diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
index 4e7b7f9a93957..41735185787a0 100644
--- a/planning/behavior_path_planner/CMakeLists.txt
+++ b/planning/behavior_path_planner/CMakeLists.txt
@@ -21,27 +21,27 @@ set(common_src
   src/scene_module/lane_change/lane_change_module.cpp
   src/scene_module/lane_change/external_request_lane_change_module.cpp
   src/turn_signal_decider.cpp
-  src/util/utils.cpp
-  src/util/path_utils.cpp
-  src/util/safety_check.cpp
-  src/util/avoidance/util.cpp
-  src/util/lane_change/util.cpp
-  src/util/side_shift/util.cpp
-  src/util/pull_over/util.cpp
-  src/util/pull_over/shift_pull_over.cpp
-  src/util/pull_over/geometric_pull_over.cpp
-  src/util/pull_over/freespace_pull_over.cpp
-  src/util/pull_over/goal_searcher.cpp
-  src/util/pull_out/util.cpp
-  src/util/pull_out/shift_pull_out.cpp
-  src/util/pull_out/geometric_pull_out.cpp
-  src/util/path_shifter/path_shifter.cpp
-  src/util/drivable_area_expansion/drivable_area_expansion.cpp
-  src/util/drivable_area_expansion/map_utils.cpp
-  src/util/drivable_area_expansion/footprints.cpp
-  src/util/drivable_area_expansion/expansion.cpp
-  src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
-  src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
+  src/utils/utils.cpp
+  src/utils/path_utils.cpp
+  src/utils/safety_check.cpp
+  src/utils/avoidance/util.cpp
+  src/utils/lane_change/util.cpp
+  src/utils/side_shift/util.cpp
+  src/utils/pull_over/util.cpp
+  src/utils/pull_over/shift_pull_over.cpp
+  src/utils/pull_over/geometric_pull_over.cpp
+  src/utils/pull_over/freespace_pull_over.cpp
+  src/utils/pull_over/goal_searcher.cpp
+  src/utils/pull_out/util.cpp
+  src/utils/pull_out/shift_pull_out.cpp
+  src/utils/pull_out/geometric_pull_out.cpp
+  src/utils/path_shifter/path_shifter.cpp
+  src/utils/drivable_area_expansion/drivable_area_expansion.cpp
+  src/utils/drivable_area_expansion/map_utils.cpp
+  src/utils/drivable_area_expansion/footprints.cpp
+  src/utils/drivable_area_expansion/expansion.cpp
+  src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
+  src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
   src/marker_util/debug_utilities.cpp
   src/marker_util/avoidance/debug.cpp
   src/marker_util/lane_change/debug.cpp
diff --git a/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md b/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md
index 9a42a44fc4900..2a439c1d28182 100644
--- a/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md
+++ b/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md
@@ -1,6 +1,6 @@
 # Path Generation design
 
-This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp).
+This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp).
 
 ## Overview
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
index 968f998bd47e3..562a71fb00f6b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -39,13 +39,13 @@
 
 #include "behavior_path_planner/steering_factor_interface.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/util/avoidance_by_lc/module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/lane_following/module_data.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_parameters.hpp"
-#include "behavior_path_planner/util/pull_over/pull_over_parameters.hpp"
-#include "behavior_path_planner/util/side_shift/side_shift_parameters.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance_by_lc/module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_following/module_data.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_parameters.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_parameters.hpp"
+#include "behavior_path_planner/utils/side_shift/side_shift_parameters.hpp"
 
 #include "tier4_planning_msgs/msg/detail/lane_change_debug_msg_array__struct.hpp"
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
index c11662d5125d8..2111760083358 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__DATA_MANAGER_HPP_
 
 #include "behavior_path_planner/parameters.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp
index 157098685aff3..51de1d2d6318d 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__MARKER_UTIL__AVOIDANCE__DEBUG_HPP_
 
 #include "behavior_path_planner/marker_util/debug_utilities.hpp"
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/debug_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/debug_utilities.hpp
index d9203e63b9875..aab2d5353c34a 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/debug_utilities.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/debug_utilities.hpp
@@ -14,7 +14,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__MARKER_UTIL__DEBUG_UTILITIES_HPP_
 #define BEHAVIOR_PATH_PLANNER__MARKER_UTIL__DEBUG_UTILITIES_HPP_
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/lane_change/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/lane_change/debug.hpp
index 769de28470de6..ce91f1434f3f0 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/lane_change/debug.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/lane_change/debug.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__MARKER_UTIL__LANE_CHANGE__DEBUG_HPP_
 
 #include "behavior_path_planner/marker_util/debug_utilities.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
 
