diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp
index 50ce8634ec600..1baa72f5c6ced 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp
@@ -87,7 +87,9 @@ class BlindSpotModule : public SceneModuleInterfaceWithRTC
   BlindSpotModule(
     const int64_t module_id, const int64_t lane_id, const TurnDirection turn_direction,
     const std::shared_ptr<const PlannerData> planner_data, const PlannerParam & planner_param,
-    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   /**
    * @brief plan go-stop velocity at traffic crossing with collision check between reference path
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp
index a1410d2fecfd5..f6f16e5cd413a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp
@@ -75,7 +75,7 @@ void BlindSpotModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pa
 
     registerModule(std::make_shared<BlindSpotModule>(
       module_id, lane_id, turn_direction, planner_data_, planner_param_,
-      logger_.get_child("blind_spot_module"), clock_));
+      logger_.get_child("blind_spot_module"), clock_, time_keeper_, planning_factor_interface_));
     generateUUID(module_id);
     updateRTCStatus(
       getUUID(module_id), true, State::WAITING_FOR_EXECUTION, std::numeric_limits<double>::lowest(),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
index 7d1a68c5006a0..d5d47b11f160a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
@@ -40,8 +40,10 @@ namespace bg = boost::geometry;
 BlindSpotModule::BlindSpotModule(
   const int64_t module_id, const int64_t lane_id, const TurnDirection turn_direction,
   const std::shared_ptr<const PlannerData> planner_data, const PlannerParam & planner_param,
-  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterfaceWithRTC(module_id, logger, clock),
+  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterfaceWithRTC(module_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   planner_param_{planner_param},
   turn_direction_(turn_direction),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
index cdaff7225a7d2..5bfd31b75976a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
@@ -192,8 +192,8 @@ void CrosswalkModuleManager::launchNewModules(const PathWithLaneId & path)
     // NOTE: module_id is always a lane id so that isModuleRegistered works correctly in the case
     //       where both regulatory element and non-regulatory element crosswalks exist.
     registerModule(std::make_shared<CrosswalkModule>(
-      node_, road_lanelet_id, crosswalk_lanelet_id, reg_elem_id, lanelet_map_ptr, p, logger,
-      clock_));
+      node_, road_lanelet_id, crosswalk_lanelet_id, reg_elem_id, lanelet_map_ptr, p, logger, clock_,
+      time_keeper_, planning_factor_interface_));
     generateUUID(crosswalk_lanelet_id);
     updateRTCStatus(
       getUUID(crosswalk_lanelet_id), true, State::WAITING_FOR_EXECUTION,
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 64f7e9e14dcd1..7c9035d135065 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -34,12 +34,12 @@
 #include <cmath>
 #include <functional>
 #include <limits>
+#include <memory>
 #include <set>
 #include <string>
 #include <tuple>
 #include <utility>
 #include <vector>
-
 namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
@@ -175,8 +175,10 @@ CrosswalkModule::CrosswalkModule(
   rclcpp::Node & node, const int64_t lane_id, const int64_t module_id,
   const std::optional<int64_t> & reg_elem_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
-  const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterfaceWithRTC(module_id, logger, clock),
+  const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterfaceWithRTC(module_id, logger, clock, time_keeper, planning_factor_interface),
   module_id_(module_id),
   planner_param_(planner_param),
   use_regulatory_element_(reg_elem_id)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
index d5a9e463c730b..f32ee96623822 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -334,7 +334,9 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC
     rclcpp::Node & node, const int64_t lane_id, const int64_t module_id,
     const std::optional<int64_t> & reg_elem_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
     const PlannerParam & planner_param, const rclcpp::Logger & logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
index fb2c17d9e3745..f231d7adc3326 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
@@ -64,7 +64,8 @@ void DetectionAreaModuleManager::launchNewModules(
     if (!isModuleRegistered(module_id)) {
       registerModule(std::make_shared<DetectionAreaModule>(
         module_id, lane_id, *detection_area_with_lane_id.first, planner_param_,
-        logger_.get_child("detection_area_module"), clock_));
+        logger_.get_child("detection_area_module"), clock_, time_keeper_,
+        planning_factor_interface_));
     }
   }
 }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
index 031c45753022e..59f6f20937f41 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
@@ -36,8 +36,10 @@ DetectionAreaModule::DetectionAreaModule(
   const int64_t module_id, const int64_t lane_id,
   const lanelet::autoware::DetectionArea & detection_area_reg_elem,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
