diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 9c64b64645c6f..1c1547b68dbe5 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -106,7 +106,7 @@ map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tie
 perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp
 perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
-perception/crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
+perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp
 perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
index 21143aa0cb28a..ed7ff059a6e53 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -17,7 +17,7 @@
   <arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
   <arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
   <arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
-  <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
+  <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
   <arg name="image_number" default="1" description="choose image raw number(1-2)"/>
   <arg name="namespace1" default="camera6"/>
   <arg name="namespace2" default="camera7"/>
@@ -158,7 +158,7 @@
   </group>
 
   <group if="$(var use_crosswalk_traffic_light_estimator)">
-    <node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
+    <node pkg="autoware_crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
       <remap from="~/input/vector_map" to="/map/vector_map"/>
       <remap from="~/input/route" to="/planning/mission_planning/route"/>
       <remap from="~/input/classified/traffic_signals" to="$(var judged/traffic_signals)"/>
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index c74ef297aba6b..6ec706a4aad32 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -12,10 +12,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>cluster_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
-  <exec_depend>crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>detected_object_feature_remover</exec_depend>
   <exec_depend>detected_object_validation</exec_depend>
   <exec_depend>detection_by_tracker</exec_depend>
diff --git a/perception/crosswalk_traffic_light_estimator/CMakeLists.txt b/perception/autoware_crosswalk_traffic_light_estimator/CMakeLists.txt
similarity index 61%
rename from perception/crosswalk_traffic_light_estimator/CMakeLists.txt
rename to perception/autoware_crosswalk_traffic_light_estimator/CMakeLists.txt
index 2947070eca01e..31a098a8686ec 100644
--- a/perception/crosswalk_traffic_light_estimator/CMakeLists.txt
+++ b/perception/autoware_crosswalk_traffic_light_estimator/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(crosswalk_traffic_light_estimator)
+project(autoware_crosswalk_traffic_light_estimator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,12 +10,12 @@ autoware_package()
 
 include_directories()
 
-ament_auto_add_library(crosswalk_traffic_light_estimator SHARED
+ament_auto_add_library(autoware_crosswalk_traffic_light_estimator SHARED
   src/node.cpp
 )
 
-rclcpp_components_register_node(crosswalk_traffic_light_estimator
-  PLUGIN "traffic_light::CrosswalkTrafficLightEstimatorNode"
+rclcpp_components_register_node(autoware_crosswalk_traffic_light_estimator
+  PLUGIN "autoware::crosswalk_traffic_light_estimator::CrosswalkTrafficLightEstimatorNode"
   EXECUTABLE crosswalk_traffic_light_estimator_node
 )
 
diff --git a/perception/crosswalk_traffic_light_estimator/README.md b/perception/autoware_crosswalk_traffic_light_estimator/README.md
similarity index 100%
rename from perception/crosswalk_traffic_light_estimator/README.md
rename to perception/autoware_crosswalk_traffic_light_estimator/README.md
diff --git a/perception/crosswalk_traffic_light_estimator/config/crosswalk_traffic_light_estimator.param.yaml b/perception/autoware_crosswalk_traffic_light_estimator/config/crosswalk_traffic_light_estimator.param.yaml
similarity index 100%
rename from perception/crosswalk_traffic_light_estimator/config/crosswalk_traffic_light_estimator.param.yaml
rename to perception/autoware_crosswalk_traffic_light_estimator/config/crosswalk_traffic_light_estimator.param.yaml
diff --git a/perception/crosswalk_traffic_light_estimator/images/intersection1.svg b/perception/autoware_crosswalk_traffic_light_estimator/images/intersection1.svg
similarity index 100%
rename from perception/crosswalk_traffic_light_estimator/images/intersection1.svg
rename to perception/autoware_crosswalk_traffic_light_estimator/images/intersection1.svg
diff --git a/perception/crosswalk_traffic_light_estimator/images/intersection2.svg b/perception/autoware_crosswalk_traffic_light_estimator/images/intersection2.svg
similarity index 100%
rename from perception/crosswalk_traffic_light_estimator/images/intersection2.svg
rename to perception/autoware_crosswalk_traffic_light_estimator/images/intersection2.svg
diff --git a/perception/crosswalk_traffic_light_estimator/images/straight.drawio.svg b/perception/autoware_crosswalk_traffic_light_estimator/images/straight.drawio.svg
similarity index 100%
rename from perception/crosswalk_traffic_light_estimator/images/straight.drawio.svg
rename to perception/autoware_crosswalk_traffic_light_estimator/images/straight.drawio.svg
diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
similarity index 93%
rename from perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
rename to perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
index 5072f8b8fc296..de53d78d7f782 100644
--- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
-#define CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
+#ifndef AUTOWARE_CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
+#define AUTOWARE_CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
@@ -36,7 +36,7 @@
 #include <unordered_map>
 #include <utility>
 #include <vector>
-namespace traffic_light
+namespace autoware::crosswalk_traffic_light_estimator
 {
 