 #include <string>
 #include <unordered_map>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
index 803464312d6db..04fb694813026 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
-#include "behavior_path_planner/util/lane_following/module_data.hpp"
+#include "behavior_path_planner/utils/lane_following/module_data.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
index d3d7687d94803..b2c475e32f188 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp
index c04ce131467b5..517057f8d6ac8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp"
 #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/manager.hpp
index 62c58fb9f8151..4727275a6d4ec 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/manager.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_planner/scene_module/avoidance_by_lc/module.hpp"
 #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
-#include "behavior_path_planner/util/avoidance_by_lc/module_data.hpp"
+#include "behavior_path_planner/utils/avoidance_by_lc/module_data.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/module.hpp
index 9776305ab79c9..a8acd932742d8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/module.hpp
@@ -18,10 +18,10 @@
 #include "behavior_path_planner/marker_util/lane_change/debug.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/util/avoidance_by_lc/module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance_by_lc/module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp
index 363881aabdb45..cfc15de05de5c 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp
@@ -18,8 +18,8 @@
 #include "behavior_path_planner/marker_util/lane_change/debug.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
index 543f141a54c9d..932e2cd03e5b1 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
@@ -18,9 +18,9 @@
 #include "behavior_path_planner/marker_util/lane_change/debug.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp
index 8490926d9327e..50dc859939d00 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_FOLLOWING__LANE_FOLLOWING_MODULE_HPP_
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/util/lane_following/module_data.hpp"
+#include "behavior_path_planner/utils/lane_following/module_data.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
index 4e7ef7450ce2d..78cc37b0a9d68 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
@@ -16,12 +16,12 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_MODULE_HPP_
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/util/pull_out/geometric_pull_out.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_parameters.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_path.hpp"
-#include "behavior_path_planner/util/pull_out/shift_pull_out.hpp"
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/pull_out/geometric_pull_out.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_parameters.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_path.hpp"
+#include "behavior_path_planner/utils/pull_out/shift_pull_out.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp
index bed4751199af6..799b38166e5a4 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp
@@ -16,13 +16,13 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__PULL_OVER_MODULE_HPP_
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_planner/util/pull_over/freespace_pull_over.hpp"
-#include "behavior_path_planner/util/pull_over/geometric_pull_over.hpp"
-#include "behavior_path_planner/util/pull_over/goal_searcher.hpp"
-#include "behavior_path_planner/util/pull_over/pull_over_parameters.hpp"
-#include "behavior_path_planner/util/pull_over/shift_pull_over.hpp"
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/utils/pull_over/freespace_pull_over.hpp"
+#include "behavior_path_planner/utils/pull_over/geometric_pull_over.hpp"
+#include "behavior_path_planner/utils/pull_over/goal_searcher.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_parameters.hpp"
+#include "behavior_path_planner/utils/pull_over/shift_pull_over.hpp"
 
 #include <freespace_planning_algorithms/astar_search.hpp>
 #include <freespace_planning_algorithms/rrtstar.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
index 2612201ed7b15..063e5d215ea23 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -18,7 +18,7 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/module_status.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <behavior_path_planner/steering_factor_interface.hpp>
 #include <behavior_path_planner/turn_signal_decider.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
index ec7e7db692aab..20dfbbff7310a 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
@@ -16,8 +16,8 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SIDE_SHIFT__SIDE_SHIFT_MODULE_HPP_
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/util/side_shift/side_shift_parameters.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/side_shift/side_shift_parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
similarity index 98%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
index 550bb12f62bc7..aa2eef71384fc 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
@@ -526,4 +526,4 @@ struct DebugData
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/util.hpp
similarity index 94%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/util.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/util.hpp
index cff9f2b507790..f61f4ee243b38 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/util.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__UTIL_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__UTIL_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 
 #include <memory>
 #include <string>
@@ -130,4 +130,4 @@ void filterTargetObjects(
   const std::shared_ptr<AvoidanceParameters> & parameters);
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__UTIL_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance_by_lc/module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance_by_lc/module_data.hpp
similarity index 76%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/avoidance_by_lc/module_data.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance_by_lc/module_data.hpp
index 4608dc5ff35c4..e556c56eac8d7 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance_by_lc/module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance_by_lc/module_data.hpp
@@ -11,11 +11,11 @@
 // 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 BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
 
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 
 #include <memory>
 
@@ -42,4 +42,4 @@ struct AvoidanceByLCParameters
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/create_vehicle_footprint.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/create_vehicle_footprint.hpp
similarity index 89%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/create_vehicle_footprint.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/create_vehicle_footprint.hpp
index 06f6ac44a1071..a4f71305c3fbf 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/create_vehicle_footprint.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/create_vehicle_footprint.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__CREATE_VEHICLE_FOOTPRINT_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__CREATE_VEHICLE_FOOTPRINT_HPP_
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
@@ -44,4 +44,4 @@ inline tier4_autoware_utils::LinearRing2d createVehicleFootprint(
   return footprint;
 }
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__CREATE_VEHICLE_FOOTPRINT_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp
similarity index 83%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp
index bbec1b7e841e5..eadfb72a42afa 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
 
-#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <route_handler/route_handler.hpp>
 
@@ -49,4 +49,4 @@ polygon_t createExpandedDrivableAreaPolygon(
 void updateDrivableAreaBounds(PathWithLaneId & path, const polygon_t & expanded_drivable_area);
 }  // namespace drivable_area_expansion
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/expansion.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/expansion.hpp
similarity index 90%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/expansion.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/expansion.hpp
index cc0f748e76e3f..33bccf90ffbe8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/expansion.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/expansion.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
 
-#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <route_handler/route_handler.hpp>
 
