diff --git a/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp b/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp
index 8b8fca4818b52..6202be28e7e87 100644
--- a/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp
+++ b/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp
@@ -326,7 +326,7 @@ class RouteHandler
    */
   lanelet::ConstLanelets getShoulderLaneletsAtPose(const Pose & pose) const;
 
-  Pose getPoseFrom2DArcLength(
+  Pose get_pose_from_2d_arc_length(
     const lanelet::ConstLanelets & lanelet_sequence, const double s) const;
 
 private:
diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp
index 075710c061687..616b91d1bc5f9 100644
--- a/planning/autoware_route_handler/src/route_handler.cpp
+++ b/planning/autoware_route_handler/src/route_handler.cpp
@@ -2038,7 +2038,7 @@ std::optional<lanelet::routing::LaneletPath> RouteHandler::findDrivableLanePath(
   return {};
 }
 
-Pose RouteHandler::getPoseFrom2DArcLength(
+Pose RouteHandler::get_pose_from_2d_arc_length(
   const lanelet::ConstLanelets & lanelet_sequence, const double s) const
 {
   double accumulated_distance2d = 0;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
index e7768455490d0..c9990747f57a7 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -95,12 +95,12 @@ bool pathFootprintExceedsTargetLaneBound(
   const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, const VehicleInfo & ego_info,
   const double margin = 0.1);
 
-std::optional<LaneChangePath> constructCandidatePath(
+std::optional<LaneChangePath> construct_candidate_path(
   const CommonDataPtr & common_data_ptr, const LaneChangeInfo & lane_change_info,
   const PathWithLaneId & prepare_segment, const PathWithLaneId & target_lane_reference_path,
   const std::vector<std::vector<int64_t>> & sorted_lane_ids);
 
-ShiftLine getLaneChangingShiftLine(
+ShiftLine get_lane_changing_shift_line(
   const Pose & lane_changing_start_pose, const Pose & lane_changing_end_pose,
   const PathWithLaneId & reference_path, const double shift_length);
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 3d098807fc1d5..e8a63c09580e1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -1575,15 +1575,15 @@ LaneChangePath NormalLaneChange::get_candidate_path(
     const auto dist_to_lc_start =
       lanelet::utils::getArcCoordinates(target_lanes, lc_start_pose).length;
     const auto dist_to_lc_end = dist_to_lc_start + lc_metrics.length;
-    return route_handler.getPoseFrom2DArcLength(target_lanes, dist_to_lc_end);
+    return route_handler.get_pose_from_2d_arc_length(target_lanes, dist_to_lc_end);
   });
 
-  const auto shift_line = utils::lane_change::getLaneChangingShiftLine(
+  const auto shift_line = utils::lane_change::get_lane_changing_shift_line(
     lc_start_pose, lc_end_pose, target_lane_reference_path, shift_length);
 
   LaneChangeInfo lane_change_info{prep_metrics, lc_metrics, lc_start_pose, lc_end_pose, shift_line};
 
-  const auto candidate_path = utils::lane_change::constructCandidatePath(
+  const auto candidate_path = utils::lane_change::construct_candidate_path(
     common_data_ptr_, lane_change_info, prep_segment, target_lane_reference_path, sorted_lane_ids);
 
   if (!candidate_path) {
@@ -1739,7 +1739,7 @@ std::optional<LaneChangePath> NormalLaneChange::calcTerminalLaneChangePath(
     return {};
   }
 
-  lane_change_info.shift_line = utils::lane_change::getLaneChangingShiftLine(
+  lane_change_info.shift_line = utils::lane_change::get_lane_changing_shift_line(
     lane_changing_start_pose.value(), target_segment.points.front().point.pose,
     target_lane_reference_path, shift_length);
 
@@ -1752,7 +1752,7 @@ std::optional<LaneChangePath> NormalLaneChange::calcTerminalLaneChangePath(
   reference_segment.points.pop_back();
   reference_segment.points.back().point.longitudinal_velocity_mps = minimum_lane_changing_velocity;
 
-  const auto terminal_lane_change_path = utils::lane_change::constructCandidatePath(
+  const auto terminal_lane_change_path = utils::lane_change::construct_candidate_path(
     common_data_ptr_, lane_change_info, reference_segment, target_lane_reference_path,
     sorted_lane_ids);
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
index 920ff4c4d7edb..36aedf5c99a53 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -230,7 +230,7 @@ bool pathFootprintExceedsTargetLaneBound(
   return false;
 }
 
-std::optional<LaneChangePath> constructCandidatePath(
+std::optional<LaneChangePath> construct_candidate_path(
   const CommonDataPtr & common_data_ptr, const LaneChangeInfo & lane_change_info,
   const PathWithLaneId & prepare_segment, const PathWithLaneId & target_lane_reference_path,
   const std::vector<std::vector<int64_t>> & sorted_lane_ids)
@@ -355,7 +355,7 @@ PathWithLaneId getReferencePathFromTargetLane(
     lane_changing_reference_path, resample_interval, true, {0.0, lane_changing_length});
 }
 
-ShiftLine getLaneChangingShiftLine(
+ShiftLine get_lane_changing_shift_line(
   const Pose & lane_changing_start_pose, const Pose & lane_changing_end_pose,
   const PathWithLaneId & reference_path, const double shift_length)
 {