-  const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   detection_area_reg_elem_(detection_area_reg_elem),
   state_(State::GO),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
index 9224cf4624687..1d3e5f3540ff3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
@@ -68,7 +68,9 @@ class DetectionAreaModule : public SceneModuleInterface
     const int64_t module_id, const int64_t lane_id,
     const lanelet::autoware::DetectionArea & detection_area_reg_elem,
     const PlannerParam & planner_param, const rclcpp::Logger & logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
index 41bdbe3e43c8b..d6f7dfbac92d4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
@@ -338,7 +338,8 @@ void IntersectionModuleManager::launchNewModules(
     }
     const auto new_module = std::make_shared<IntersectionModule>(
       module_id, lane_id, planner_data_, intersection_param_, associative_ids, turn_direction,
-      has_traffic_light, node_, logger_.get_child("intersection_module"), clock_);
+      has_traffic_light, node_, logger_.get_child("intersection_module"), clock_, time_keeper_,
+      planning_factor_interface_);
     generateUUID(module_id);
     /* set RTC status as non_occluded status initially */
     const UUID uuid = getUUID(new_module->getModuleId());
@@ -526,7 +527,8 @@ void MergeFromPrivateModuleManager::launchNewModules(
           planning_utils::getAssociativeIntersectionLanelets(ll, lanelet_map, routing_graph);
         registerModule(std::make_shared<MergeFromPrivateRoadModule>(
           module_id, lane_id, planner_data_, merge_from_private_area_param_, associative_ids,
-          logger_.get_child("merge_from_private_road_module"), clock_));
+          logger_.get_child("merge_from_private_road_module"), clock_, time_keeper_,
+          planning_factor_interface_));
         continue;
       }
     } else {
@@ -540,7 +542,8 @@ void MergeFromPrivateModuleManager::launchNewModules(
             planning_utils::getAssociativeIntersectionLanelets(ll, lanelet_map, routing_graph);
           registerModule(std::make_shared<MergeFromPrivateRoadModule>(
             module_id, lane_id, planner_data_, merge_from_private_area_param_, associative_ids,
-            logger_.get_child("merge_from_private_road_module"), clock_));
+            logger_.get_child("merge_from_private_road_module"), clock_, time_keeper_,
+            planning_factor_interface_));
           continue;
         }
       }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
index 93a13a4d62737..09fe8db600229 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -52,8 +52,10 @@ IntersectionModule::IntersectionModule(
   [[maybe_unused]] std::shared_ptr<const PlannerData> planner_data,
   const PlannerParam & planner_param, const std::set<lanelet::Id> & associative_ids,
   const std::string & turn_direction, const bool has_traffic_light, rclcpp::Node & node,
-  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterfaceWithRTC(module_id, logger, clock),
+  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterfaceWithRTC(module_id, logger, clock, time_keeper, planning_factor_interface),
   planner_param_(planner_param),
   lane_id_(lane_id),
   associative_ids_(associative_ids),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp
index 6c31be2ce83b9..db0cfbe98d53c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -304,7 +304,9 @@ class IntersectionModule : public SceneModuleInterfaceWithRTC
     const int64_t module_id, const int64_t lane_id, std::shared_ptr<const PlannerData> planner_data,
     const PlannerParam & planner_param, const std::set<lanelet::Id> & associative_ids,
     const std::string & turn_direction, const bool has_traffic_light, rclcpp::Node & node,
-    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   /**
    ***********************************************************
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
index 3dfdcc36c0cff..2392817aebaf2 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
@@ -41,8 +41,10 @@ MergeFromPrivateRoadModule::MergeFromPrivateRoadModule(
   const int64_t module_id, const int64_t lane_id,
   [[maybe_unused]] std::shared_ptr<const PlannerData> planner_data,
   const PlannerParam & planner_param, const std::set<lanelet::Id> & associative_ids,
-  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   associative_ids_(associative_ids)
 {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp
index dc8bf1a96a7a2..fe446d304d9e0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp
@@ -61,7 +61,9 @@ class MergeFromPrivateRoadModule : public SceneModuleInterface
   MergeFromPrivateRoadModule(
     const int64_t module_id, const int64_t lane_id, std::shared_ptr<const PlannerData> planner_data,
     const PlannerParam & planner_param, const std::set<lanelet::Id> & associative_ids,
-    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   /**
    * @brief plan go-stop velocity at traffic crossing with collision check between reference path
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp
index 9cb1153a8edd2..517568c93bd35 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp
@@ -51,7 +51,8 @@ void NoDrivableLaneModuleManager::launchNewModules(
     }
 
