diff --git a/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
index 3580f0546bbfb..6b94b7301540c 100644
--- a/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
+++ b/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
@@ -27,8 +27,8 @@
 
 #include <Eigen/Dense>
 
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "std_msgs/msg/bool.hpp"
@@ -56,8 +56,8 @@
 namespace accel_brake_map_calibrator
 {
 
-using autoware_auto_vehicle_msgs::msg::SteeringReport;
-using autoware_auto_vehicle_msgs::msg::VelocityReport;
+using autoware_vehicle_msgs::msg::SteeringReport;
+using autoware_vehicle_msgs::msg::VelocityReport;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using raw_vehicle_cmd_converter::AccelMap;
diff --git a/vehicle/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/package.xml
index 64e7d1fb105cf..4c4eadea5e1ce 100644
--- a/vehicle/accel_brake_map_calibrator/package.xml
+++ b/vehicle/accel_brake_map_calibrator/package.xml
@@ -13,7 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
diff --git a/vehicle/accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py b/vehicle/accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
index 749c9e429bf06..3a029e193f41f 100755
--- a/vehicle/accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
+++ b/vehicle/accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
@@ -15,7 +15,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from autoware_auto_vehicle_msgs.msg import GearCommand
+from autoware_vehicle_msgs.msg import GearCommand
 import rclpy
 from rclpy.node import Node
 from tier4_debug_msgs.msg import Float32Stamped
diff --git a/vehicle/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py b/vehicle/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py
index 9e57813bd4010..cd2205f8b269f 100755
--- a/vehicle/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py
+++ b/vehicle/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py
@@ -15,7 +15,7 @@
 # limitations under the License.
 
 
-from autoware_auto_vehicle_msgs.msg import VelocityReport
+from autoware_vehicle_msgs.msg import VelocityReport
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy
diff --git a/vehicle/external_cmd_converter/README.md b/vehicle/external_cmd_converter/README.md
index 3c4181a6f093b..ef5865debd4d4 100644
--- a/vehicle/external_cmd_converter/README.md
+++ b/vehicle/external_cmd_converter/README.md
@@ -7,16 +7,16 @@
 | Name                        | Type                                         | Description                                                                                                       |
 | --------------------------- | -------------------------------------------- | ----------------------------------------------------------------------------------------------------------------- |
 | `~/in/external_control_cmd` | tier4_external_api_msgs::msg::ControlCommand | target `throttle/brake/steering_angle/steering_angle_velocity` is necessary to calculate desired control command. |
-| `~/input/shift_cmd"`        | autoware_auto_vehicle_msgs::GearCommand      | current command of gear.                                                                                          |
+| `~/input/shift_cmd"`        | autoware_vehicle_msgs::GearCommand           | current command of gear.                                                                                          |
 | `~/input/emergency_stop`    | tier4_external_api_msgs::msg::Heartbeat      | emergency heart beat for external command.                                                                        |
 | `~/input/current_gate_mode` | tier4_control_msgs::msg::GateMode            | topic for gate mode.                                                                                              |
 | `~/input/odometry`          | navigation_msgs::Odometry                    | twist topic in odometry is used.                                                                                  |
 
 ## Output topics
 
-| Name                | Type                                                     | Description                                                        |
-| ------------------- | -------------------------------------------------------- | ------------------------------------------------------------------ |
-| `~/out/control_cmd` | autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
+| Name                | Type                                | Description                                                        |
+| ------------------- | ----------------------------------- | ------------------------------------------------------------------ |
+| `~/out/control_cmd` | autoware_control_msgs::msg::Control | ackermann control command converted from selected external command |
 
 ## Parameters
 
diff --git a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
index f5a52ad4a6032..2488c8ea7f300 100644
--- a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
+++ b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
@@ -20,8 +20,8 @@
 #include <raw_vehicle_cmd_converter/brake_map.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/gear_command.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_external_api_msgs/msg/control_command_stamped.hpp>
@@ -32,13 +32,12 @@
 
 namespace external_cmd_converter
 {
-using GearCommand = autoware_auto_vehicle_msgs::msg::GearCommand;
-using AckermannControlCommand = autoware_auto_control_msgs::msg::AckermannControlCommand;
+using GearCommand = autoware_vehicle_msgs::msg::GearCommand;
+using Control = autoware_control_msgs::msg::Control;
 using ExternalControlCommand = tier4_external_api_msgs::msg::ControlCommandStamped;
 using Odometry = nav_msgs::msg::Odometry;
 using raw_vehicle_cmd_converter::AccelMap;
 using raw_vehicle_cmd_converter::BrakeMap;
-using ControlCommandStamped = autoware_auto_control_msgs::msg::AckermannControlCommand;
 using Odometry = nav_msgs::msg::Odometry;
 
 class ExternalCmdConverterNode : public rclcpp::Node
@@ -48,7 +47,7 @@ class ExternalCmdConverterNode : public rclcpp::Node
 
