diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 47ddd77bdf68e..67f8ace3a4bb1 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -130,7 +130,7 @@ perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
index f99416cc5ac0a..d92ced54bbc07 100644
--- a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
+++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
@@ -16,7 +16,7 @@
 
   <!--pointcloud based method-->
   <group if="$(eval &quot;'$(var occupancy_grid_map_method)'=='pointcloud_based_occupancy_grid_map'&quot;)">
-    <include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/pointcloud_based_occupancy_grid_map.launch.py">
+    <include file="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/launch/pointcloud_based_occupancy_grid_map.launch.py">
       <arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
       <arg name="input/raw_pointcloud" value="$(var input/raw_pointcloud)"/>
       <arg name="output" value="$(var output)"/>
@@ -32,7 +32,7 @@
 
   <!--laserscan based method-->
   <group if="$(eval &quot;'$(var occupancy_grid_map_method)'=='laserscan_based_occupancy_grid_map'&quot;)">
-    <include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/laserscan_based_occupancy_grid_map.launch.py">
+    <include file="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/launch/laserscan_based_occupancy_grid_map.launch.py">
       <arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
       <arg name="input/raw_pointcloud" value="$(var input/raw_pointcloud)"/>
       <arg name="output" value="$(var output)"/>
@@ -50,7 +50,7 @@
 
   <!--multi lidar pointclouds based method-->
   <group if="$(eval &quot;'$(var occupancy_grid_map_method)'=='multi_lidar_pointcloud_based_occupancy_grid_map'&quot;)">
-    <include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py">
+    <include file="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py">
       <arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
       <arg name="output" value="/perception/occupancy_grid_map/map"/>
       <arg name="use_intra_process" value="true"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 6c428a5adea0b..9876238d5a6be 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -170,7 +170,7 @@
     <!-- Occupancy grid map module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/autoware_probabilistic_occupancy_grid_map.launch.xml">
         <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
         <arg name="input/raw_pointcloud" value="$(var perception_pointcloud)"/>
         <arg name="output" value="/perception/occupancy_grid_map/map"/>
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index db2968f735a37..8f39d53ae61cc 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -19,6 +19,7 @@
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>autoware_object_range_splitter</exec_depend>
   <exec_depend>autoware_object_velocity_splitter</exec_depend>
+  <exec_depend>autoware_probabilistic_occupancy_grid_map</exec_depend>
   <exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
   <exec_depend>autoware_radar_fusion_to_detected_object</exec_depend>
   <exec_depend>autoware_radar_object_clustering</exec_depend>
@@ -38,7 +39,6 @@
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
-  <exec_depend>probabilistic_occupancy_grid_map</exec_depend>
   <exec_depend>shape_estimation</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>tracking_object_merger</exec_depend>
diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt
similarity index 98%
rename from perception/probabilistic_occupancy_grid_map/CMakeLists.txt
rename to perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt
index d01ef157e21b4..28342ecb5bcff 100644
--- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt
+++ b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(probabilistic_occupancy_grid_map)
+project(autoware_probabilistic_occupancy_grid_map)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/autoware_probabilistic_occupancy_grid_map/README.md
similarity index 67%
rename from perception/probabilistic_occupancy_grid_map/README.md
rename to perception/autoware_probabilistic_occupancy_grid_map/README.md
index 4200836181276..575411bcbd220 100644
--- a/perception/probabilistic_occupancy_grid_map/README.md
+++ b/perception/autoware_probabilistic_occupancy_grid_map/README.md
@@ -1,4 +1,4 @@
-# probabilistic_occupancy_grid_map
+# autoware_probabilistic_occupancy_grid_map
 
 ## Purpose
 
@@ -21,12 +21,12 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean
 
 ### Parameters
 
-{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
-{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
-{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
+{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
+{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
+{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
+{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
+{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
+{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
 
 ### Downsample input pointcloud(Optional)
 
@@ -54,7 +54,7 @@ This package provides unit tests using `gtest`.
 You can run the test by the following command.
 
 ```bash
-colcon test --packages-select probabilistic_occupancy_grid_map --event-handlers console_direct+
+colcon test --packages-select autoware_probabilistic_occupancy_grid_map --event-handlers console_direct+
 ```
 