@@ -82,4 +82,4 @@ multipolygon_t createExpansionLaneletPolygons(
   const DrivableAreaExpansionParameters & params);
 }  // namespace drivable_area_expansion
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/footprints.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
similarity index 87%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/footprints.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
index bc1ede877dc71..25f061affaa48 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/footprints.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__FOOTPRINTS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__FOOTPRINTS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__FOOTPRINTS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__FOOTPRINTS_HPP_
 
-#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <tier4_autoware_utils/ros/transform_listener.hpp>
 
@@ -66,4 +66,4 @@ multipolygon_t createObjectFootprints(
 multipolygon_t createPathFootprints(
   const PathWithLaneId & path, const DrivableAreaExpansionParameters & params);
 }  // namespace drivable_area_expansion
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__FOOTPRINTS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__FOOTPRINTS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/map_utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp
similarity index 81%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/map_utils.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp
index e60b49d60e5fa..33c4cc8a0eff3 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/map_utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__MAP_UTILS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__MAP_UTILS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__MAP_UTILS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__MAP_UTILS_HPP_
 
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <lanelet2_core/LaneletMap.h>
 
@@ -38,4 +38,4 @@ multilinestring_t extractUncrossableLines(
 bool hasTypes(const lanelet::ConstLineString3d & ls, const std::vector<std::string> & types);
 }  // namespace drivable_area_expansion
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__MAP_UTILS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__MAP_UTILS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
similarity index 94%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/parameters.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
index 0a85ad9feae13..b8d8a235580e4 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
 
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <rclcpp/node.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
@@ -116,4 +116,4 @@ struct DrivableAreaExpansionParameters
 };
 
 }  // namespace drivable_area_expansion
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/path_projection.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
similarity index 96%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/path_projection.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
index 77069d43c2f72..3e2b177f59167 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/path_projection.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__PATH_PROJECTION_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__PATH_PROJECTION_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PATH_PROJECTION_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PATH_PROJECTION_HPP_
 
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <interpolation/linear_interpolation.hpp>
 
@@ -191,4 +191,4 @@ inline linestring_t sub_linestring(
 }
 }  // namespace drivable_area_expansion
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__PATH_PROJECTION_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PATH_PROJECTION_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/types.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/types.hpp
similarity index 88%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/types.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/types.hpp
index f269c42c0e8e8..e56ef4961589d 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/drivable_area_expansion/types.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/types.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
 
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 
@@ -50,4 +50,4 @@ struct Projection
   double arc_length;
 };
 }  // namespace drivable_area_expansion
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
similarity index 94%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
index 90102cb69e053..b5cc03897e2fd 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/parameters.hpp"
@@ -129,4 +129,4 @@ class GeometricParallelParking
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
similarity index 92%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
index ee4b073c8f7e7..1481e0bd3789d 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.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 BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
 
 #include "lanelet2_core/geometry/Lanelet.h"
 
@@ -94,4 +94,4 @@ struct LaneChangeTargetObjectIndices
 enum class LaneChangeModuleType { NORMAL = 0, EXTERNAL_REQUEST };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_path.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp
similarity index 81%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_path.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp
index 500550bd48a8a..4ebcc35641ba3 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_path.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
 
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -56,4 +56,4 @@ struct LaneChangeStatus
 };
 
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/util.hpp
similarity index 95%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/util.hpp
index fa604a259022a..c8020ec801ef1 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/util.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTIL_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTIL_HPP_
 
 #include "behavior_path_planner/marker_util/lane_change/debug.hpp"
 #include "behavior_path_planner/parameters.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <route_handler/route_handler.hpp>
 
@@ -182,4 +182,4 @@ lanelet::ConstLanelets getLaneChangeLanes(
   const lanelet::ConstLanelets & current_lanes, const double lane_change_lane_length,
   const double prepare_duration, const Direction direction, const LaneChangeModuleType type);
 }  // namespace behavior_path_planner::util::lane_change
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTIL_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_following/module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
similarity index 82%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/lane_following/module_data.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
index ed28007d7b913..d4eab4835dddb 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_following/module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__LANE_FOLLOWING__MODULE_DATA_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__LANE_FOLLOWING__MODULE_DATA_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
 
 #include <string>
 #include <vector>
@@ -36,4 +36,4 @@ struct LaneFollowingParameters
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__LANE_FOLLOWING__MODULE_DATA_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
similarity index 92%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
index 8364c0bd7cc09..91d99fcd4a0d6 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
@@ -149,4 +149,4 @@ class OccupancyGridBasedCollisionDetector
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
similarity index 96%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
index a6c8ae67cecf0..b5b1e5af5c328 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 
 #include "behavior_path_planner/parameters.hpp"
 
@@ -225,4 +225,4 @@ class PathShifter
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/path_utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp
similarity index 93%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/path_utils.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp
index 2c488ccb52d14..ec20f594bedc8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/path_utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_UTILS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PATH_UTILS_HPP_
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <behavior_path_planner/parameters.hpp>
 #include <freespace_planning_algorithms/abstract_algorithm.hpp>
@@ -94,4 +94,4 @@ std::vector<Pose> interpolatePose(
 