 private:
   // Publisher
-  rclcpp::Publisher<AckermannControlCommand>::SharedPtr pub_cmd_;
+  rclcpp::Publisher<Control>::SharedPtr pub_cmd_;
   rclcpp::Publisher<tier4_external_api_msgs::msg::ControlCommandStamped>::SharedPtr
     pub_current_cmd_;
 
diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml
index d9301e23e05fe..513d73d2d39ff 100644
--- a/vehicle/external_cmd_converter/package.xml
+++ b/vehicle/external_cmd_converter/package.xml
@@ -12,8 +12,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
diff --git a/vehicle/external_cmd_converter/src/node.cpp b/vehicle/external_cmd_converter/src/node.cpp
index 32592c02c3347..21945bb9078b8 100644
--- a/vehicle/external_cmd_converter/src/node.cpp
+++ b/vehicle/external_cmd_converter/src/node.cpp
@@ -26,7 +26,7 @@ ExternalCmdConverterNode::ExternalCmdConverterNode(const rclcpp::NodeOptions & n
 {
   using std::placeholders::_1;
 
-  pub_cmd_ = create_publisher<AckermannControlCommand>("out/control_cmd", rclcpp::QoS{1});
+  pub_cmd_ = create_publisher<Control>("out/control_cmd", rclcpp::QoS{1});
   pub_current_cmd_ =
     create_publisher<ExternalControlCommand>("out/latest_external_control_cmd", rclcpp::QoS{1});
   sub_velocity_ = create_subscription<Odometry>(
@@ -142,11 +142,11 @@ void ExternalCmdConverterNode::onExternalCmd(const ExternalControlCommand::Const
   }
 
   // Publish ControlCommand
-  autoware_auto_control_msgs::msg::AckermannControlCommand output;
+  autoware_control_msgs::msg::Control output;
   output.stamp = cmd_ptr->stamp;
   output.lateral.steering_tire_angle = cmd_ptr->control.steering_angle;
   output.lateral.steering_tire_rotation_rate = cmd_ptr->control.steering_angle_velocity;
-  output.longitudinal.speed = ref_velocity;
+  output.longitudinal.velocity = ref_velocity;
   output.longitudinal.acceleration = ref_acceleration;
 
   pub_cmd_->publish(output);
diff --git a/vehicle/raw_vehicle_cmd_converter/README.md b/vehicle/raw_vehicle_cmd_converter/README.md
index 5767c4fbf672b..6ac1ee4666cae 100644
--- a/vehicle/raw_vehicle_cmd_converter/README.md
+++ b/vehicle/raw_vehicle_cmd_converter/README.md
@@ -26,11 +26,11 @@ For ease of calibration and adjustments to the lookup table, an auto-calibration
 
 ## Input topics
 
-| Name                  | Type                                                     | Description                                                                                                        |
-| --------------------- | -------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ |
-| `~/input/control_cmd` | autoware_auto_control_msgs::msg::AckermannControlCommand | target `velocity/acceleration/steering_angle/steering_angle_velocity` is necessary to calculate actuation command. |
-| `~/input/steering"`   | autoware_auto_vehicle_msgs::SteeringReport               | current status of steering used for steering feed back control                                                     |
-| `~/input/twist`       | navigation_msgs::Odometry                                | twist topic in odometry is used.                                                                                   |
+| Name                  | Type                                  | Description                                                                                                        |
+| --------------------- | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------ |
+| `~/input/control_cmd` | autoware_control_msgs::msg::Control   | target `velocity/acceleration/steering_angle/steering_angle_velocity` is necessary to calculate actuation command. |
+| `~/input/steering"`   | autoware_vehicle_msgs::SteeringReport | current status of steering used for steering feed back control                                                     |
+| `~/input/twist`       | navigation_msgs::Odometry             | twist topic in odometry is used.                                                                                   |
 
 ## Output topics
 
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp b/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp
index 98693337b5c28..d71ff96abade0 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp
+++ b/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp
@@ -23,8 +23,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
@@ -36,12 +36,12 @@
 
 namespace raw_vehicle_cmd_converter
 {
-using AckermannControlCommand = autoware_auto_control_msgs::msg::AckermannControlCommand;
+using Control = autoware_control_msgs::msg::Control;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_vehicle_msgs::msg::ActuationCommandStamped;
 using TwistStamped = geometry_msgs::msg::TwistStamped;
 using Odometry = nav_msgs::msg::Odometry;
-using Steering = autoware_auto_vehicle_msgs::msg::SteeringReport;
+using Steering = autoware_vehicle_msgs::msg::SteeringReport;
 
 class DebugValues
 {
@@ -77,7 +77,7 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
   //!< @brief subscriber for current velocity
   rclcpp::Subscription<Odometry>::SharedPtr sub_velocity_;
   //!< @brief subscriber for vehicle command
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_control_cmd_;
+  rclcpp::Subscription<Control>::SharedPtr sub_control_cmd_;
   //!< @brief subscriber for steering
   rclcpp::Subscription<Steering>::SharedPtr sub_steering_;
 
