diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 297ce75c5c176..1adc34fe63e4d 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -204,7 +204,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.
 planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp
-planning/scenario_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
+planning/autoware_scenario_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
 planning/autoware_surround_obstacle_checker/** go.sakayori@tier4.jp satoshi.ota@tier4.jp
 sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
index f96cac4f017a6..a252986f9d957 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -3,7 +3,7 @@
   <arg name="is_simulation"/>
   <!-- scenario selector -->
   <group>
-    <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
+    <include file="$(find-pkg-share autoware_scenario_selector)/launch/scenario_selector.launch.xml">
       <arg name="input_lane_driving_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/>
       <arg name="input_parking_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
       <arg name="input_lanelet_map" value="/map/vector_map"/>
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index e5def4c7aed0c..798ee7675acaa 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -64,6 +64,7 @@
   <exec_depend>autoware_planning_topic_converter</exec_depend>
   <exec_depend>autoware_planning_validator</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
+  <exec_depend>autoware_scenario_selector</exec_depend>
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
@@ -74,7 +75,6 @@
   <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
-  <exec_depend>scenario_selector</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/planning/.pages b/planning/.pages
index be6bf0af9b2a9..49c87b4bcf418 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -70,7 +70,7 @@ nav:
     - 'Velocity Smoother':
       - 'About Velocity Smoother': planning/autoware_velocity_smoother
       - 'About Velocity Smoother (Japanese)': planning/autoware_velocity_smoother/README.ja
-  - 'Scenario Selector': planning/scenario_selector
+  - 'Scenario Selector': planning/autoware_scenario_selector
   - 'Static Centerline Generator': planning/autoware_static_centerline_generator
   - 'API and Library':
     - 'Costmap Generator': planning/costmap_generator
diff --git a/planning/scenario_selector/CMakeLists.txt b/planning/autoware_scenario_selector/CMakeLists.txt
similarity index 54%
rename from planning/scenario_selector/CMakeLists.txt
rename to planning/autoware_scenario_selector/CMakeLists.txt
index d2e9e051d721a..e615ed69d61bf 100644
--- a/planning/scenario_selector/CMakeLists.txt
+++ b/planning/autoware_scenario_selector/CMakeLists.txt
@@ -1,16 +1,16 @@
 cmake_minimum_required(VERSION 3.14)
-project(scenario_selector)
+project(autoware_scenario_selector)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(scenario_selector_node SHARED
-  src/scenario_selector_node/scenario_selector_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/node.cpp
 )
 
-rclcpp_components_register_node(scenario_selector_node
-  PLUGIN "ScenarioSelectorNode"
-  EXECUTABLE scenario_selector
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::scenario_selector::ScenarioSelectorNode"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)
@@ -18,11 +18,10 @@ if(BUILD_TESTING)
     test/test_${PROJECT_NAME}_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
-    ${PROJECT_NAME}_node
+    ${PROJECT_NAME}
   )
 endif()
 
-
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config
diff --git a/planning/scenario_selector/README.md b/planning/autoware_scenario_selector/README.md
similarity index 91%
rename from planning/scenario_selector/README.md
rename to planning/autoware_scenario_selector/README.md
index 373ac164e5057..a0b78a572c734 100644
--- a/planning/scenario_selector/README.md
+++ b/planning/autoware_scenario_selector/README.md
@@ -1,4 +1,4 @@
-# scenario_selector
+# autoware_scenario_selector
 
 ## scenario_selector_node
 
@@ -29,12 +29,12 @@ None
 ### How to launch
 
 1. Write your remapping info in `scenario_selector.launch` or add args when executing `roslaunch`
-2. `roslaunch scenario_selector scenario_selector.launch`
-   - If you would like to use only a single scenario, `roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch`
+2. `roslaunch autoware_scenario_selector scenario_selector.launch`
+   - If you would like to use only a single scenario, `roslaunch autoware_scenario_selector dummy_scenario_selector_{scenario_name}.launch`
 
 ### Parameters
 
-{{ json_to_markdown("planning/scenario_selector/schema/scenario_selector.schema.json") }}
+{{ json_to_markdown("planning/autoware_scenario_selector/schema/scenario_selector.schema.json") }}
 