 using autoware_map_msgs::msg::LaneletMapBin;
@@ -117,6 +117,6 @@ class CrosswalkTrafficLightEstimatorNode : public rclcpp::Node
   std::shared_ptr<DebugPublisher> pub_processing_time_;
 };
 
-}  // namespace traffic_light
+}  // namespace autoware::crosswalk_traffic_light_estimator
 
-#endif  // CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
+#endif  // AUTOWARE_CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
diff --git a/perception/crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml b/perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml
similarity index 78%
rename from perception/crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml
rename to perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml
index 21d718c3439cd..2e1437ecd7d93 100644
--- a/perception/crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml
@@ -11,9 +11,9 @@
   limitations under the License.
 -->
 <launch>
-  <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
+  <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
 
-  <node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
+  <node pkg="autoware_crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
     <remap from="~/input/vector_map" to="/map/vector_map"/>
     <remap from="~/input/route" to="/planning/mission_planning/route"/>
     <remap from="~/input/classified/traffic_signals" to="classified/traffic_signals"/>
diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
similarity index 86%
rename from perception/crosswalk_traffic_light_estimator/package.xml
rename to perception/autoware_crosswalk_traffic_light_estimator/package.xml
index 123b721c40e0a..d844ea27b52b5 100644
--- a/perception/crosswalk_traffic_light_estimator/package.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>crosswalk_traffic_light_estimator</name>
+  <name>autoware_crosswalk_traffic_light_estimator</name>
   <version>0.1.0</version>
-  <description>The crosswalk_traffic_light_estimator package</description>
+  <description>The autoware_crosswalk_traffic_light_estimator package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json b/perception/autoware_crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json
similarity index 100%
rename from perception/crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json
rename to perception/autoware_crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json
diff --git a/perception/crosswalk_traffic_light_estimator/src/node.cpp b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp
similarity index 98%
rename from perception/crosswalk_traffic_light_estimator/src/node.cpp
rename to perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp
index 2a760b3f00e4e..2c4da0b95b161 100644
--- a/perception/crosswalk_traffic_light_estimator/src/node.cpp
+++ b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "crosswalk_traffic_light_estimator/node.hpp"
+#include "autoware_crosswalk_traffic_light_estimator/node.hpp"
 
 #include <lanelet2_extension/regulatory_elements/Forward.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
@@ -21,7 +21,7 @@
 #include <utility>
 #include <vector>
 
-namespace traffic_light
+namespace autoware::crosswalk_traffic_light_estimator
 {
 namespace
 {
@@ -538,8 +538,9 @@ void CrosswalkTrafficLightEstimatorNode::removeDuplicateIds(TrafficSignalArray &
     signals.end());
 }
 
-}  // namespace traffic_light
+}  // namespace autoware::crosswalk_traffic_light_estimator
 
 #include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::CrosswalkTrafficLightEstimatorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::crosswalk_traffic_light_estimator::CrosswalkTrafficLightEstimatorNode)