     registerModule(std::make_shared<NoDrivableLaneModule>(
-      module_id, lane_id, planner_param_, logger_.get_child("no_drivable_lane_module"), clock_));
+      module_id, lane_id, planner_param_, logger_.get_child("no_drivable_lane_module"), clock_,
+      time_keeper_, planning_factor_interface_));
   }
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
index 8365251904b18..f32210bc502bf 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
@@ -21,14 +21,18 @@
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <memory>
+
 namespace autoware::behavior_velocity_planner
 {
 using autoware::universe_utils::createPoint;
 
 NoDrivableLaneModule::NoDrivableLaneModule(
   const int64_t module_id, const int64_t lane_id, const PlannerParam & planner_param,
-  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   planner_param_(planner_param),
   debug_data_(),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp
index d8c5e3e0425d1..835e946443e90 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp
@@ -55,7 +55,9 @@ class NoDrivableLaneModule : public SceneModuleInterface
 
   NoDrivableLaneModule(
     const int64_t module_id, const int64_t lane_id, const PlannerParam & planner_param,
-    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
index dca2dde33b693..55b6c0dffd1a4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
@@ -60,7 +60,7 @@ void NoStoppingAreaModuleManager::launchNewModules(
       // assign 1 no stopping area for each module
       registerModule(std::make_shared<NoStoppingAreaModule>(
         module_id, lane_id, *m.first, planner_param_, logger_.get_child("no_stopping_area_module"),
-        clock_));
+        clock_, time_keeper_, planning_factor_interface_));
       generateUUID(module_id);
       updateRTCStatus(
         getUUID(module_id), true, State::WAITING_FOR_EXECUTION,
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
index 5c79ec69a9d98..bcb8b365f6205 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
@@ -30,6 +30,7 @@
 #include <lanelet2_core/utility/Optional.h>
 