 Test contains the following.
diff --git a/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml
rename to perception/autoware_probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml
diff --git a/perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/grid_map.param.yaml
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml
rename to perception/autoware_probabilistic_occupancy_grid_map/config/grid_map.param.yaml
diff --git a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml
rename to perception/autoware_probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml
diff --git a/perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
rename to perception/autoware_probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
diff --git a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml
rename to perception/autoware_probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml
diff --git a/perception/probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml
rename to perception/autoware_probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml
diff --git a/perception/probabilistic_occupancy_grid_map/image/bresenham.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/bresenham.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/bresenham.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/bresenham.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png b/perception/autoware_probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png
rename to perception/autoware_probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg
diff --git a/perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg
rename to perception/autoware_probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md b/perception/autoware_probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md
rename to perception/autoware_probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md
diff --git a/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml b/perception/autoware_probabilistic_occupancy_grid_map/launch/debug.launch.xml
similarity index 69%
rename from perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml
rename to perception/autoware_probabilistic_occupancy_grid_map/launch/debug.launch.xml
index 72edb00ea606a..20a1b2b7910e6 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/debug.launch.xml
@@ -3,7 +3,7 @@
   <group>
     <push-ros-namespace namespace="/perception/occupancy_grid_map/"/>
     <node name="grid_map_visualization" pkg="grid_map_visualization" exec="grid_map_visualization">
-      <param from="$(find-pkg-share probabilistic_occupancy_grid_map)/config/grid_map_param.yaml"/>
+      <param from="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/grid_map_param.yaml"/>
     </node>
   </group>
 </launch>
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
similarity index 96%
rename from perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
rename to perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index 1edc538b3de3f..1a73518531217 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -84,7 +84,7 @@ def launch_setup(context, *args, **kwargs):
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
         ComposableNode(
-            package="probabilistic_occupancy_grid_map",
+            package="autoware_probabilistic_occupancy_grid_map",
             plugin="autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             remappings=[
@@ -162,13 +162,13 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output/stixel", "virtual_scan/stixel"),
             add_launch_arg(
                 "param_file",
-                get_package_share_directory("probabilistic_occupancy_grid_map")
+                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
                 + "/config/laserscan_based_occupancy_grid_map.param.yaml",
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
-                get_package_share_directory("probabilistic_occupancy_grid_map")
+                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
                 + "/config/updater.param.yaml",
             ),
             add_launch_arg("input_obstacle_pointcloud", "false"),
diff --git a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
similarity index 97%
rename from perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
rename to perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
index ef40839d2a5aa..14a446e699cb9 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
@@ -195,7 +195,7 @@ def launch_setup(context, *args, **kwargs):
 
         # generate composable node
         node = ComposableNode(
-            package="probabilistic_occupancy_grid_map",
+            package="autoware_probabilistic_occupancy_grid_map",
             plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             namespace=frame_name,
@@ -218,7 +218,7 @@ def launch_setup(context, *args, **kwargs):
     # 2. launch occupancy grid map fusion node
     gridmap_fusion_node = [
         ComposableNode(
-            package="probabilistic_occupancy_grid_map",
+            package="autoware_probabilistic_occupancy_grid_map",
             plugin="synchronized_grid_map_fusion::GridMapFusionNode",
             name="occupancy_grid_map_fusion_node",
             remappings=[
@@ -275,13 +275,13 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output", "occupancy_grid"),
             add_launch_arg(
                 "multi_lidar_fusion_config_file",
-                get_package_share_directory("probabilistic_occupancy_grid_map")
+                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
                 + "/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml",
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
-                get_package_share_directory("probabilistic_occupancy_grid_map")
+                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
                 + "/config/binary_bayes_filter_updater.param.yaml",
             ),
             set_container_executable,
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
similarity index 96%
rename from perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
rename to perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index bb5ef025a7e47..d9fe75f1380d7 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -95,7 +95,7 @@ def launch_setup(context, *args, **kwargs):
 
