diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 2eefee5606ab2..c0eb60e5a1316 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -49,7 +49,7 @@ control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4
 control/control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-control/lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp
+control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp
 control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
diff --git a/control/lane_departure_checker/CMakeLists.txt b/control/lane_departure_checker/CMakeLists.txt
index 874670c478240..d545e1cbb5ad1 100644
--- a/control/lane_departure_checker/CMakeLists.txt
+++ b/control/lane_departure_checker/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(lane_departure_checker)
+project(autoware_lane_departure_checker)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,13 +10,13 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
 )
 
-ament_auto_add_library(lane_departure_checker SHARED
+ament_auto_add_library(autoware_lane_departure_checker SHARED
   src/lane_departure_checker_node/lane_departure_checker.cpp
   src/lane_departure_checker_node/lane_departure_checker_node.cpp
 )
 
-rclcpp_components_register_node(lane_departure_checker
-  PLUGIN "lane_departure_checker::LaneDepartureCheckerNode"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::lane_departure_checker::LaneDepartureCheckerNode"
   EXECUTABLE lane_departure_checker_node
 )
 
diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
similarity index 95%
rename from control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp
rename to control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
index 967cb65c8efa8..d90dbc9474fd8 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp
+++ b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
-#define LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#ifndef AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#define AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
 
 #include <rosidl_runtime_cpp/message_initialization.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
@@ -45,7 +45,7 @@
 #include <utility>
 #include <vector>
 
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
 {
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::Trajectory;
@@ -170,6 +170,6 @@ class LaneDepartureChecker
     const std::vector<LinearRing2d> & vehicle_footprints,
     const SegmentRtree & uncrossable_segments);
 };
-}  // namespace lane_departure_checker
+}  // namespace autoware::lane_departure_checker
 
-#endif  // LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
+#endif  // AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
similarity index 93%
rename from control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
rename to control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
index 0f0e15d0a4f62..be7126944f767 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
+++ b/control/lane_departure_checker/include/autoware_lane_departure_checker/lane_departure_checker_node.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
-#define LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
+#ifndef AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
+#define AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
 
-#include "lane_departure_checker/lane_departure_checker.hpp"
+#include "autoware_lane_departure_checker/lane_departure_checker.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -40,7 +40,7 @@
 #include <string>
 #include <vector>
 
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
 {
 using autoware_map_msgs::msg::LaneletMapBin;
 
@@ -149,6 +149,6 @@ class LaneDepartureCheckerNode : public rclcpp::Node
 
   lanelet::Lanelets getRightOppositeLanelets(const lanelet::ConstLanelet & lanelet);
 };
-}  // namespace lane_departure_checker
+}  // namespace autoware::lane_departure_checker
 
-#endif  // LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
+#endif  // AUTOWARE_LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
diff --git a/control/lane_departure_checker/include/lane_departure_checker/util/create_vehicle_footprint.hpp b/control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
similarity index 91%
rename from control/lane_departure_checker/include/lane_departure_checker/util/create_vehicle_footprint.hpp
rename to control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
index edc62cd6659fd..917317361d702 100644
--- a/control/lane_departure_checker/include/lane_departure_checker/util/create_vehicle_footprint.hpp
+++ b/control/lane_departure_checker/include/autoware_lane_departure_checker/util/create_vehicle_footprint.hpp
@@ -25,8 +25,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
-#define LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#ifndef AUTOWARE_LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#define AUTOWARE_LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
 
 #include <Eigen/Dense>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
@@ -63,4 +63,4 @@ inline FootprintMargin calcFootprintMargin(
   return FootprintMargin{Cov_xy_vehicle(0, 0) * scale, Cov_xy_vehicle(1, 1) * scale};
 }
 
-#endif  // LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
+#endif  // AUTOWARE_LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
diff --git a/control/lane_departure_checker/launch/lane_departure_checker.launch.xml b/control/lane_departure_checker/launch/lane_departure_checker.launch.xml
index 62799c1187651..7ea2e8b2de60a 100644
--- a/control/lane_departure_checker/launch/lane_departure_checker.launch.xml
+++ b/control/lane_departure_checker/launch/lane_departure_checker.launch.xml
@@ -4,12 +4,12 @@
   <arg name="input/route" default="/planning/mission_planning/route"/>
   <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
   <arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory"/>
-  <arg name="config_file" default="$(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_lane_departure_checker)/config/lane_departure_checker.param.yaml"/>
 