 #include <cmath>
+#include <memory>
 #include <vector>
 
 namespace autoware::behavior_velocity_planner
@@ -40,8 +41,10 @@ NoStoppingAreaModule::NoStoppingAreaModule(
   const int64_t module_id, const int64_t lane_id,
   const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
-  const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterfaceWithRTC(module_id, logger, clock),
+  const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterfaceWithRTC(module_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   no_stopping_area_reg_elem_(no_stopping_area_reg_elem),
   planner_param_(planner_param),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp
index 1eafcf157623d..0d53441924805 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp
@@ -57,7 +57,9 @@ class NoStoppingAreaModule : public SceneModuleInterfaceWithRTC
     const int64_t module_id, const int64_t lane_id,
     const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem,
     const PlannerParam & planner_param, const rclcpp::Logger & logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp
index c4dace9d49244..d28cff55a7a8d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp
@@ -123,8 +123,8 @@ void OcclusionSpotModuleManager::launchNewModules(
   // general
   if (!isModuleRegistered(module_id_)) {
     registerModule(std::make_shared<OcclusionSpotModule>(
-      module_id_, planner_data_, planner_param_, logger_.get_child("occlusion_spot_module"),
-      clock_));
+      module_id_, planner_data_, planner_param_, logger_.get_child("occlusion_spot_module"), clock_,
+      time_keeper_, planning_factor_interface_));
   }
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp
index c5d1cf61614b2..1163b00e08ccb 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp
@@ -64,8 +64,11 @@ namespace utils = occlusion_spot_utils;
 OcclusionSpotModule::OcclusionSpotModule(
   const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
-  const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock), param_(planner_param)
+  const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
+  param_(planner_param)
 {
   velocity_factor_.init(PlanningBehavior::UNKNOWN);
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp
index 35c409a9c459b..22b2a91be66b0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp
@@ -48,7 +48,9 @@ class OcclusionSpotModule : public SceneModuleInterface
   OcclusionSpotModule(
     const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
     const PlannerParam & planner_param, const rclcpp::Logger & logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   /**
    * @brief plan occlusion spot velocity at unknown area in occupancy grid
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp
index d8d640a078267..cb57974ed6700 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp
@@ -17,6 +17,7 @@
 
 #include <autoware/behavior_velocity_planner_common/planner_data.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/motion_utils/factor/planning_factor_interface.hpp>
 #include <autoware/motion_utils/factor/velocity_factor_interface.hpp>
 #include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
@@ -79,7 +80,9 @@ class SceneModuleInterface
 {
 public:
   explicit SceneModuleInterface(
-    const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock);
+    const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
   virtual ~SceneModuleInterface() = default;
 
   virtual bool modifyPathVelocity(PathWithLaneId * path) = 0;
@@ -94,13 +97,6 @@ class SceneModuleInterface
     planner_data_ = planner_data;
   }
 
-  void setTimeKeeper(const std::shared_ptr<universe_utils::TimeKeeper> & time_keeper)
-  {
-    time_keeper_ = time_keeper;
-  }
-
-  std::shared_ptr<universe_utils::TimeKeeper> getTimeKeeper() { return time_keeper_; }
-
   void resetVelocityFactor() { velocity_factor_.reset(); }
   VelocityFactor getVelocityFactor() const { return velocity_factor_.get(); }
   std::vector<ObjectOfInterest> getObjectsOfInterestData() const { return objects_of_interest_; }
@@ -111,9 +107,10 @@ class SceneModuleInterface
   rclcpp::Logger logger_;
   rclcpp::Clock::SharedPtr clock_;
   std::shared_ptr<const PlannerData> planner_data_;
-  autoware::motion_utils::VelocityFactorInterface velocity_factor_;
+  autoware::motion_utils::VelocityFactorInterface velocity_factor_;  // TODO(soblin): remove this
   std::vector<ObjectOfInterest> objects_of_interest_;
   mutable std::shared_ptr<universe_utils::TimeKeeper> time_keeper_;
+  std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface_;
 
   void setObjectsOfInterestData(
     const geometry_msgs::msg::Pose & pose, const autoware_perception_msgs::msg::Shape & shape,
@@ -148,6 +145,8 @@ class SceneModuleManagerInterface
       std::string("~/virtual_wall/") + module_name, 5);
     pub_velocity_factor_ = node.create_publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>(
       std::string("/planning/velocity_factors/") + module_name, 1);
+    planning_factor_interface_ =
+      std::make_shared<motion_utils::PlanningFactorInterface>(&node, module_name);
 
     processing_time_publisher_ = std::make_shared<DebugPublisher>(&node, "~/debug");
 
@@ -191,6 +190,7 @@ class SceneModuleManagerInterface
       scene_module->modifyPathVelocity(path);
 
