diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index e994654ece1c2..b68296689cabc 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -190,7 +190,7 @@ planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
 planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
-planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
+planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp
 planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index eba79b905db16..aab3241dba528 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -169,7 +169,7 @@
   <group>
     <group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="obstacle_cruise_planner" plugin="motion_planning::ObstacleCruisePlannerNode" name="obstacle_cruise_planner" namespace="">
+        <composable_node pkg="autoware_obstacle_cruise_planner" plugin="autoware::motion_planning::ObstacleCruisePlannerNode" name="obstacle_cruise_planner" namespace="">
           <!-- topic remap -->
           <remap from="~/input/trajectory" to="obstacle_velocity_limiter/trajectory"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index 73783936a84a1..65cd745656cbb 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -63,6 +63,7 @@
   <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
   <exec_depend>autoware_freespace_planner</exec_depend>
   <exec_depend>autoware_mission_planner</exec_depend>
+  <exec_depend>autoware_obstacle_cruise_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_planning_topic_converter</exec_depend>
   <exec_depend>autoware_planning_validator</exec_depend>
@@ -72,7 +73,6 @@
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>
-  <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
 
diff --git a/planning/.pages b/planning/.pages
index 58b60481f90bc..7ed1d62bef738 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -47,8 +47,8 @@ nav:
       - 'Model Predictive Trajectory (MPT)': planning/autoware_path_optimizer/docs/mpt
       - 'How to Debug': planning/autoware_path_optimizer/docs/debug
     - 'Obstacle Cruise Planner':
-      - 'About Obstacle Cruise': planning/obstacle_cruise_planner
-      - 'How to Debug': planning/obstacle_cruise_planner/docs/debug
+      - 'About Obstacle Cruise': planning/autoware_obstacle_cruise_planner
+      - 'How to Debug': planning/autoware_obstacle_cruise_planner/docs/debug
     - 'Obstacle Stop Planner': planning/obstacle_stop_planner
     - 'Obstacle Velocity Limiter': planning/obstacle_velocity_limiter
     - 'Path Smoother':
diff --git a/planning/obstacle_cruise_planner/CMakeLists.txt b/planning/autoware_obstacle_cruise_planner/CMakeLists.txt
similarity index 65%
rename from planning/obstacle_cruise_planner/CMakeLists.txt
rename to planning/autoware_obstacle_cruise_planner/CMakeLists.txt
index 3686b7b648c9d..be20a9140a6a8 100644
--- a/planning/obstacle_cruise_planner/CMakeLists.txt
+++ b/planning/autoware_obstacle_cruise_planner/CMakeLists.txt
@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(obstacle_cruise_planner)
+project(autoware_obstacle_cruise_planner)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
-ament_auto_add_library(obstacle_cruise_planner_core SHARED
+ament_auto_add_library(autoware_obstacle_cruise_planner_core SHARED
   src/node.cpp
   src/utils.cpp
   src/polygon_utils.cpp
@@ -16,19 +16,19 @@ ament_auto_add_library(obstacle_cruise_planner_core SHARED
   src/planner_interface.cpp
 )
 
-rclcpp_components_register_node(obstacle_cruise_planner_core
-  PLUGIN "motion_planning::ObstacleCruisePlannerNode"
-  EXECUTABLE obstacle_cruise_planner
+rclcpp_components_register_node(autoware_obstacle_cruise_planner_core
+  PLUGIN "autoware::motion_planning::ObstacleCruisePlannerNode"
+  EXECUTABLE autoware_obstacle_cruise_planner
 )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-    test/test_${PROJECT_NAME}_node_interface.cpp
+    test/test_obstacle_cruise_planner_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
-  obstacle_cruise_planner_core
+  autoware_obstacle_cruise_planner_core
   )
 endif()
 
diff --git a/planning/obstacle_cruise_planner/README.md b/planning/autoware_obstacle_cruise_planner/README.md
similarity index 97%
rename from planning/obstacle_cruise_planner/README.md
rename to planning/autoware_obstacle_cruise_planner/README.md
index 23be6908cbcfe..1cb8128110e7c 100644
--- a/planning/obstacle_cruise_planner/README.md
+++ b/planning/autoware_obstacle_cruise_planner/README.md
@@ -2,7 +2,7 @@
 
 ## Overview
 
-The `obstacle_cruise_planner` package has following modules.
+The `autoware_obstacle_cruise_planner` package has following modules.
 