 }  // namespace behavior_path_planner::util
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PATH_UTILS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/geometric_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp
similarity index 72%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/geometric_pull_out.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp
index ae5d15fce969b..788b37448c4a8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/geometric_pull_out.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_
 
-#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_path.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_planner_base.hpp"
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_path.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_planner_base.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -38,4 +38,4 @@ class GeometricPullOut : public PullOutPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp
similarity index 89%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_parameters.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp
index 1d9784b529bec..49a72d4b79524 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
 
 #include <string>
 #include <vector>
@@ -59,4 +59,4 @@ struct PullOutParameters
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_path.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_path.hpp
similarity index 76%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_path.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_path.hpp
index adf7cee3630b6..5d6c5c340ef66 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_path.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_path.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PATH_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PATH_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PATH_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PATH_HPP_
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -31,4 +31,4 @@ struct PullOutPath
   Pose end_pose;
 };
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PATH_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PATH_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_planner_base.hpp
similarity index 81%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_planner_base.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_planner_base.hpp
index 0a9304fe33e7f..955e856061310 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/pull_out_planner_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_planner_base.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PLANNER_BASE_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PLANNER_BASE_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PLANNER_BASE_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/parameters.hpp"
-#include "behavior_path_planner/util/create_vehicle_footprint.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_parameters.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_path.hpp"
+#include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_parameters.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_path.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -68,4 +68,4 @@ class PullOutPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__PULL_OUT_PLANNER_BASE_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PLANNER_BASE_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/shift_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/shift_pull_out.hpp
similarity index 85%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/shift_pull_out.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/shift_pull_out.hpp
index 4126d30bb72dc..ac5aa89ea675b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/shift_pull_out.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/shift_pull_out.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__SHIFT_PULL_OUT_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__SHIFT_PULL_OUT_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__SHIFT_PULL_OUT_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__SHIFT_PULL_OUT_HPP_
 
-#include "behavior_path_planner/util/pull_out/pull_out_path.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_planner_base.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_path.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_planner_base.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
@@ -56,4 +56,4 @@ class ShiftPullOut : public PullOutPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__SHIFT_PULL_OUT_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__SHIFT_PULL_OUT_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/util.hpp
similarity index 91%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/util.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/util.hpp
index 676946a999697..314a4c9426cab 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_out/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/util.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__UTIL_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__UTIL_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 
@@ -48,4 +48,4 @@ Pose getBackedPose(
   const Pose & current_pose, const double & yaw_shoulder_lane, const double & back_distance);
 }  // namespace behavior_path_planner::pull_out_utils
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OUT__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__UTIL_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/freespace_pull_over.hpp
similarity index 84%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/freespace_pull_over.hpp
index 6f5acfd30ef2b..d8f671163722e 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/freespace_pull_over.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__FREESPACE_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__FREESPACE_PULL_OVER_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__FREESPACE_PULL_OVER_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__FREESPACE_PULL_OVER_HPP_
 
-#include "behavior_path_planner/util/pull_over/pull_over_planner_base.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_planner_base.hpp"
 
 #include <freespace_planning_algorithms/abstract_algorithm.hpp>
 #include <freespace_planning_algorithms/astar_search.hpp>
@@ -50,4 +50,4 @@ class FreespacePullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__FREESPACE_PULL_OVER_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__FREESPACE_PULL_OVER_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/geometric_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/geometric_pull_over.hpp
similarity index 82%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/geometric_pull_over.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/geometric_pull_over.hpp
index c54d7d52de2b3..8a47a2a696ebd 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/geometric_pull_over.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/geometric_pull_over.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
 
-#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_planner/util/pull_over/pull_over_planner_base.hpp"
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_planner_base.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
@@ -69,4 +69,4 @@ class GeometricPullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/goal_searcher.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/goal_searcher.hpp
similarity index 82%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/goal_searcher.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/goal_searcher.hpp
index 0f50fd4f134fe..36abe47a3ebe6 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/goal_searcher.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/goal_searcher.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GOAL_SEARCHER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GOAL_SEARCHER_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GOAL_SEARCHER_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GOAL_SEARCHER_HPP_
 
-#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_planner/util/pull_over/goal_searcher_base.hpp"
+#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/utils/pull_over/goal_searcher_base.hpp"
 
 #include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
 
@@ -52,4 +52,4 @@ class GoalSearcher : public GoalSearcherBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GOAL_SEARCHER_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GOAL_SEARCHER_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/goal_searcher_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/goal_searcher_base.hpp
similarity index 87%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/goal_searcher_base.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/goal_searcher_base.hpp
index ab57cd7272e73..8bdbca45f4bb5 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/goal_searcher_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/goal_searcher_base.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GOAL_SEARCHER_BASE_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GOAL_SEARCHER_BASE_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GOAL_SEARCHER_BASE_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GOAL_SEARCHER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/parameters.hpp"
-#include "behavior_path_planner/util/pull_over/pull_over_parameters.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_parameters.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
@@ -73,4 +73,4 @@ class GoalSearcherBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__GOAL_SEARCHER_BASE_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__GOAL_SEARCHER_BASE_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/pull_over_parameters.hpp
similarity index 94%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/pull_over_parameters.hpp
index 15a2c17149d0c..279c0b143861e 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/pull_over_parameters.hpp
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
 