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <node pkg="lane_departure_checker" exec="lane_departure_checker_node" name="lane_departure_checker_node" output="screen">
+  <node pkg="autoware_lane_departure_checker" exec="lane_departure_checker_node" name="lane_departure_checker_node" output="screen">
     <remap from="~/input/odometry" to="$(var input/odometry)"/>
     <remap from="~/input/lanelet_map_bin" to="$(var input/lanelet_map_bin)"/>
     <remap from="~/input/route" to="$(var input/route)"/>
diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml
index 3b1c1c6f6d54b..466dc7351cd9e 100644
--- a/control/lane_departure_checker/package.xml
+++ b/control/lane_departure_checker/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>lane_departure_checker</name>
+  <name>autoware_lane_departure_checker</name>
   <version>0.1.0</version>
-  <description>The lane_departure_checker package</description>
+  <description>The autoware_lane_departure_checker package</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
index eb5d674705aaa..5e90df6773b87 100644
--- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
+++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lane_departure_checker/lane_departure_checker.hpp"
+#include "autoware_lane_departure_checker/lane_departure_checker.hpp"
 
-#include "lane_departure_checker/util/create_vehicle_footprint.hpp"
+#include "autoware_lane_departure_checker/util/create_vehicle_footprint.hpp"
 
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
@@ -96,7 +96,7 @@ lanelet::ConstLanelets getCandidateLanelets(
 
 }  // namespace
 
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
 {
 Output LaneDepartureChecker::update(const Input & input)
 {
@@ -460,4 +460,4 @@ bool LaneDepartureChecker::willCrossBoundary(
   return false;
 }
 
-}  // namespace lane_departure_checker
+}  // namespace autoware::lane_departure_checker
diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
index c3fd1d314e371..2b919f89e6e95 100644
--- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
+++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lane_departure_checker/lane_departure_checker_node.hpp"
+#include "autoware_lane_departure_checker/lane_departure_checker_node.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -120,7 +120,7 @@ void update_param(
 
 }  // namespace
 
-namespace lane_departure_checker
+namespace autoware::lane_departure_checker
 {
 LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & options)
 : Node("lane_departure_checker_node", options)
@@ -759,7 +759,7 @@ lanelet::Lanelets LaneDepartureCheckerNode::getRightOppositeLanelets(
   return opposite_lanelets;
 }
 
-}  // namespace lane_departure_checker
+}  // namespace autoware::lane_departure_checker
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(lane_departure_checker::LaneDepartureCheckerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lane_departure_checker::LaneDepartureCheckerNode)
diff --git a/launch/tier4_control_launch/control_launch.drawio.svg b/launch/tier4_control_launch/control_launch.drawio.svg
index 5d13b84a0b34b..21d97ba08c0b3 100644
--- a/launch/tier4_control_launch/control_launch.drawio.svg
+++ b/launch/tier4_control_launch/control_launch.drawio.svg
@@ -259,17 +259,17 @@
           >
             <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                lane_departure_checker_node
+                autoware_lane_departure_checker_node
                 <br/>
                 <br/>
                 <div style="text-align: left">
-                  <span>package: lane_departure_checker_node</span>
+                  <span>package: autoware_lane_departure_checker_node</span>
                 </div>
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="360" y="809" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_departure_checker_node...</text>
+        <text x="360" y="809" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_lane_departure_checker_node...</text>
       </switch>
     </g>
     <rect x="240" y="880" width="240" height="110" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index 77140b0e0f630..239a65f8260bf 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -102,8 +102,8 @@ def launch_setup(context, *args, **kwargs):
 
