diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
index 8d8afb41730f9..26479dc3b0b3b 100644
--- a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
+++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
@@ -27,7 +27,7 @@
 namespace behavior_velocity_planner::dynamic_obstacle_stop
 {
 std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
-  const EgoData & ego_data, const autoware_auto_perception_msgs::msg::PredictedObject & object,
+  const EgoData & ego_data, const autoware_perception_msgs::msg::PredictedObject & object,
   const tier4_autoware_utils::MultiPolygon2d & object_footprints, const PlannerParam & params)
 {
   std::optional<geometry_msgs::msg::Point> closest_collision_point;
@@ -74,7 +74,7 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
-  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
+  const std::vector<autoware_perception_msgs::msg::PredictedObject> & objects,
   const std::vector<tier4_autoware_utils::MultiPolygon2d> & object_forward_footprints,
   const PlannerParam & params)
 {
diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.hpp b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.hpp
index ae66d79f110d5..119305a83a91e 100644
--- a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.hpp
+++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.hpp
@@ -28,7 +28,7 @@ namespace behavior_velocity_planner::dynamic_obstacle_stop
 /// @param [in] object_footprint footprint of the object used for finding a collision
 /// @return the collision point closest to ego (if any)
 std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
-  const EgoData & ego_data, const autoware_auto_perception_msgs::msg::PredictedObject & object,
+  const EgoData & ego_data, const autoware_perception_msgs::msg::PredictedObject & object,
   const tier4_autoware_utils::MultiPolygon2d & object_footprints, const PlannerParam & params);
 
 /// @brief find the earliest collision along the ego path
@@ -38,7 +38,7 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 /// @return the point of earliest collision along the ego path
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
-  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
+  const std::vector<autoware_perception_msgs::msg::PredictedObject> & objects,
   const std::vector<tier4_autoware_utils::MultiPolygon2d> & object_forward_footprints,
   const PlannerParam & params);
 
diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.cpp b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
index 9abcf2b7c1820..47640e6a35be9 100644
--- a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
+++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
@@ -16,7 +16,7 @@
 
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
 #include <boost/geometry.hpp>
@@ -80,7 +80,7 @@ tier4_autoware_utils::Polygon2d create_footprint(
 }
 
 tier4_autoware_utils::MultiPolygon2d create_object_footprints(
-  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
+  const std::vector<autoware_perception_msgs::msg::PredictedObject> & objects,
   const PlannerParam & params)
 {
   tier4_autoware_utils::MultiPolygon2d footprints;
diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.hpp b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.hpp
index 9dc10c25eae47..b0f0fd64a96f4 100644
--- a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.hpp
+++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.hpp
@@ -19,7 +19,7 @@
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
 #include <vector>
 
@@ -43,7 +43,7 @@ tier4_autoware_utils::Polygon2d make_forward_footprint(
   const autoware_perception_msgs::msg::PredictedObject & obstacle, const PlannerParam & params,
   const double hysteresis);
 tier4_autoware_utils::MultiPolygon2d create_object_footprints(
-  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
+  const std::vector<autoware_perception_msgs::msg::PredictedObject> & objects,
   const PlannerParam & params);
 tier4_autoware_utils::Polygon2d translate_polygon(
   const tier4_autoware_utils::Polygon2d & polygon, const double x, const double y);