 #include <freespace_planning_algorithms/abstract_algorithm.hpp>
 #include <freespace_planning_algorithms/astar_search.hpp>
@@ -111,4 +111,4 @@ struct PullOverParameters
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/pull_over_planner_base.hpp
similarity index 89%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_planner_base.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/pull_over_planner_base.hpp
index e15a58b8eda37..dbf50363676f1 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_planner_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/pull_over_planner_base.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PLANNER_BASE_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PLANNER_BASE_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__PULL_OVER_PLANNER_BASE_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__PULL_OVER_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/parameters.hpp"
-#include "behavior_path_planner/util/create_vehicle_footprint.hpp"
-#include "behavior_path_planner/util/pull_over/pull_over_parameters.hpp"
+#include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_parameters.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -111,4 +111,4 @@ class PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PLANNER_BASE_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__PULL_OVER_PLANNER_BASE_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/shift_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/shift_pull_over.hpp
similarity index 84%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/shift_pull_over.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/shift_pull_over.hpp
index 227fc6442f20c..d42eb7f656bf9 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/shift_pull_over.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/shift_pull_over.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__SHIFT_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__SHIFT_PULL_OVER_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__SHIFT_PULL_OVER_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__SHIFT_PULL_OVER_HPP_
 
-#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_planner/util/pull_over/pull_over_planner_base.hpp"
+#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/utils/pull_over/pull_over_planner_base.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
@@ -61,4 +61,4 @@ class ShiftPullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__SHIFT_PULL_OVER_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__SHIFT_PULL_OVER_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/util.hpp
similarity index 89%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/util.hpp
index 9a6d528ddfe4c..21cfa8f8e0cfb 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_over/util.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__UTIL_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__UTIL_HPP_
 
-#include "behavior_path_planner/util/pull_over/goal_searcher_base.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/pull_over/goal_searcher_base.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
@@ -64,4 +64,4 @@ MarkerArray createGoalCandidatesMarkerArray(
 }  // namespace pull_over_utils
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__UTIL_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/safety_check.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp
similarity index 95%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/safety_check.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp
index 02e11f656bd80..07d056da9a96b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/safety_check.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__SAFETY_CHECK_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__SAFETY_CHECK_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/marker_util/debug_utilities.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
@@ -128,4 +128,4 @@ bool isSafeInFreeSpaceCollisionCheck(
 
 }  // namespace behavior_path_planner::util::safety_check
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__SAFETY_CHECK_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/side_shift/side_shift_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/side_shift_parameters.hpp
similarity index 85%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/side_shift/side_shift_parameters.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/side_shift_parameters.hpp
index 5a9edd1279f85..ee139b0774803 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/side_shift/side_shift_parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/side_shift_parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__SIDE_SHIFT__SIDE_SHIFT_PARAMETERS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__SIDE_SHIFT__SIDE_SHIFT_PARAMETERS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__SIDE_SHIFT__SIDE_SHIFT_PARAMETERS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__SIDE_SHIFT__SIDE_SHIFT_PARAMETERS_HPP_
 
 #include <tier4_planning_msgs/msg/lateral_offset.hpp>
 
@@ -44,4 +44,4 @@ struct SideShiftParameters
 };
 
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__SIDE_SHIFT__SIDE_SHIFT_PARAMETERS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__SIDE_SHIFT__SIDE_SHIFT_PARAMETERS_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/side_shift/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
similarity index 88%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/side_shift/util.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
index 4f725f235be30..65d79a2a4977b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/side_shift/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__SIDE_SHIFT__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__SIDE_SHIFT__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__SIDE_SHIFT__UTIL_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__SIDE_SHIFT__UTIL_HPP_
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/point.hpp>
@@ -44,4 +44,4 @@ Point transformToGrid(
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__SIDE_SHIFT__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__SIDE_SHIFT__UTIL_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
similarity index 98%
rename from planning/behavior_path_planner/include/behavior_path_planner/util/utils.hpp
rename to planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
index 55f4f1292c17c..1d20143abfa39 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/util/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTIL__UTILS_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTIL__UTILS_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/marker_util/debug_utilities.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/pull_out/pull_out_path.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/pull_out/pull_out_path.hpp"
 #include "motion_utils/motion_utils.hpp"
 #include "perception_utils/predicted_path_utils.hpp"
 
@@ -350,4 +350,4 @@ lanelet::ConstLanelets getLaneletsFromPath(
 std::string convertToSnakeCase(const std::string & input_str);
 }  // namespace behavior_path_planner::util
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTIL__UTILS_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index c1f9a98f7db29..11331cc4958eb 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -15,8 +15,8 @@
 #include "behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include "behavior_path_planner/marker_util/debug_utilities.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/map_utils.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
 
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
diff --git a/planning/behavior_path_planner/src/behavior_tree_manager.cpp b/planning/behavior_path_planner/src/behavior_tree_manager.cpp
index c3f17563d0877..a4214f816a86a 100644
--- a/planning/behavior_path_planner/src/behavior_tree_manager.cpp
+++ b/planning/behavior_path_planner/src/behavior_tree_manager.cpp
@@ -17,7 +17,7 @@
 #include "behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <algorithm>
 #include <memory>
diff --git a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp
index 0e9fdeaec428e..7b5309c1d622a 100644
--- a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp
+++ b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp
@@ -14,8 +14,8 @@
 