     # lane departure checker
     lane_departure_component = ComposableNode(
-        package="lane_departure_checker",
-        plugin="lane_departure_checker::LaneDepartureCheckerNode",
+        package="autoware_lane_departure_checker",
+        plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode",
         name="lane_departure_checker_node",
         namespace="trajectory_follower",
         remappings=[
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index 801fa274dd086..fda612f05436c 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_lane_departure_checker</exec_depend>
   <exec_depend>control_evaluator</exec_depend>
   <exec_depend>external_cmd_converter</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
-  <exec_depend>lane_departure_checker</exec_depend>
   <exec_depend>shift_decider</exec_depend>
   <exec_depend>trajectory_follower_node</exec_depend>
   <exec_depend>vehicle_cmd_gate</exec_depend>
diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
index 867e76f0db614..fe8dc4c25869a 100644
--- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
+++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
@@ -18,7 +18,7 @@
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
 #include "autoware_behavior_path_planner_common/parameters.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/point.hpp>
@@ -75,7 +75,8 @@ class GeometricParallelParking
   bool planPullOut(
     const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes,
     const lanelet::ConstLanelets & shoulder_lanes, const bool left_side_start,
-    const std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker);
+    const std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker>
+      autoware_lane_departure_checker);
   void setParameters(const ParallelParkingParameters & parameters) { parameters_ = parameters; }
   void setPlannerData(const std::shared_ptr<const PlannerData> & planner_data)
   {
@@ -119,7 +120,8 @@ class GeometricParallelParking
     const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes,
     const bool is_forward, const bool left_side_parking, const double end_pose_offset,
     const double lane_departure_margin, const double arc_path_interval,
-    const std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker);
+    const std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker>
+      autoware_lane_departure_checker);
   PathWithLaneId generateArcPath(
     const Pose & center, const double radius, const double start_yaw, double end_yaw,
     const double arc_path_interval, const bool is_left_turn, const bool is_forward);
diff --git a/planning/autoware_behavior_path_planner_common/package.xml b/planning/autoware_behavior_path_planner_common/package.xml
index 21da8dcef1c2d..24d369e475e61 100644
--- a/planning/autoware_behavior_path_planner_common/package.xml
+++ b/planning/autoware_behavior_path_planner_common/package.xml
@@ -43,12 +43,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_lane_departure_checker</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>freespace_planning_algorithms</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
-  <depend>lane_departure_checker</depend>
   <depend>lanelet2_extension</depend>
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
diff --git a/planning/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
index 26c089ee0ba09..73f513c9e65eb 100644
--- a/planning/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
+++ b/planning/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -223,7 +223,8 @@ bool GeometricParallelParking::planPullOver(
 bool GeometricParallelParking::planPullOut(
   const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes,
   const lanelet::ConstLanelets & shoulder_lanes, const bool left_side_start,
-  const std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker)
+  const std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker>
+    lane_departure_checker)
 {
   constexpr bool is_forward = false;         // parking backward means pull_out forward
   constexpr double start_pose_offset = 0.0;  // start_pose is current_pose
@@ -364,7 +365,8 @@ std::vector<PathWithLaneId> GeometricParallelParking::planOneTrial(
   const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes,
   const bool is_forward, const bool left_side_parking, const double end_pose_offset,
   const double lane_departure_margin, const double arc_path_interval,
-  const std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker)
+  const std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker>
+    lane_departure_checker)
 {
   clearPaths();
 
diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/geometric_pull_out.hpp b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/geometric_pull_out.hpp
index 5edde96ea4abf..510fee8fe3dc6 100644
--- a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/geometric_pull_out.hpp
+++ b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/geometric_pull_out.hpp
@@ -19,7 +19,7 @@
 #include "autoware_behavior_path_start_planner_module/pull_out_path.hpp"
 #include "autoware_behavior_path_start_planner_module/pull_out_planner_base.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -32,14 +32,15 @@ class GeometricPullOut : public PullOutPlannerBase
 public:
   explicit GeometricPullOut(
     rclcpp::Node & node, const StartPlannerParameters & parameters,
-    const std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker);
+    const std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker>
+      lane_departure_checker);
 
   PlannerType getPlannerType() const override { return PlannerType::GEOMETRIC; };
   std::optional<PullOutPath> plan(const Pose & start_pose, const Pose & goal_pose) override;
 
   GeometricParallelParking planner_;
   ParallelParkingParameters parallel_parking_parameters_;
-  std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker_;
+  std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker> lane_departure_checker_;
 };
 }  // namespace behavior_path_planner
 
diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/shift_pull_out.hpp b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/shift_pull_out.hpp
index 3092ca4f80e3f..29a74ce0e14ef 100644
--- a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/shift_pull_out.hpp
+++ b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/shift_pull_out.hpp
@@ -18,7 +18,7 @@
 #include "autoware_behavior_path_start_planner_module/pull_out_path.hpp"
 #include "autoware_behavior_path_start_planner_module/pull_out_planner_base.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -27,7 +27,7 @@
 
 namespace behavior_path_planner
 {
-using lane_departure_checker::LaneDepartureChecker;
+using autoware::lane_departure_checker::LaneDepartureChecker;
 
 class ShiftPullOut : public PullOutPlannerBase
 {
diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/start_planner_module.hpp b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/start_planner_module.hpp
index 1883e10af3c62..7a98a43efec5b 100644
--- a/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/start_planner_module.hpp
+++ b/planning/autoware_behavior_path_start_planner_module/include/autoware_behavior_path_start_planner_module/start_planner_module.hpp
@@ -27,7 +27,7 @@
 #include "autoware_behavior_path_start_planner_module/pull_out_path.hpp"
 #include "autoware_behavior_path_start_planner_module/shift_pull_out.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 #include <vehicle_info_util/vehicle_info.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
@@ -46,13 +46,13 @@
 
