diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index ade750db259b9..d47a999ad9254 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -185,12 +185,12 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_mod
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
diff --git a/planning/.pages b/planning/.pages
index 3c868628198a8..0ebebc3c6ac7d 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -29,7 +29,7 @@ nav:
         - 'No Stopping Area': planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module
         - 'Run Out': planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module
-        - 'Speed Bump': planning/behavior_velocity_planner/behavior_velocity_speed_bump_module
+        - 'Speed Bump': planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module
         - 'Stop Line': planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module
         - 'Traffic Light': planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module
         - 'Virtual Traffic Light': planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md
index f688318ed051e..041e0b86e0d06 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md
@@ -19,7 +19,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [Occlusion Spot](../autoware_behavior_velocity_occlusion_spot_module/README.md)
 - [No Stopping Area](../autoware_behavior_velocity_no_stopping_area_module/README.md)
 - [Run Out](../autoware_behavior_velocity_run_out_module/README.md)
-- [Speed Bump](../behavior_velocity_speed_bump_module/README.md)
+- [Speed Bump](../autoware_behavior_velocity_speed_bump_module/README.md)
 
 When each module plans velocity, it considers based on `base_link`(center of rear-wheel axis) pose.
 So for example, in order to stop at a stop line with the vehicles' front on the stop line, it calculates `base_link` position from the distance between `base_link` to front and modifies path velocity from the `base_link` position.
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 24d11eb9d08d5..1d256b61fa861 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -66,7 +66,6 @@
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_behavior_velocity_blind_spot_module</test_depend>
-  <test_depend>autoware_behavior_velocity_blind_spot_module</test_depend>
   <test_depend>autoware_behavior_velocity_crosswalk_module</test_depend>
   <test_depend>autoware_behavior_velocity_detection_area_module</test_depend>
   <test_depend>autoware_behavior_velocity_intersection_module</test_depend>
@@ -74,12 +73,12 @@
   <test_depend>autoware_behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>autoware_behavior_velocity_occlusion_spot_module</test_depend>
   <test_depend>autoware_behavior_velocity_run_out_module</test_depend>
+  <test_depend>autoware_behavior_velocity_speed_bump_module</test_depend>
   <test_depend>autoware_behavior_velocity_stop_line_module</test_depend>
   <test_depend>autoware_behavior_velocity_traffic_light_module</test_depend>
   <test_depend>autoware_behavior_velocity_virtual_traffic_light_module</test_depend>
   <test_depend>autoware_behavior_velocity_walkway_module</test_depend>
   <test_depend>autoware_lint_common</test_depend>
-  <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
 
   <member_of_group>rosidl_interface_packages</member_of_group>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
index 29cd7a215907f..3482d7be8ec48 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -55,12 +55,6 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
     ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
 
   // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_*
-  const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) {
-    const auto package_name = "behavior_velocity_" + module + "_module";
-    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
-    return package_path + "/config/" + module + ".param.yaml";
-  };
-
   const auto get_behavior_velocity_module_config = [](const std::string & module) {
     const auto package_name = "autoware_behavior_velocity_" + module + "_module";
     const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
@@ -103,7 +97,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    get_behavior_velocity_module_config("no_stopping_area"),
                    get_behavior_velocity_module_config("occlusion_spot"),
                    get_behavior_velocity_module_config("run_out"),
-                   get_behavior_velocity_module_config_no_prefix("speed_bump"),
+                   get_behavior_velocity_module_config("speed_bump"),
                    get_behavior_velocity_module_config("stop_line"),
                    get_behavior_velocity_module_config("traffic_light"),
                    get_behavior_velocity_module_config("virtual_traffic_light"),
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CMakeLists.txt
similarity index 86%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/CMakeLists.txt
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CMakeLists.txt
index f5d3a7078be9c..5262939c02ddf 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_speed_bump_module)
+project(autoware_behavior_velocity_speed_bump_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/README.md
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/README.md
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/README.md
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/config/speed_bump.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/config/speed_bump.param.yaml
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/config/speed_bump.param.yaml
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/config/speed_bump.param.yaml
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/docs/speed_bump_design.svg b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/docs/speed_bump_design.svg
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/docs/speed_bump_design.svg
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/docs/speed_bump_design.svg
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/docs/speed_bump_scenarios.svg b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/docs/speed_bump_scenarios.svg
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/docs/speed_bump_scenarios.svg
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/docs/speed_bump_scenarios.svg
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/docs/speed_bump_vel_calc.png b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/docs/speed_bump_vel_calc.png
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/docs/speed_bump_vel_calc.png
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/docs/speed_bump_vel_calc.png
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
similarity index 89%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
index 805ab2f39a7ef..6c38e194a63c2 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_velocity_speed_bump_module</name>
+  <name>autoware_behavior_velocity_speed_bump_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_speed_bump_module package</description>
+  <description>The autoware_behavior_velocity_speed_bump_module package</description>
 
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/plugins.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/plugins.xml
similarity index 71%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/plugins.xml
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/plugins.xml
index 48287a7f94b4b..7a37ec217e9a5 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/plugins.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/plugins.xml
@@ -1,3 +1,3 @@
-<library path="behavior_velocity_speed_bump_module">
+<library path="autoware_behavior_velocity_speed_bump_module">
   <class type="autoware::behavior_velocity_planner::SpeedBumpModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
 </library>
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/debug.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/debug.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/debug.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.hpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.hpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.hpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.hpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/util.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/util.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/util.hpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.hpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/util.hpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/README.md
index 5300bb3b4b5c1..0507d69af1b4e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/README.md
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/README.md
@@ -1,6 +1,6 @@
 ## Template
 
-A template for behavior velocity modules based on the behavior_velocity_speed_bump_module.
+A template for behavior velocity modules based on the autoware_behavior_velocity_speed_bump_module.
 
 # Autoware Behavior Velocity Module Template