 #include "behavior_path_planner/marker_util/avoidance/debug.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <tf2/utils.h>
 
diff --git a/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp b/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp
index 8ec72388ff05a..181a71556f547 100644
--- a/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp
+++ b/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp
@@ -14,8 +14,8 @@
 
 #include "behavior_path_planner/marker_util/debug_utilities.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
diff --git a/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp b/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp
index 8a8eeb526eb15..ed43324ef6a40 100644
--- a/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp
+++ b/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <behavior_path_planner/marker_util/lane_change/debug.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
index 63352cfb9fee7..add019d6bcbc2 100644
--- a/planning/behavior_path_planner/src/planner_manager.cpp
+++ b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -14,8 +14,8 @@
 
 #include "behavior_path_planner/planner_manager.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index f54955c20acae..75e1a81febdaa 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -16,9 +16,9 @@
 
 #include "behavior_path_planner/marker_util/avoidance/debug.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/util/avoidance/util.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/avoidance/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp
index e715f9d589403..da86b77fefbf1 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp
@@ -17,10 +17,10 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/avoidance/util.hpp"
-#include "behavior_path_planner/util/lane_change/util.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/avoidance/util.hpp"
+#include "behavior_path_planner/utils/lane_change/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp
index 365b014c0e728..a1b6bf5a7f5e5 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp
@@ -16,9 +16,9 @@
 
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/lane_change/util.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/lane_change/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
index 6ebd7edaccf38..5228739ad0ab3 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
@@ -16,9 +16,9 @@
 
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
-#include "behavior_path_planner/util/lane_change/util.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/lane_change/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
index b7134a3a3f8c5..cf80d853d0915 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
@@ -14,8 +14,8 @@
 
 #include "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
index 03bbb1628588c..ae217800ff404 100644
--- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
@@ -14,10 +14,10 @@
 
 #include "behavior_path_planner/scene_module/pull_out/pull_out_module.hpp"
 
-#include "behavior_path_planner/util/create_vehicle_footprint.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_out/util.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_out/util.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
index 97e6069f7d1d5..286f4d15eb685 100644
--- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -14,11 +14,11 @@
 
 #include "behavior_path_planner/scene_module/pull_over/pull_over_module.hpp"
 
-#include "behavior_path_planner/util/create_vehicle_footprint.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_over/util.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_over/util.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
index 0dc99349a85e7..c90aea06a65f1 100644
--- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
@@ -14,9 +14,9 @@
 
 #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/side_shift/util.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/side_shift/util.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp
index 8eec32bdd3f9b..14fbc3673a53a 100644
--- a/planning/behavior_path_planner/src/turn_signal_decider.cpp
+++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp
@@ -14,7 +14,7 @@
 
 #include "behavior_path_planner/turn_signal_decider.hpp"
 
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/avoidance/util.cpp b/planning/behavior_path_planner/src/utils/avoidance/util.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/avoidance/util.cpp
rename to planning/behavior_path_planner/src/utils/avoidance/util.cpp
index 8d4142e430024..94f7688a1f13d 100644
--- a/planning/behavior_path_planner/src/util/avoidance/util.cpp
+++ b/planning/behavior_path_planner/src/utils/avoidance/util.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/avoidance/util.hpp"
+#include "behavior_path_planner/utils/avoidance/util.hpp"
 
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
similarity index 93%
rename from planning/behavior_path_planner/src/util/drivable_area_expansion/drivable_area_expansion.cpp
rename to planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
index acaf845da7feb..a27010e4f8d15 100644
--- a/planning/behavior_path_planner/src/util/drivable_area_expansion/drivable_area_expansion.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp"
 
-#include "behavior_path_planner/util/drivable_area_expansion/expansion.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/footprints.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/map_utils.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/expansion.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/footprints.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 
 #include <boost/geometry.hpp>
 
diff --git a/planning/behavior_path_planner/src/util/drivable_area_expansion/expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
similarity index 97%
rename from planning/behavior_path_planner/src/util/drivable_area_expansion/expansion.cpp
rename to planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
index 659c66f4ca13e..4bdbdedf44c77 100644
--- a/planning/behavior_path_planner/src/util/drivable_area_expansion/expansion.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/drivable_area_expansion/expansion.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/expansion.hpp"
 
-#include "behavior_path_planner/util/drivable_area_expansion/map_utils.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/path_projection.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp"
 
 namespace drivable_area_expansion
 {
diff --git a/planning/behavior_path_planner/src/util/drivable_area_expansion/footprints.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/footprints.cpp
similarity index 95%
rename from planning/behavior_path_planner/src/util/drivable_area_expansion/footprints.cpp
rename to planning/behavior_path_planner/src/utils/drivable_area_expansion/footprints.cpp
index f6b9a187c02b3..77c8b7faa27eb 100644
--- a/planning/behavior_path_planner/src/util/drivable_area_expansion/footprints.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/footprints.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/drivable_area_expansion/footprints.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/footprints.hpp"
 