 ### Flowchart
 
diff --git a/planning/scenario_selector/config/scenario_selector.param.yaml b/planning/autoware_scenario_selector/config/scenario_selector.param.yaml
similarity index 100%
rename from planning/scenario_selector/config/scenario_selector.param.yaml
rename to planning/autoware_scenario_selector/config/scenario_selector.param.yaml
diff --git a/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp b/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp
similarity index 94%
rename from planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp
rename to planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp
index 7162a435d8852..5551db45bba37 100644
--- a/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp
+++ b/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_
-#define SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_
+#ifndef AUTOWARE_SCENARIO_SELECTOR__NODE_HPP_
+#define AUTOWARE_SCENARIO_SELECTOR__NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -43,6 +43,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::scenario_selector
+{
 class ScenarioSelectorNode : public rclcpp::Node
 {
 public:
@@ -100,5 +102,5 @@ class ScenarioSelectorNode : public rclcpp::Node
   double th_stopped_velocity_mps_;
   bool is_parking_completed_;
 };
-
-#endif  // SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_
+}  // namespace autoware::scenario_selector
+#endif  // AUTOWARE_SCENARIO_SELECTOR__NODE_HPP_
diff --git a/planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml b/planning/autoware_scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml
similarity index 100%
rename from planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml
rename to planning/autoware_scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml
diff --git a/planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml b/planning/autoware_scenario_selector/launch/dummy_scenario_selector_parking.launch.xml
similarity index 100%
rename from planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml
rename to planning/autoware_scenario_selector/launch/dummy_scenario_selector_parking.launch.xml
diff --git a/planning/scenario_selector/launch/scenario_selector.launch.xml b/planning/autoware_scenario_selector/launch/scenario_selector.launch.xml
similarity index 80%
rename from planning/scenario_selector/launch/scenario_selector.launch.xml
rename to planning/autoware_scenario_selector/launch/scenario_selector.launch.xml
index fdf176405d7b0..8c35451ee19dc 100644
--- a/planning/scenario_selector/launch/scenario_selector.launch.xml
+++ b/planning/autoware_scenario_selector/launch/scenario_selector.launch.xml
@@ -9,9 +9,9 @@
   <arg name="output_scenario"/>
   <arg name="output_trajectory"/>
   <!-- Parameter -->
-  <arg name="config_file" default="$(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml"/>
 
-  <node pkg="scenario_selector" exec="scenario_selector" name="scenario_selector" output="screen">
+  <node pkg="autoware_scenario_selector" exec="autoware_scenario_selector_node" name="scenario_selector" output="screen">
     <remap from="input/lane_driving/trajectory" to="$(var input_lane_driving_trajectory)"/>
     <remap from="input/parking/trajectory" to="$(var input_parking_trajectory)"/>
     <remap from="input/lanelet_map" to="$(var input_lanelet_map)"/>
diff --git a/planning/scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml
similarity index 93%
rename from planning/scenario_selector/package.xml
rename to planning/autoware_scenario_selector/package.xml
index f910c09dbb070..ee58eac35c8ae 100644
--- a/planning/scenario_selector/package.xml
+++ b/planning/autoware_scenario_selector/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>scenario_selector</name>
+  <name>autoware_scenario_selector</name>
   <version>0.1.0</version>
-  <description>The scenario_selector ROS 2 package</description>
+  <description>The autoware_scenario_selector ROS 2 package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
diff --git a/planning/scenario_selector/schema/scenario_selector.schema.json b/planning/autoware_scenario_selector/schema/scenario_selector.schema.json
similarity index 94%
rename from planning/scenario_selector/schema/scenario_selector.schema.json
rename to planning/autoware_scenario_selector/schema/scenario_selector.schema.json
index 8ccb75106c6a5..a9e6411084a88 100644
--- a/planning/scenario_selector/schema/scenario_selector.schema.json
+++ b/planning/autoware_scenario_selector/schema/scenario_selector.schema.json
@@ -3,7 +3,7 @@
   "title": "Parameters for Scenario Selector Node",
   "type": "object",
   "definitions": {
-    "scenario_selector": {
+    "autoware_scenario_selector": {
       "type": "object",
       "properties": {
         "update_rate": {
@@ -51,7 +51,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/scenario_selector"
+          "$ref": "#/definitions/autoware_scenario_selector"
         }
       },
       "required": ["ros__parameters"]
diff --git a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp b/planning/autoware_scenario_selector/src/node.cpp
similarity index 98%
rename from planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
rename to planning/autoware_scenario_selector/src/node.cpp
index 2ba56a911bbeb..1f1a22cf08deb 100644
--- a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
+++ b/planning/autoware_scenario_selector/src/node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "scenario_selector/scenario_selector_node.hpp"
+#include "autoware_scenario_selector/node.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -28,7 +28,8 @@
 #include <string>
 #include <utility>
 #include <vector>
-
+namespace autoware::scenario_selector
+{
 namespace
 {
 template <class T>
@@ -373,6 +374,7 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti
     this, get_clock(), period_ns, std::bind(&ScenarioSelectorNode::onTimer, this));
   published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
 }
+}  // namespace autoware::scenario_selector
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ScenarioSelectorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::scenario_selector::ScenarioSelectorNode)
diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
similarity index 97%
rename from planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
rename to planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
index 90995e4e2ae72..052c455c477a7 100644
--- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
+++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "scenario_selector/scenario_selector_node.hpp"
+#include "autoware_scenario_selector/node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
@@ -22,7 +22,8 @@
 
 #include <cmath>
 #include <vector>
-
+namespace autoware::scenario_selector
+{
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -121,3 +122,4 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
   ASSERT_NO_THROW(test_manager->testTrajectoryWithInvalidEgoPose(test_target_node));
   rclcpp::shutdown();
 }
+}  // namespace autoware::scenario_selector