diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index b241c8c45bb3e..b4d0203415d42 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -153,6 +153,7 @@ planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.
 planning/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/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
+planning/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
@@ -182,7 +183,6 @@ planning/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi
 planning/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/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_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
diff --git a/planning/.pages b/planning/.pages
index ce08c389c17f5..3eb7555281ae5 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -32,7 +32,7 @@ nav:
         - 'Run Out': planning/autoware_behavior_velocity_run_out_module
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
         - 'Stop Line': planning/autoware_behavior_velocity_stop_line_module
-        - 'Traffic Light': planning/behavior_velocity_traffic_light_module
+        - 'Traffic Light': planning/autoware_behavior_velocity_traffic_light_module
         - 'Virtual Traffic Light': planning/autoware_behavior_velocity_virtual_traffic_light_module
         - 'Walkway': planning/autoware_behavior_velocity_walkway_module
   - 'Parking':
diff --git a/planning/autoware_behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md
index e792860239119..61d27dac083bc 100644
--- a/planning/autoware_behavior_velocity_planner/README.md
+++ b/planning/autoware_behavior_velocity_planner/README.md
@@ -15,7 +15,7 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 - [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private)
 - [Stop Line](../autoware_behavior_velocity_stop_line_module/README.md)
 - [Virtual Traffic Light](../autoware_behavior_velocity_virtual_traffic_light_module/README.md)
-- [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
+- [Traffic Light](../autoware_behavior_velocity_traffic_light_module/README.md)
 - [Occlusion Spot](../autoware_behavior_velocity_occlusion_spot_module/README.md)
 - [No Stopping Area](../behavior_velocity_no_stopping_area_module/README.md)
 - [Run Out](../autoware_behavior_velocity_run_out_module/README.md)
diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml
index dcec42f80691f..d9647a5f58033 100644
--- a/planning/autoware_behavior_velocity_planner/package.xml
+++ b/planning/autoware_behavior_velocity_planner/package.xml
@@ -69,6 +69,7 @@
   <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_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>
@@ -78,7 +79,6 @@
   <test_depend>behavior_velocity_no_drivable_lane_module</test_depend>
   <test_depend>behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
-  <test_depend>behavior_velocity_traffic_light_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/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
index 58e7a86e01302..b63364acc7a47 100644
--- a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -105,7 +105,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    get_behavior_velocity_module_config("run_out"),
                    get_behavior_velocity_module_config_no_prefix("speed_bump"),
                    get_behavior_velocity_module_config("stop_line"),
-                   get_behavior_velocity_module_config_no_prefix("traffic_light"),
+                   get_behavior_velocity_module_config("traffic_light"),
                    get_behavior_velocity_module_config("virtual_traffic_light"),
                    get_behavior_velocity_module_config_no_prefix("no_drivable_lane")});
 
diff --git a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt
similarity index 85%
rename from planning/behavior_velocity_traffic_light_module/CMakeLists.txt
rename to planning/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt
index 5737802408996..60cc9f93a02a5 100644
--- a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt
+++ b/planning/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_traffic_light_module)
+project(autoware_behavior_velocity_traffic_light_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/planning/behavior_velocity_traffic_light_module/README.md b/planning/autoware_behavior_velocity_traffic_light_module/README.md
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/README.md
rename to planning/autoware_behavior_velocity_traffic_light_module/README.md
diff --git a/planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml b/planning/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
rename to planning/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
diff --git a/planning/behavior_velocity_traffic_light_module/docs/crosswalk.png b/planning/autoware_behavior_velocity_traffic_light_module/docs/crosswalk.png
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/docs/crosswalk.png
rename to planning/autoware_behavior_velocity_traffic_light_module/docs/crosswalk.png
diff --git a/planning/behavior_velocity_traffic_light_module/docs/traffic_light.svg b/planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light.svg
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/docs/traffic_light.svg
rename to planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light.svg
diff --git a/planning/behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg b/planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg
rename to planning/autoware_behavior_velocity_traffic_light_module/docs/traffic_light_dilemma.svg
diff --git a/planning/behavior_velocity_traffic_light_module/package.xml b/planning/autoware_behavior_velocity_traffic_light_module/package.xml
similarity index 91%
rename from planning/behavior_velocity_traffic_light_module/package.xml
rename to planning/autoware_behavior_velocity_traffic_light_module/package.xml
index 067dcaca6a638..7b86199c497f1 100644
--- a/planning/behavior_velocity_traffic_light_module/package.xml
+++ b/planning/autoware_behavior_velocity_traffic_light_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_traffic_light_module</name>
+  <name>autoware_behavior_velocity_traffic_light_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_traffic_light_module package</description>
+  <description>The autoware_behavior_velocity_traffic_light_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_traffic_light_module/plugins.xml b/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml
similarity index 71%
rename from planning/behavior_velocity_traffic_light_module/plugins.xml
rename to planning/autoware_behavior_velocity_traffic_light_module/plugins.xml
index 9b5e84fff982d..bba2d992a8c3b 100644
--- a/planning/behavior_velocity_traffic_light_module/plugins.xml
+++ b/planning/autoware_behavior_velocity_traffic_light_module/plugins.xml
@@ -1,3 +1,3 @@
-<library path="behavior_velocity_traffic_light_module">
+<library path="autoware_behavior_velocity_traffic_light_module">
   <class type="autoware::behavior_velocity_planner::TrafficLightModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
 </library>
diff --git a/planning/behavior_velocity_traffic_light_module/src/debug.cpp b/planning/autoware_behavior_velocity_traffic_light_module/src/debug.cpp
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/src/debug.cpp
rename to planning/autoware_behavior_velocity_traffic_light_module/src/debug.cpp
diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/src/manager.cpp
rename to planning/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.hpp b/planning/autoware_behavior_velocity_traffic_light_module/src/manager.hpp
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/src/manager.hpp
rename to planning/autoware_behavior_velocity_traffic_light_module/src/manager.hpp
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/src/scene.cpp
rename to planning/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.hpp b/planning/autoware_behavior_velocity_traffic_light_module/src/scene.hpp
similarity index 100%
rename from planning/behavior_velocity_traffic_light_module/src/scene.hpp
rename to planning/autoware_behavior_velocity_traffic_light_module/src/scene.hpp