 namespace behavior_path_planner
 {
+using autoware::lane_departure_checker::LaneDepartureChecker;
 using behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams;
 using behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams;
 using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped;
 using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams;
 using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane;
 using geometry_msgs::msg::PoseArray;
-using lane_departure_checker::LaneDepartureChecker;
 using PriorityOrder = std::vector<std::pair<size_t, std::shared_ptr<PullOutPlannerBase>>>;
 
 struct PullOutStatus
diff --git a/planning/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp b/planning/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
index 86d7de246c312..d299b3f4799b2 100644
--- a/planning/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
+++ b/planning/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
@@ -32,7 +32,8 @@ using start_planner_utils::getPullOutLanes;
 
 GeometricPullOut::GeometricPullOut(
   rclcpp::Node & node, const StartPlannerParameters & parameters,
-  const std::shared_ptr<lane_departure_checker::LaneDepartureChecker> lane_departure_checker)
+  const std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker>
+    lane_departure_checker)
 : PullOutPlannerBase{node, parameters},
   parallel_parking_parameters_{parameters.parallel_parking_parameters},
   lane_departure_checker_(lane_departure_checker)
diff --git a/planning/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
index c13afdf2b86df..b30af17eaa898 100644
--- a/planning/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -65,7 +65,7 @@ StartPlannerModule::StartPlannerModule(
 {
   lane_departure_checker_ = std::make_shared<LaneDepartureChecker>();
   lane_departure_checker_->setVehicleInfo(vehicle_info_);
-  lane_departure_checker::Param lane_departure_checker_params;
+  autoware::lane_departure_checker::Param lane_departure_checker_params;
   lane_departure_checker_params.footprint_extra_margin =
     parameters->lane_departure_check_expansion_margin;
 
diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp
index 0009fbccdb5d8..903655b64e347 100644
--- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp
+++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp
@@ -18,7 +18,7 @@
 #include "autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -27,7 +27,7 @@
 
 namespace behavior_path_planner
 {
-using lane_departure_checker::LaneDepartureChecker;
+using autoware::lane_departure_checker::LaneDepartureChecker;
 class GeometricPullOver : public PullOverPlannerBase
 {
 public:
diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
index 8938e48e0ceb5..b7c4a24e52974 100644
--- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
+++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -28,9 +28,9 @@
 #include "behavior_path_goal_planner_module/goal_searcher.hpp"
 #include "behavior_path_goal_planner_module/shift_pull_over.hpp"
 
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 #include <freespace_planning_algorithms/astar_search.hpp>
 #include <freespace_planning_algorithms/rrtstar.hpp>
-#include <lane_departure_checker/lane_departure_checker.hpp>
 #include <motion_utils/distance/distance.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
@@ -50,9 +50,9 @@
 
 namespace behavior_path_planner
 {
+using autoware::lane_departure_checker::LaneDepartureChecker;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
 using geometry_msgs::msg::PoseArray;
-using lane_departure_checker::LaneDepartureChecker;
 using nav_msgs::msg::OccupancyGrid;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp
index 635816f17497f..e7b297548083a 100644
--- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp
+++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -26,7 +26,7 @@
 
 namespace behavior_path_planner
 {
-using lane_departure_checker::LaneDepartureChecker;
+using autoware::lane_departure_checker::LaneDepartureChecker;
 
 class ShiftPullOver : public PullOverPlannerBase
 {
diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
index 83e817a8d5a45..d6c9215e495ae 100644
--- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
+++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
@@ -18,7 +18,7 @@
 #include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
-#include <lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
 #include "visualization_msgs/msg/detail/marker_array__struct.hpp"
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
index efd9eda322585..b56ae44dcf476 100644
--- a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
+++ b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
@@ -32,7 +32,7 @@
 
 namespace behavior_path_planner
 {
-using lane_departure_checker::LaneDepartureChecker;
+using autoware::lane_departure_checker::LaneDepartureChecker;
 using lanelet::autoware::NoParkingArea;
 using lanelet::autoware::NoStoppingArea;
 using tier4_autoware_utils::calcOffsetPose;
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index a646621e5b089..f51fa99578d7b 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -39,6 +39,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_frenet_planner</depend>
+  <depend>autoware_lane_departure_checker</depend>
   <depend>autoware_path_sampler</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
@@ -48,7 +49,6 @@
   <depend>freespace_planning_algorithms</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
-  <depend>lane_departure_checker</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>
   <depend>libopencv-dev</depend>