 - Stop planning
   - stop when there is a static obstacle near the trajectory.
@@ -286,7 +286,7 @@ The calculated velocity is inserted in the trajectory where the obstacle is insi
 
 ### Flowchart
 
-Successive functions consist of `obstacle_cruise_planner` as follows.
+Successive functions consist of `autoware_obstacle_cruise_planner` as follows.
 
 Various algorithms for stop and cruise planning will be implemented, and one of them is designated depending on the use cases.
 The core algorithm implementation `generateTrajectory` depends on the designated algorithm.
@@ -380,9 +380,9 @@ under construction
 ### Prioritization of behavior module's stop point
 
 When stopping for a pedestrian walking on the crosswalk, the behavior module inserts the zero velocity in the trajectory in front of the crosswalk.
-Also `obstacle_cruise_planner`'s stop planning also works, and the ego may not reach the behavior module's stop point since the safe distance defined in `obstacle_cruise_planner` may be longer than the behavior module's safe distance.
-To resolve this non-alignment of the stop point between the behavior module and `obstacle_cruise_planner`, `common.min_behavior_stop_margin` is defined.
-In the case of the crosswalk described above, `obstacle_cruise_planner` inserts the stop point with a distance `common.min_behavior_stop_margin` at minimum between the ego and obstacle.
+Also `autoware_obstacle_cruise_planner`'s stop planning also works, and the ego may not reach the behavior module's stop point since the safe distance defined in `autoware_obstacle_cruise_planner` may be longer than the behavior module's safe distance.
+To resolve this non-alignment of the stop point between the behavior module and `autoware_obstacle_cruise_planner`, `common.min_behavior_stop_margin` is defined.
+In the case of the crosswalk described above, `autoware_obstacle_cruise_planner` inserts the stop point with a distance `common.min_behavior_stop_margin` at minimum between the ego and obstacle.
 
 | Parameter                         | Type   | Description                                                            |
 | --------------------------------- | ------ | ---------------------------------------------------------------------- |
diff --git a/planning/obstacle_cruise_planner/config/default_common.param.yaml b/planning/autoware_obstacle_cruise_planner/config/default_common.param.yaml
similarity index 100%
rename from planning/obstacle_cruise_planner/config/default_common.param.yaml
rename to planning/autoware_obstacle_cruise_planner/config/default_common.param.yaml
diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
similarity index 100%
rename from planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
rename to planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
diff --git a/planning/obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml b/planning/autoware_obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml
similarity index 100%
rename from planning/obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml
rename to planning/autoware_obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml
diff --git a/planning/obstacle_cruise_planner/docs/debug.md b/planning/autoware_obstacle_cruise_planner/docs/debug.md
similarity index 100%
rename from planning/obstacle_cruise_planner/docs/debug.md
rename to planning/autoware_obstacle_cruise_planner/docs/debug.md
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp
similarity index 97%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp
index 34ae20980d3fd..9b5c277589e67 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
 
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/ros/uuid_helper.hpp"
@@ -302,4 +302,4 @@ struct EgoNearestParam
   double yaw_threshold;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp
similarity index 95%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp
index 8f9724d9c8bed..dcea7e1dc257b 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__NODE_HPP_
-#define OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
 
-#include "obstacle_cruise_planner/common_structs.hpp"
-#include "obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
-#include "obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
+#include "autoware_obstacle_cruise_planner/common_structs.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
@@ -36,7 +36,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 class ObstacleCruisePlannerNode : public rclcpp::Node
 {
@@ -278,6 +278,6 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
similarity index 86%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
index a832e74c76db0..db807608caca4 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
 
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
+#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
-#include "obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
-#include "obstacle_cruise_planner/planner_interface.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -117,5 +117,6 @@ class OptimizationBasedPlanner : public PlannerInterface
   double engage_exit_ratio_;
   double stop_dist_to_prohibit_engage_;
 };
-
-#endif  // OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_
+// clang-format off
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+// clang-format on
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
similarity index 78%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
index 1665434ad5969..d033e4e35aef0 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
-#define OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
 
 #include <limits>
 #include <vector>
@@ -30,4 +30,4 @@ class SBoundary
 
 using SBoundaries = std::vector<SBoundary>;
 
-#endif  // OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
similarity index 83%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
index 9d3bb66859f2d..49cf96ce81e0b 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
@@ -11,10 +11,10 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
 