-#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
diff --git a/planning/behavior_path_planner/src/util/drivable_area_expansion/map_utils.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/map_utils.cpp
similarity index 91%
rename from planning/behavior_path_planner/src/util/drivable_area_expansion/map_utils.cpp
rename to planning/behavior_path_planner/src/utils/drivable_area_expansion/map_utils.cpp
index 17cfa9018a298..39a69fbd74914 100644
--- a/planning/behavior_path_planner/src/util/drivable_area_expansion/map_utils.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/map_utils.cpp
@@ -13,9 +13,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/drivable_area_expansion/map_utils.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
 
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 #include "lanelet2_core/primitives/LineString.h"
 
 #include <boost/geometry.hpp>
diff --git a/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
rename to planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
index 76c9ec1bc6a84..1e5cb6ba97fcd 100644
--- a/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
+++ b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/utils/lane_change/util.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/lane_change/util.cpp
rename to planning/behavior_path_planner/src/utils/lane_change/util.cpp
index b38dc17a56371..43c13dfca2491 100644
--- a/planning/behavior_path_planner/src/util/lane_change/util.cpp
+++ b/planning/behavior_path_planner/src/utils/lane_change/util.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/lane_change/util.hpp"
+#include "behavior_path_planner/utils/lane_change/util.hpp"
 
 #include "behavior_path_planner/parameters.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/safety_check.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
+#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
diff --git a/planning/behavior_path_planner/src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
similarity index 98%
rename from planning/behavior_path_planner/src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
rename to planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
index 527e738ef41f1..d244d08abf99b 100644
--- a/planning/behavior_path_planner/src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
+++ b/planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
diff --git a/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp
rename to planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
index b77e1689f4e44..113382a510c05 100644
--- a/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp
+++ b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/path_utils.cpp b/planning/behavior_path_planner/src/utils/path_utils.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/path_utils.cpp
rename to planning/behavior_path_planner/src/utils/path_utils.cpp
index 2b959d682b409..fef2518e61bd5 100644
--- a/planning/behavior_path_planner/src/util/path_utils.cpp
+++ b/planning/behavior_path_planner/src/utils/path_utils.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/path_utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
 
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp b/planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp
similarity index 94%
rename from planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp
rename to planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp
index ae7e27504c8d9..c324ec6912802 100644
--- a/planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_out/geometric_pull_out.hpp"
+#include "behavior_path_planner/utils/pull_out/geometric_pull_out.hpp"
 
-#include "behavior_path_planner/util/pull_out/util.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/pull_out/util.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
diff --git a/planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp b/planning/behavior_path_planner/src/utils/pull_out/shift_pull_out.cpp
similarity index 98%
rename from planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp
rename to planning/behavior_path_planner/src/utils/pull_out/shift_pull_out.cpp
index c72afdebe4284..d0adc661e1883 100644
--- a/planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_out/shift_pull_out.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_out/shift_pull_out.hpp"
+#include "behavior_path_planner/utils/pull_out/shift_pull_out.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_out/util.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_out/util.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
diff --git a/planning/behavior_path_planner/src/util/pull_out/util.cpp b/planning/behavior_path_planner/src/utils/pull_out/util.cpp
similarity index 93%
rename from planning/behavior_path_planner/src/util/pull_out/util.cpp
rename to planning/behavior_path_planner/src/utils/pull_out/util.cpp
index d052254d7767d..1502d3831e681 100644
--- a/planning/behavior_path_planner/src/util/pull_out/util.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_out/util.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_out/util.hpp"
+#include "behavior_path_planner/utils/pull_out/util.hpp"
 
-#include "behavior_path_planner/util/create_vehicle_footprint.hpp"
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp b/planning/behavior_path_planner/src/utils/pull_over/freespace_pull_over.cpp
similarity index 96%
rename from planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp
rename to planning/behavior_path_planner/src/utils/pull_over/freespace_pull_over.cpp
index 2692a09016405..26bf8471835c1 100644
--- a/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_over/freespace_pull_over.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_over/freespace_pull_over.hpp"
+#include "behavior_path_planner/utils/pull_over/freespace_pull_over.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_over/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_over/util.hpp"
 
 #include <memory>
 #include <vector>
diff --git a/planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp b/planning/behavior_path_planner/src/utils/pull_over/geometric_pull_over.cpp
similarity index 93%
rename from planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp
rename to planning/behavior_path_planner/src/utils/pull_over/geometric_pull_over.cpp
index 1d8c01db27ac7..cb594cb1a40a4 100644
--- a/planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_over/geometric_pull_over.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_over/geometric_pull_over.hpp"
+#include "behavior_path_planner/utils/pull_over/geometric_pull_over.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_over/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_over/util.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp b/planning/behavior_path_planner/src/utils/pull_over/goal_searcher.cpp
similarity index 98%
rename from planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp
rename to planning/behavior_path_planner/src/utils/pull_over/goal_searcher.cpp
index 1a0cb2a25e950..3914c0d39245a 100644
--- a/planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_over/goal_searcher.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_over/goal_searcher.hpp"
+#include "behavior_path_planner/utils/pull_over/goal_searcher.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_over/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_over/util.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
 