     composable_nodes.append(
         ComposableNode(
-            package="probabilistic_occupancy_grid_map",
+            package="autoware_probabilistic_occupancy_grid_map",
             plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             remappings=[
@@ -173,13 +173,13 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("output", "occupancy_grid"),
             add_launch_arg(
                 "param_file",
-                get_package_share_directory("probabilistic_occupancy_grid_map")
+                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
                 + "/config/pointcloud_based_occupancy_grid_map.param.yaml",
             ),
             add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
-                get_package_share_directory("probabilistic_occupancy_grid_map")
+                get_package_share_directory("autoware_probabilistic_occupancy_grid_map")
                 + "/config/binary_bayes_filter_updater.param.yaml",
             ),
             set_container_executable,
diff --git a/perception/probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml b/perception/autoware_probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml
similarity index 54%
rename from perception/probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml
rename to perception/autoware_probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml
index c2391141e9fa0..96f51a313475f 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml
+++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="output_topic" default="~/output/occupancy_grid_map"/>
-  <arg name="fusion_node_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/synchronized_grid_map_fusion_node.param.yaml"/>
+  <arg name="fusion_node_param_path" default="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/synchronized_grid_map_fusion_node.param.yaml"/>
 
-  <node name="synchronized_grid_map_fusion_node" exec="synchronized_grid_map_fusion_node" pkg="probabilistic_occupancy_grid_map" output="screen">
+  <node name="synchronized_grid_map_fusion_node" exec="synchronized_grid_map_fusion_node" pkg="autoware_probabilistic_occupancy_grid_map" output="screen">
     <remap from="~/output/occupancy_grid_map" to="$(var output_topic)"/>
     <param from="$(var fusion_node_param_path)"/>
   </node>
diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml
similarity index 96%
rename from perception/probabilistic_occupancy_grid_map/package.xml
rename to perception/autoware_probabilistic_occupancy_grid_map/package.xml
index d8647ae2ba744..3813abb06d73f 100644
--- a/perception/probabilistic_occupancy_grid_map/package.xml
+++ b/perception/autoware_probabilistic_occupancy_grid_map/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>probabilistic_occupancy_grid_map</name>
+  <name>autoware_probabilistic_occupancy_grid_map</name>
   <version>0.1.0</version>
   <description>generate probabilistic occupancy grid map</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md b/perception/autoware_probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md
similarity index 99%
rename from perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md
rename to perception/autoware_probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md
index d8d69ed7866b6..972c77c9e691e 100644
--- a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md
+++ b/perception/autoware_probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md
@@ -130,7 +130,7 @@ In several places we have modified the external code written in BSD3 license.
 If `grid_map_type` is "OccupancyGridMapProjectiveBlindSpot" and `pub_debug_grid` is `true`, it is possible to check the each process of grid map generation by running
 
 ```shell
-ros2 launch probabilistic_occupancy_grid_map debug.launch.xml
+ros2 launch autoware_probabilistic_occupancy_grid_map debug.launch.xml
 ```
 
 and visualizing the following occupancy grid map topics (which are listed in config/grid_map_param.yaml):
diff --git a/perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json
rename to perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json
diff --git a/perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json
rename to perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json
diff --git a/perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json
rename to perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json
diff --git a/perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json
rename to perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json
diff --git a/perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json
rename to perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json
diff --git a/perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
rename to perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
rename to perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
diff --git a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md b/perception/autoware_probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
similarity index 92%
rename from perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
rename to perception/autoware_probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
index cb86ebe7eea85..be1e9b5b3955a 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/autoware_probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -77,9 +77,9 @@ The minimum node launch will be like the following.
 <?xml version="1.0"?>
 <launch>
 <arg name="output_topic" default="~/output/occupancy_grid_map"/>
-<arg name="fusion_node_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/synchronized_grid_map_fusion_node.param.yaml"/>
+<arg name="fusion_node_param_path" default="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/synchronized_grid_map_fusion_node.param.yaml"/>
 
-<node name="synchronized_grid_map_fusion_node" exec="synchronized_grid_map_fusion_node" pkg="probabilistic_occupancy_grid_map" output="screen">
+<node name="synchronized_grid_map_fusion_node" exec="synchronized_grid_map_fusion_node" pkg="autoware_probabilistic_occupancy_grid_map" output="screen">
   <remap from="~/output/occupancy_grid_map" to="$(var output_topic)"/>
   <param from="$(var fusion_node_param_path)"/>
 </node>
@@ -90,13 +90,13 @@ The minimum node launch will be like the following.
 