-#include "obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
 #include "osqp_interface/osqp_interface.hpp"
 
 #include <vector>
@@ -72,4 +72,4 @@ class VelocityOptimizer
   autoware::common::osqp::OSQPInterface qp_solver_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
similarity index 90%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
index 3ab5dd0a011d9..98679b5cbb515 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -94,4 +94,4 @@ class CruisePlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
similarity index 90%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
index 9d688cdac419b..5fac88e909764 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
 
-#include "obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
-#include "obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
-#include "obstacle_cruise_planner/planner_interface.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
+#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 
 #include "visualization_msgs/msg/marker_array.hpp"
@@ -137,4 +137,4 @@ class PIDBasedPlanner : public PlannerInterface
   std::function<double(double)> error_func_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_controller.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
similarity index 85%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
index dbfaaa8a89700..f8f7a483df2a1 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
 
 #include <optional>
 
@@ -59,4 +59,4 @@ class PIDController
   std::optional<double> prev_error_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp
similarity index 97%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp
index f3dadbf5e5e51..2685b3d061ff1 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
 
+#include "autoware_obstacle_cruise_planner/common_structs.hpp"
+#include "autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
+#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "obstacle_cruise_planner/common_structs.hpp"
-#include "obstacle_cruise_planner/stop_planning_debug_info.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
-#include "obstacle_cruise_planner/utils.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
@@ -425,4 +425,4 @@ class PlannerInterface
     std::nullopt};
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp
similarity index 86%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp
index 455d40a7a7e87..621e4decbbf1e 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
 
+#include "autoware_obstacle_cruise_planner/common_structs.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "obstacle_cruise_planner/common_structs.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 
 #include <boost/geometry.hpp>
@@ -52,4 +52,4 @@ std::vector<PointWithStamp> getCollisionPoints(
 
 }  // namespace polygon_utils
 
-#endif  // OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/stop_planning_debug_info.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp
similarity index 91%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/stop_planning_debug_info.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp
index 7c682a1f63c01..7167ddbdf6ad1 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/stop_planning_debug_info.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
-#define OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -85,4 +85,4 @@ class StopPlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp
similarity index 94%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/type_alias.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp
index 196526c22aac9..7b435acb5f13e 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/type_alias.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
 
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
@@ -63,4 +63,4 @@ namespace bg = boost::geometry;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 
-#endif  // OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/utils.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/utils.hpp
similarity index 92%
rename from planning/obstacle_cruise_planner/include/obstacle_cruise_planner/utils.hpp
rename to planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/utils.hpp
index 48bab514cbf77..3b8093aea76a1 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/utils.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/utils.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
 
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "common_structs.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -95,4 +95,4 @@ size_t getIndexWithLongitudinalOffset(
 }
 }  // namespace obstacle_cruise_utils
 
-#endif  // OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
diff --git a/planning/obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml b/planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml
similarity index 88%
rename from planning/obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml
rename to planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml
index 8db1ae8b46223..aaf6db3e36613 100644
--- a/planning/obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml
+++ b/planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- obstacle velocity planner param -->
-  <arg name="obstacle_cruise_planner_param_path" default="$(find-pkg-share obstacle_cruise_planner)/config/obstacle_cruise_planner.param.yaml"/>
+  <arg name="obstacle_cruise_planner_param_path" default="$(find-pkg-share autoware_obstacle_cruise_planner)/config/obstacle_cruise_planner.param.yaml"/>
 
   <!-- vehicle info param -->
   <arg name="vehicle_info_param_path" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>
@@ -17,7 +17,7 @@
   <arg name="output_velocity_limit" default="/planning/scenario_planning/max_velocity_candidates"/>
   <arg name="output_clear_velocity_limit" default="/planning/scenario_planning/clear_velocity_limit"/>
 