@@ -85,7 +85,7 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
 
   std::unique_ptr<TwistStamped> current_twist_ptr_;  // [m/s]
   std::unique_ptr<double> current_steer_ptr_;
-  AckermannControlCommand::ConstSharedPtr control_cmd_ptr_;
+  Control::ConstSharedPtr control_cmd_ptr_;
   AccelMap accel_map_;
   BrakeMap brake_map_;
   SteerMap steer_map_;
@@ -110,7 +110,7 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
   double calculateBrakeMap(const double current_velocity, const double desired_acc);
   double calculateSteer(const double vel, const double steering, const double steer_rate);
   void onSteering(const Steering::ConstSharedPtr msg);
-  void onControlCmd(const AckermannControlCommand::ConstSharedPtr msg);
+  void onControlCmd(const Control::ConstSharedPtr msg);
   void onVelocity(const Odometry::ConstSharedPtr msg);
   void publishActuationCmd();
   // for debugging
diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/raw_vehicle_cmd_converter/package.xml
index d68f4601aab67..376a5c74f1cb6 100644
--- a/vehicle/raw_vehicle_cmd_converter/package.xml
+++ b/vehicle/raw_vehicle_cmd_converter/package.xml
@@ -17,8 +17,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>nav_msgs</depend>
diff --git a/vehicle/raw_vehicle_cmd_converter/src/node.cpp b/vehicle/raw_vehicle_cmd_converter/src/node.cpp
index 2506fb1f70b76..91c668f63dfbd 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/node.cpp
+++ b/vehicle/raw_vehicle_cmd_converter/src/node.cpp
@@ -76,7 +76,7 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode(
     steer_pid_.setInitialized();
   }
   pub_actuation_cmd_ = create_publisher<ActuationCommandStamped>("~/output/actuation_cmd", 1);
-  sub_control_cmd_ = create_subscription<AckermannControlCommand>(
+  sub_control_cmd_ = create_subscription<Control>(
     "~/input/control_cmd", 1, std::bind(&RawVehicleCommandConverterNode::onControlCmd, this, _1));
   sub_velocity_ = create_subscription<Odometry>(
     "~/input/odometry", 1, std::bind(&RawVehicleCommandConverterNode::onVelocity, this, _1));
@@ -216,7 +216,7 @@ void RawVehicleCommandConverterNode::onVelocity(const Odometry::ConstSharedPtr m
   current_twist_ptr_->twist = msg->twist.twist;
 }
 
-void RawVehicleCommandConverterNode::onControlCmd(const AckermannControlCommand::ConstSharedPtr msg)
+void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr msg)
 {
   control_cmd_ptr_ = msg;
   publishActuationCmd();
diff --git a/vehicle/steer_offset_estimator/Readme.md b/vehicle/steer_offset_estimator/Readme.md
index 3b455a97e4925..164d411e31050 100644
--- a/vehicle/steer_offset_estimator/Readme.md
+++ b/vehicle/steer_offset_estimator/Readme.md
@@ -17,10 +17,10 @@ Calculate yaw rate error and then calculate steering error recursively by least
 
 ### Input
 
-| Name            | Type                                              | Description   |
-| --------------- | ------------------------------------------------- | ------------- |
-| `~/input/twist` | `geometry_msgs::msg::TwistStamped`                | vehicle twist |
-| `~/input/steer` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | steering      |
+| Name            | Type                                         | Description   |
+| --------------- | -------------------------------------------- | ------------- |
+| `~/input/twist` | `geometry_msgs::msg::TwistStamped`           | vehicle twist |
+| `~/input/steer` | `autoware_vehicle_msgs::msg::SteeringReport` | steering      |
 
 ### Output
 
diff --git a/vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp b/vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp
index 64d6694d7ce3e..afd1d0520e951 100644
--- a/vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp
+++ b/vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp
@@ -18,7 +18,7 @@
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "tier4_debug_msgs/msg/float32_stamped.hpp"
 
@@ -28,7 +28,7 @@ namespace steer_offset_estimator
 {
 using geometry_msgs::msg::TwistStamped;
 using tier4_debug_msgs::msg::Float32Stamped;
-using Steering = autoware_auto_vehicle_msgs::msg::SteeringReport;
+using Steering = autoware_vehicle_msgs::msg::SteeringReport;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
 
diff --git a/vehicle/steer_offset_estimator/package.xml b/vehicle/steer_offset_estimator/package.xml
index 242ec5f2f148a..636d901d71ef5 100644
--- a/vehicle/steer_offset_estimator/package.xml
+++ b/vehicle/steer_offset_estimator/package.xml
@@ -9,7 +9,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>