 You need to generate OGMs in each sensor frame before achieving grid map fusion.
 
-`probabilistic_occupancy_grid_map` package supports to generate OGMs for the each from the point cloud data.
+`autoware_probabilistic_occupancy_grid_map` package supports to generate OGMs for the each from the point cloud data.
 
 <details>
 <summary> Example launch.xml (click to expand) </summary>
 
 ```xml
-<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
+<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/autoware_probabilistic_occupancy_grid_map.launch.xml">
     <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
     <arg name="input/raw_pointcloud" value="/sensing/lidar/right/outlier_filtered/pointcloud_synchronized"/>
     <arg name="output" value="/perception/occupancy_grid_map/right_lidar/map"/>
@@ -107,7 +107,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="method" value="pointcloud_based_occupancy_grid_map"/>
-    <arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
+    <arg name="param_file" value="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map_fusion.param.yaml"/>
 </include>
 
 
@@ -130,7 +130,7 @@ The minimum parameter for the OGM generation in each frame is shown in the follo
 <br>
 
 We recommend to use same `map_frame`, size and resolutions for the OGMs from synchronized sensors.  
-Also, remember to set `enable_single_frame_mode` and `filter_obstacle_pointcloud_by_raw_pointcloud` to `true` in the `probabilistic_occupancy_grid_map` package (you do not need to set these parameters if you use the above example config file).
+Also, remember to set `enable_single_frame_mode` and `filter_obstacle_pointcloud_by_raw_pointcloud` to `true` in the `autoware_probabilistic_occupancy_grid_map` package (you do not need to set these parameters if you use the above example config file).
 
 <br>
 
@@ -141,7 +141,7 @@ We prepared the launch file to run both OGM generation node and fusion node in [
 You can include this launch file like the following.
 
 ```xml
-<include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/grid_map_fusion_with_synchronized_pointclouds.launch.py">
+<include file="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/launch/grid_map_fusion_with_synchronized_pointclouds.launch.py">
   <arg name="output" value="/perception/occupancy_grid_map/fusion/map"/>
   <arg name="use_intra_process" value="true"/>
   <arg name="use_multithread" value="true"/>
diff --git a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp b/perception/autoware_probabilistic_occupancy_grid_map/test/cost_value_test.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/test/cost_value_test.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp b/perception/autoware_probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py b/perception/autoware_probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
similarity index 99%
rename from perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
rename to perception/autoware_probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
index 093811d4cc213..f8f043fdb016e 100644
--- a/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
+++ b/perception/autoware_probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
@@ -37,7 +37,7 @@
 from sensor_msgs.msg import PointField
 from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster
 
-PACKAGE_NAME = "probabilistic_occupancy_grid_map"
+PACKAGE_NAME = "autoware_probabilistic_occupancy_grid_map"
 INPUT_TOPIC_RAW = "/raw"
 INPUT_TOPIC_OBSTACLE = "/obstacle"
 
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py b/perception/autoware_probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py
rename to perception/autoware_probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp b/perception/autoware_probabilistic_occupancy_grid_map/test/test_utils.cpp
similarity index 100%
rename from perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
rename to perception/autoware_probabilistic_occupancy_grid_map/test/test_utils.cpp
diff --git a/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml b/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
index 3acb1f2d1907a..4d7407696aa89 100644
--- a/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
@@ -5,11 +5,11 @@
 
   <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan"/>
   <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map"/>
-  <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
-  <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/>
+  <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
+  <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/>
   <arg name="occupancy_grid_based_validator_param_path" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml"/>
 
-  <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
+  <node pkg="autoware_probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
     <remap from="~/input/laserscan" to="$(var input/laserscan)"/>
     <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/>
     <param name="input_obstacle_pointcloud" value="false"/>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md
index 6ba8f8b929146..318758220c239 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md
@@ -508,7 +508,7 @@ If you want to care the occlusion nearby ego more cautiously, set `occlusion.occ
 
 #### occupancy grid map tuning
 
-Refer to the document of [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them.
+Refer to the document of [autoware_probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them.
 
 #### in simple_planning_simulator