diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
index 663a53e9383b7..3c84312bc00a5 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
+++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
@@ -245,7 +245,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   /**
    * @brief ControlModeRequest server
    */
-  void on_operation_mode_request(
+  void on_control_mode_request(
     const ControlModeRequest::Request::SharedPtr request,
     const ControlModeRequest::Response::SharedPtr response);
 
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index 5ef4edb527223..1ef3ea9d845ad 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -109,8 +109,8 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt
     "input/trajectory", QoS{1}, std::bind(&SimplePlanningSimulator::on_trajectory, this, _1));
 
   srv_mode_req_ = create_service<tier4_vehicle_msgs::srv::ControlModeRequest>(
-    "operation_mode_request",
-    std::bind(&SimplePlanningSimulator::on_operation_mode_request, this, _1, _2));
+    "control_mode_request",
+    std::bind(&SimplePlanningSimulator::on_control_mode_request, this, _1, _2));
 
   // TODO(Horibe): will be replaced by mode_request. May still be needed for scenario testing
   sub_engage_ = create_subscription<Engage>(
@@ -379,7 +379,7 @@ void SimplePlanningSimulator::on_engage(const Engage::ConstSharedPtr msg)
   simulate_motion_ = msg->engage;
 }
 
-void SimplePlanningSimulator::on_operation_mode_request(
+void SimplePlanningSimulator::on_control_mode_request(
   const ControlModeRequest::Request::SharedPtr request,
   const ControlModeRequest::Response::SharedPtr response)
 {