diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
index 0e109db6d4eba..17fc3d4b114b3 100644
--- a/control/autoware_mpc_lateral_controller/package.xml
+++ b/control/autoware_mpc_lateral_controller/package.xml
@@ -30,7 +30,7 @@
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>osqp_interface</depend>
-  <depend>planning_test_utils</depend>
+  <depend>autoware_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
diff --git a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp
index 93d14edab1cfb..423ae54f11cb0 100644
--- a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp
+++ b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "autoware/mpc_lateral_controller/mpc.hpp"
 #include "autoware/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
 #include "autoware/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
@@ -20,6 +21,7 @@
 #include "autoware/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
+#include "autoware_test_utils/autoware_test_utils.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"