-  <node pkg="obstacle_cruise_planner" exec="obstacle_cruise_planner" name="obstacle_cruise_planner" output="screen">
+  <node pkg="autoware_obstacle_cruise_planner" exec="autoware_obstacle_cruise_planner" name="obstacle_cruise_planner" output="screen">
     <!-- param -->
     <param from="$(var obstacle_cruise_planner_param_path)"/>
     <param from="$(var vehicle_info_param_path)"/>
diff --git a/planning/obstacle_cruise_planner/media/collision_point.png b/planning/autoware_obstacle_cruise_planner/media/collision_point.png
similarity index 100%
rename from planning/obstacle_cruise_planner/media/collision_point.png
rename to planning/autoware_obstacle_cruise_planner/media/collision_point.png
diff --git a/planning/obstacle_cruise_planner/media/cruise_visualization.png b/planning/autoware_obstacle_cruise_planner/media/cruise_visualization.png
similarity index 100%
rename from planning/obstacle_cruise_planner/media/cruise_visualization.png
rename to planning/autoware_obstacle_cruise_planner/media/cruise_visualization.png
diff --git a/planning/obstacle_cruise_planner/media/detection_area.png b/planning/autoware_obstacle_cruise_planner/media/detection_area.png
similarity index 100%
rename from planning/obstacle_cruise_planner/media/detection_area.png
rename to planning/autoware_obstacle_cruise_planner/media/detection_area.png
diff --git a/planning/obstacle_cruise_planner/media/determine_cruise_stop_slow_down.drawio.svg b/planning/autoware_obstacle_cruise_planner/media/determine_cruise_stop_slow_down.drawio.svg
similarity index 100%
rename from planning/obstacle_cruise_planner/media/determine_cruise_stop_slow_down.drawio.svg
rename to planning/autoware_obstacle_cruise_planner/media/determine_cruise_stop_slow_down.drawio.svg
diff --git a/planning/obstacle_cruise_planner/media/slow_down_planning.drawio.svg b/planning/autoware_obstacle_cruise_planner/media/slow_down_planning.drawio.svg
similarity index 100%
rename from planning/obstacle_cruise_planner/media/slow_down_planning.drawio.svg
rename to planning/autoware_obstacle_cruise_planner/media/slow_down_planning.drawio.svg
diff --git a/planning/obstacle_cruise_planner/media/slow_down_velocity_calculation.svg b/planning/autoware_obstacle_cruise_planner/media/slow_down_velocity_calculation.svg
similarity index 100%
rename from planning/obstacle_cruise_planner/media/slow_down_velocity_calculation.svg
rename to planning/autoware_obstacle_cruise_planner/media/slow_down_velocity_calculation.svg
diff --git a/planning/obstacle_cruise_planner/media/slow_down_visualization.png b/planning/autoware_obstacle_cruise_planner/media/slow_down_visualization.png
similarity index 100%
rename from planning/obstacle_cruise_planner/media/slow_down_visualization.png
rename to planning/autoware_obstacle_cruise_planner/media/slow_down_visualization.png
diff --git a/planning/obstacle_cruise_planner/media/stop_visualization.png b/planning/autoware_obstacle_cruise_planner/media/stop_visualization.png
similarity index 100%
rename from planning/obstacle_cruise_planner/media/stop_visualization.png
rename to planning/autoware_obstacle_cruise_planner/media/stop_visualization.png
diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
similarity index 93%
rename from planning/obstacle_cruise_planner/package.xml
rename to planning/autoware_obstacle_cruise_planner/package.xml
index 2a6e240093b14..2d3a96abfd81d 100644
--- a/planning/obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>obstacle_cruise_planner</name>
+  <name>autoware_obstacle_cruise_planner</name>
   <version>0.1.0</version>
-  <description>The obstacle_cruise_planner package</description>
+  <description>The autoware_obstacle_cruise_planner package</description>
 
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py b/planning/autoware_obstacle_cruise_planner/scripts/trajectory_visualizer.py
similarity index 100%
rename from planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py
rename to planning/autoware_obstacle_cruise_planner/scripts/trajectory_visualizer.py
diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp
similarity index 99%
rename from planning/obstacle_cruise_planner/src/node.cpp
rename to planning/autoware_obstacle_cruise_planner/src/node.cpp
index 866090a3c4696..18ea1243d9101 100644
--- a/planning/obstacle_cruise_planner/src/node.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/node.hpp"
+#include "autoware_obstacle_cruise_planner/node.hpp"
 