       // The velocity factor must be called after modifyPathVelocity.
+      // TODO(soblin): remove this
       const auto velocity_factor = scene_module->getVelocityFactor();
       if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) {
         velocity_factor_array.factors.emplace_back(velocity_factor);
@@ -204,6 +204,7 @@ class SceneModuleManagerInterface
     }
 
     pub_velocity_factor_->publish(velocity_factor_array);
+    planning_factor_interface_->publish();
     pub_debug_->publish(debug_marker_array);
     if (is_publish_debug_path_) {
       tier4_planning_msgs::msg::PathWithLaneId debug_path;
@@ -246,7 +247,6 @@ class SceneModuleManagerInterface
       logger_, "register task: module = %s, id = %lu", getModuleName(),
       scene_module->getModuleId());
     registered_module_id_set_.emplace(scene_module->getModuleId());
-    scene_module->setTimeKeeper(time_keeper_);
     scene_modules_.insert(scene_module);
   }
 
@@ -281,6 +281,8 @@ class SceneModuleManagerInterface
   rclcpp::Publisher<universe_utils::ProcessingTimeDetail>::SharedPtr pub_processing_time_detail_;
 
   std::shared_ptr<universe_utils::TimeKeeper> time_keeper_;
+
+  std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface_;
 };
 extern template SceneModuleManagerInterface<SceneModuleInterface>::SceneModuleManagerInterface(
   rclcpp::Node & node, [[maybe_unused]] const char * module_name);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp
index ffd454012d13e..db2a274272f9f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp
@@ -25,11 +25,14 @@ namespace autoware::behavior_velocity_planner
 {
 
 SceneModuleInterface::SceneModuleInterface(
-  const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
+  const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
 : module_id_(module_id),
   logger_(logger),
   clock_(clock),
-  time_keeper_(std::shared_ptr<universe_utils::TimeKeeper>())
+  time_keeper_(time_keeper),
+  planning_factor_interface_(planning_factor_interface)
 {
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp
index 4e30ab019aa4e..a955538f4f9fe 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp
@@ -52,7 +52,9 @@ class SceneModuleInterfaceWithRTC : public SceneModuleInterface
 {
 public:
   explicit SceneModuleInterfaceWithRTC(
-    const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock);
+    const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
   virtual ~SceneModuleInterfaceWithRTC() = default;
 
   void setActivation(const bool activated) { activated_ = activated; }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/src/scene_module_interface_with_rtc.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/src/scene_module_interface_with_rtc.cpp
index abac509fd2b2b..2e73b35e20ed9 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/src/scene_module_interface_with_rtc.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/src/scene_module_interface_with_rtc.cpp
@@ -27,8 +27,10 @@ namespace autoware::behavior_velocity_planner
 {
 
