diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt
index 670a61479e875..5d3af19c51dbf 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt
@@ -6,11 +6,11 @@ autoware_package()
 pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/pull_over_planner/freespace_pull_over.cpp
+  src/pull_over_planner/geometric_pull_over.cpp
+  src/pull_over_planner/shift_pull_over.cpp
   src/default_fixed_goal_planner.cpp
-  src/freespace_pull_over.cpp
-  src/geometric_pull_over.cpp
   src/goal_searcher.cpp
-  src/shift_pull_over.cpp
   src/util.cpp
   src/goal_planner_module.cpp
   src/manager.cpp
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
index 7462ec519b503..2dc4788be9ce2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -16,11 +16,11 @@
 #define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
 
 #include "autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
-#include "autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp"
-#include "autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp"
 #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp"
-#include "autoware/behavior_path_goal_planner_module/shift_pull_over.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 #include "autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp
similarity index 84%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp
index bb968fe10cba2..0b27b4adb737b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__FREESPACE_PULL_OVER_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__FREESPACE_PULL_OVER_HPP_
 
-#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
 
 #include <autoware/freespace_planning_algorithms/abstract_algorithm.hpp>
 #include <autoware/freespace_planning_algorithms/astar_search.hpp>
@@ -51,4 +51,4 @@ class FreespacePullOver : public PullOverPlannerBase
 };
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__FREESPACE_PULL_OVER_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp
similarity index 88%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp
index 589379167b80c..6a2f0a57d67cf 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__GEOMETRIC_PULL_OVER_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__GEOMETRIC_PULL_OVER_HPP_
 
-#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
 #include "autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 
 #include <autoware/lane_departure_checker/lane_departure_checker.hpp>
@@ -65,4 +65,4 @@ class GeometricPullOver : public PullOverPlannerBase
 };
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__GEOMETRIC_PULL_OVER_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp
similarity index 96%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp
index 9899f4a5fad1e..7cdb249463e08 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp
@@ -12,8 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
+#pragma once
 
 #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
@@ -207,5 +206,3 @@ class PullOverPlannerBase
   BehaviorModuleOutput previous_module_output_;
 };
 }  // namespace autoware::behavior_path_planner
-
-#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp
similarity index 88%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp
index 15b8d7ac81fae..8ebc3579a9272 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__SHIFT_PULL_OVER_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__SHIFT_PULL_OVER_HPP_
 
-#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
 
 #include <autoware/lane_departure_checker/lane_departure_checker.hpp>
 
@@ -59,4 +59,4 @@ class ShiftPullOver : public PullOverPlannerBase
 };
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__SHIFT_PULL_OVER_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
index b527fa3e1dac0..2a48db97b1977 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
@@ -16,7 +16,7 @@
 #define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
 
 #include "autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp"
-#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 
 #include <autoware/lane_departure_checker/lane_departure_checker.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp
similarity index 98%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp
index 57c35fc4dd8ba..a49cd7a279e7e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp"
 
 #include "autoware/behavior_path_goal_planner_module/util.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
similarity index 97%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
index 3baa603f4d00c..c5df07c0e9176 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp"
 
 #include "autoware/behavior_path_goal_planner_module/util.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
similarity index 99%
rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
index fd6b0cb639387..1e4cb0e8d84f9 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/behavior_path_goal_planner_module/shift_pull_over.hpp"
+#include "autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp"
 
 #include "autoware/behavior_path_goal_planner_module/util.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"