diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 52f91f4d41a20..9c029d3e62399 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -178,7 +178,7 @@ planning/behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp sh
 planning/behavior_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
 planning/behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
diff --git a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt b/planning/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt
similarity index 85%
rename from planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt
rename to planning/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt
index ba3fd0e4f71dd..f4646b1b9eb6e 100644
--- a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt
+++ b/planning/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_no_stopping_area_module)
+project(autoware_behavior_velocity_no_stopping_area_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/planning/behavior_velocity_no_stopping_area_module/README.md b/planning/autoware_behavior_velocity_no_stopping_area_module/README.md
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/README.md
rename to planning/autoware_behavior_velocity_no_stopping_area_module/README.md
diff --git a/planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml b/planning/autoware_behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml
rename to planning/autoware_behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml
diff --git a/planning/behavior_velocity_no_stopping_area_module/docs/no-stopping-area.svg b/planning/autoware_behavior_velocity_no_stopping_area_module/docs/no-stopping-area.svg
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/docs/no-stopping-area.svg
rename to planning/autoware_behavior_velocity_no_stopping_area_module/docs/no-stopping-area.svg
diff --git a/planning/behavior_velocity_no_stopping_area_module/package.xml b/planning/autoware_behavior_velocity_no_stopping_area_module/package.xml
similarity index 90%
rename from planning/behavior_velocity_no_stopping_area_module/package.xml
rename to planning/autoware_behavior_velocity_no_stopping_area_module/package.xml
index 0728c02348bc0..1a2d435fb6a4a 100644
--- a/planning/behavior_velocity_no_stopping_area_module/package.xml
+++ b/planning/autoware_behavior_velocity_no_stopping_area_module/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_no_stopping_area_module</name>
+  <name>autoware_behavior_velocity_no_stopping_area_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_no_stopping_area_module package</description>
+  <description>The autoware_behavior_velocity_no_stopping_area_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_no_stopping_area_module/plugins.xml b/planning/autoware_behavior_velocity_no_stopping_area_module/plugins.xml
similarity index 70%
rename from planning/behavior_velocity_no_stopping_area_module/plugins.xml
rename to planning/autoware_behavior_velocity_no_stopping_area_module/plugins.xml
index 23d2a800c3cf5..54bc5584007c2 100644
--- a/planning/behavior_velocity_no_stopping_area_module/plugins.xml
+++ b/planning/autoware_behavior_velocity_no_stopping_area_module/plugins.xml
@@ -1,3 +1,3 @@
-<library path="behavior_velocity_no_stopping_area_module">
+<library path="autoware_behavior_velocity_no_stopping_area_module">
   <class type="autoware::behavior_velocity_planner::NoStoppingAreaModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
 </library>
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/debug.cpp b/planning/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/src/debug.cpp
rename to planning/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/src/manager.cpp
rename to planning/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/manager.hpp b/planning/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/src/manager.hpp
rename to planning/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
rename to planning/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp b/planning/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp
similarity index 100%
rename from planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp
rename to planning/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp