk_filter_ds = node.declare_parameter<double>("jerk_filter_ds");
 
   qp_interface_ =
-    std::make_shared<autoware::common::ProxQPInterface>(false, 20000, 1.0e-8, 1.0e-6, false);
+    std::make_shared<autoware::qp_interface::ProxQPInterface>(false, 20000, 1.0e-8, 1.0e-6, false);
 }
 
 void JerkFilteredSmoother::setParam(const Param & smoother_param)