+#include "autoware_obstacle_cruise_planner/polygon_utils.hpp"
+#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
-#include "obstacle_cruise_planner/polygon_utils.hpp"
-#include "obstacle_cruise_planner/utils.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
@@ -215,7 +215,7 @@ bool isLowerConsideringHysteresis(
 }
 }  // namespace
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 ObstacleCruisePlannerNode::BehaviorDeterminationParam::BehaviorDeterminationParam(
   rclcpp::Node & node)
@@ -1643,7 +1643,7 @@ void ObstacleCruisePlannerNode::publishCalculationTime(const double calculation_
   calculation_time_msg.data = calculation_time;
   debug_calculation_time_pub_->publish(calculation_time_msg);
 }
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(motion_planning::ObstacleCruisePlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::motion_planning::ObstacleCruisePlannerNode)
diff --git a/planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
similarity index 99%
rename from planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
rename to planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
index a040ac598681f..c7172435a6f24 100644
--- a/planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
@@ -12,8 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
 
+#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/zero_order_hold.hpp"
@@ -21,7 +22,6 @@
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "obstacle_cruise_planner/utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 
diff --git a/planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
similarity index 99%
rename from planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
rename to planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
index c8932da6f17e5..695db439e566c 100644
--- a/planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
 
 #include <Eigen/Core>
 
diff --git a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
similarity index 99%
rename from planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
rename to planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
index 3084764432c0e..5156c61038122 100644
--- a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
 
+#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
-#include "obstacle_cruise_planner/utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
similarity index 99%
rename from planning/obstacle_cruise_planner/src/planner_interface.cpp
rename to planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
index 6e1de97378d16..f3b5af842acdb 100644
--- a/planning/obstacle_cruise_planner/src/planner_interface.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/planner_interface.hpp"
+#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
 
 #include "motion_utils/distance/distance.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
diff --git a/planning/obstacle_cruise_planner/src/polygon_utils.cpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
similarity index 99%
rename from planning/obstacle_cruise_planner/src/polygon_utils.cpp
rename to planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
index f354c53365dc1..e5f53d1b88c0b 100644
--- a/planning/obstacle_cruise_planner/src/polygon_utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/polygon_utils.hpp"
+#include "autoware_obstacle_cruise_planner/polygon_utils.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
diff --git a/planning/obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
similarity index 98%
rename from planning/obstacle_cruise_planner/src/utils.cpp
rename to planning/autoware_obstacle_cruise_planner/src/utils.cpp
index 6c1b3999e40c1..cb36f35b8e837 100644
--- a/planning/obstacle_cruise_planner/src/utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/utils.hpp"
+#include "autoware_obstacle_cruise_planner/utils.hpp"
 
 #include "object_recognition_utils/predicted_path_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
similarity index 93%
rename from planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
rename to planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index bd11effb774da..1c4f621649a4c 100644
--- a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_cruise_planner/node.hpp"
+#include "autoware_obstacle_cruise_planner/node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
@@ -22,7 +22,7 @@
 
 #include <vector>
 
-using motion_planning::ObstacleCruisePlannerNode;
+using autoware::motion_planning::ObstacleCruisePlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -44,7 +44,7 @@ std::shared_ptr<ObstacleCruisePlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
   const auto obstacle_cruise_planner_dir =
-    ament_index_cpp::get_package_share_directory("obstacle_cruise_planner");
+    ament_index_cpp::get_package_share_directory("autoware_obstacle_cruise_planner");
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
   node_options.arguments(
@@ -54,7 +54,7 @@ std::shared_ptr<ObstacleCruisePlannerNode> generateNode()
      "--params-file", obstacle_cruise_planner_dir + "/config/default_common.param.yaml",
      "--params-file", obstacle_cruise_planner_dir + "/config/obstacle_cruise_planner.param.yaml"});
 
-  return std::make_shared<motion_planning::ObstacleCruisePlannerNode>(node_options);
+  return std::make_shared<autoware::motion_planning::ObstacleCruisePlannerNode>(node_options);
 }
 
 void publishMandatoryTopics(
diff --git a/planning/obstacle_stop_planner/README.md b/planning/obstacle_stop_planner/README.md
index c922874594f54..10870222aee09 100644
--- a/planning/obstacle_stop_planner/README.md
+++ b/planning/obstacle_stop_planner/README.md
@@ -411,5 +411,5 @@ If the target velocity exceeds the value of `thresh_vel_to_stop`, the target vel
   dangerously.
 
 - It does not work for backward driving, but publishes the path of the input as it is. Please
-  use [obstacle_cruise_planner](../obstacle_cruise_planner/README.md) if you want to stop against an obstacle when
+  use [obstacle_cruise_planner](../autoware_obstacle_cruise_planner/README.md) if you want to stop against an obstacle when
   backward driving.