 #include <boost/optional.hpp>
diff --git a/planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/pull_over/shift_pull_over.cpp
similarity index 98%
rename from planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp
rename to planning/behavior_path_planner/src/utils/pull_over/shift_pull_over.cpp
index 8c095c3918fab..1ce4d74b37ffc 100644
--- a/planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_over/shift_pull_over.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_over/shift_pull_over.hpp"
+#include "behavior_path_planner/utils/pull_over/shift_pull_over.hpp"
 
-#include "behavior_path_planner/util/path_utils.hpp"
-#include "behavior_path_planner/util/pull_over/util.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
+#include "behavior_path_planner/utils/pull_over/util.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/pull_over/util.cpp b/planning/behavior_path_planner/src/utils/pull_over/util.cpp
similarity index 96%
rename from planning/behavior_path_planner/src/util/pull_over/util.cpp
rename to planning/behavior_path_planner/src/utils/pull_over/util.cpp
index c7a5cc2531287..413b1934bd4d3 100644
--- a/planning/behavior_path_planner/src/util/pull_over/util.cpp
+++ b/planning/behavior_path_planner/src/utils/pull_over/util.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/pull_over/util.hpp"
+#include "behavior_path_planner/utils/pull_over/util.hpp"
 
-#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/util/path_utils.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
+#include "behavior_path_planner/utils/path_utils.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/util/safety_check.cpp b/planning/behavior_path_planner/src/utils/safety_check.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/safety_check.cpp
rename to planning/behavior_path_planner/src/utils/safety_check.cpp
index d4a4def6f859f..eaa854223f9a8 100644
--- a/planning/behavior_path_planner/src/util/safety_check.cpp
+++ b/planning/behavior_path_planner/src/utils/safety_check.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/safety_check.hpp"
+#include "behavior_path_planner/utils/safety_check.hpp"
 
 #include "perception_utils/predicted_path_utils.hpp"
 
diff --git a/planning/behavior_path_planner/src/util/side_shift/util.cpp b/planning/behavior_path_planner/src/utils/side_shift/util.cpp
similarity index 96%
rename from planning/behavior_path_planner/src/util/side_shift/util.cpp
rename to planning/behavior_path_planner/src/utils/side_shift/util.cpp
index 28e6027a50888..f8127abb2d9f0 100644
--- a/planning/behavior_path_planner/src/util/side_shift/util.cpp
+++ b/planning/behavior_path_planner/src/utils/side_shift/util.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/side_shift/util.hpp"
+#include "behavior_path_planner/utils/side_shift/util.hpp"
 
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_path_planner/src/util/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
similarity index 99%
rename from planning/behavior_path_planner/src/util/utils.cpp
rename to planning/behavior_path_planner/src/utils/utils.cpp
index 737ace5db5163..775d2b0acb3f2 100644
--- a/planning/behavior_path_planner/src/util/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
-#include "behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
diff --git a/planning/behavior_path_planner/test/input.hpp b/planning/behavior_path_planner/test/input.hpp
index cd423dd9b3bb9..de167bc8b4bcb 100644
--- a/planning/behavior_path_planner/test/input.hpp
+++ b/planning/behavior_path_planner/test/input.hpp
@@ -16,7 +16,7 @@
 #define INPUT_HPP_
 
 #endif  // INPUT_HPP_
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 
 #include "autoware_auto_planning_msgs/msg/path_point.hpp"
 #include "geometry_msgs/msg/twist.hpp"
diff --git a/planning/behavior_path_planner/test/test_avoidance_utils.cpp b/planning/behavior_path_planner/test/test_avoidance_utils.cpp
index c11cfcba3c600..1d8bb5ae72bdb 100644
--- a/planning/behavior_path_planner/test/test_avoidance_utils.cpp
+++ b/planning/behavior_path_planner/test/test_avoidance_utils.cpp
@@ -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.
-#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/util/avoidance/util.hpp"
+#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/avoidance/util.hpp"
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
diff --git a/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp
index 504d5fdf03f85..d1e9873e92c4c 100644
--- a/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp
+++ b/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/path_projection.hpp"
-#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp"
+#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
 #include "lanelet2_extension/utility/message_conversion.hpp"
 
 #include <gtest/gtest.h>
diff --git a/planning/behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/test/test_utils.cpp
index 323151686d01d..8a762a3a49957 100644
--- a/planning/behavior_path_planner/test/test_utils.cpp
+++ b/planning/behavior_path_planner/test/test_utils.cpp
@@ -11,7 +11,7 @@
 // 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.
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 #include "input.hpp"
 #include "lanelet2_core/Attribute.h"
 #include "lanelet2_core/geometry/Point.h"
diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp
index 8c75186ae5919..04d74570d347d 100644
--- a/planning/static_centerline_optimizer/src/utils.cpp
+++ b/planning/static_centerline_optimizer/src/utils.cpp
@@ -15,7 +15,7 @@
 #include "static_centerline_optimizer/utils.hpp"
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/util/utils.hpp"
+#include "behavior_path_planner/utils/utils.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 namespace static_centerline_optimizer