 SceneModuleInterfaceWithRTC::SceneModuleInterfaceWithRTC(
-  const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   activated_(false),
   safe_(false),
   distance_(std::numeric_limits<double>::lowest())
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp
index 4a16f263d0a54..4af7882461643 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp
@@ -156,7 +156,8 @@ void RunOutModuleManager::launchNewModules(const tier4_planning_msgs::msg::PathW
   if (!isModuleRegistered(module_id)) {
     registerModule(std::make_shared<RunOutModule>(
       module_id, planner_data_, planner_param_, logger_.get_child("run_out_module"),
-      std::move(dynamic_obstacle_creator_), debug_ptr_, clock_));
+      std::move(dynamic_obstacle_creator_), debug_ptr_, clock_, time_keeper_,
+      planning_factor_interface_));
   }
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
index efc2d458ae2a7..639794bbd6036 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
@@ -45,8 +45,10 @@ RunOutModule::RunOutModule(
   const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
   const PlannerParam & planner_param, const rclcpp::Logger logger,
   std::unique_ptr<DynamicObstacleCreator> dynamic_obstacle_creator,
-  const std::shared_ptr<RunOutDebug> & debug_ptr, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const std::shared_ptr<RunOutDebug> & debug_ptr, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   planner_param_(planner_param),
   dynamic_obstacle_creator_(std::move(dynamic_obstacle_creator)),
   debug_ptr_(debug_ptr),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp
index 83123c71f461e..49de16753a869 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp
@@ -47,7 +47,9 @@ class RunOutModule : public SceneModuleInterface
     const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
     const PlannerParam & planner_param, const rclcpp::Logger logger,
     std::unique_ptr<DynamicObstacleCreator> dynamic_obstacle_creator,
-    const std::shared_ptr<RunOutDebug> & debug_ptr, const rclcpp::Clock::SharedPtr clock);
+    const std::shared_ptr<RunOutDebug> & debug_ptr, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.cpp
index 4677d49b78f4b..a69e33e9e0391 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/manager.cpp
@@ -63,7 +63,7 @@ void SpeedBumpModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pa
     if (!isModuleRegistered(module_id)) {
       registerModule(std::make_shared<SpeedBumpModule>(
         module_id, lane_id, *speed_bump_with_lane_id.first, planner_param_,
-        logger_.get_child("speed_bump_module"), clock_));
+        logger_.get_child("speed_bump_module"), clock_, time_keeper_, planning_factor_interface_));
     }
   }
 }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp
index 54ea807f3268b..4af7801e50ba3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp
@@ -21,6 +21,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <iostream>
+#include <memory>
 #include <utility>
 
 namespace autoware::behavior_velocity_planner
@@ -33,8 +34,10 @@ using geometry_msgs::msg::Point32;
 SpeedBumpModule::SpeedBumpModule(
   const int64_t module_id, const int64_t lane_id,
   const lanelet::autoware::SpeedBump & speed_bump_reg_elem, const PlannerParam & planner_param,
-  const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   module_id_(module_id),
   lane_id_(lane_id),
   speed_bump_reg_elem_(std::move(speed_bump_reg_elem)),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp
index 176a01d5112c5..e3ee2c0566381 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp
@@ -21,6 +21,7 @@
 #include <autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <memory>
 #include <utility>
 #include <vector>
 
@@ -54,7 +55,9 @@ class SpeedBumpModule : public SceneModuleInterface
   SpeedBumpModule(
     const int64_t module_id, const int64_t lane_id,
     const lanelet::autoware::SpeedBump & speed_bump_reg_elem, const PlannerParam & planner_param,
-    const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
index b305a1d2aa404..e289779df34b6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
@@ -81,7 +81,7 @@ void StopLineModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pat
     if (!isModuleRegistered(module_id)) {
       registerModule(std::make_shared<StopLineModule>(
         module_id, stop_line_with_lane_id.first, planner_param_,
-        logger_.get_child("stop_line_module"), clock_));
+        logger_.get_child("stop_line_module"), clock_, time_keeper_, planning_factor_interface_));
     }
   }
 }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
index 2a9c5dab1ebd9..71a5ea3b9e807 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
@@ -20,6 +20,7 @@
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
+#include <memory>
 #include <optional>
 #include <utility>
 
@@ -28,8 +29,10 @@ namespace autoware::behavior_velocity_planner
 
 StopLineModule::StopLineModule(
   const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param,
-  const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   stop_line_(std::move(stop_line)),
   planner_param_(planner_param),
   state_(State::APPROACH),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp
index 9ac1463da8618..aac830b0e9f24 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp
@@ -30,6 +30,7 @@
 
 #include <lanelet2_core/LaneletMap.h>
 
+#include <memory>
 #include <optional>
 #include <utility>
 
@@ -68,7 +69,9 @@ class StopLineModule : public SceneModuleInterface
   StopLineModule(
     const int64_t module_id, lanelet::ConstLineString3d stop_line,
     const PlannerParam & planner_param, const rclcpp::Logger & logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp
index 1eafb71eb403c..e304b479a005d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp
@@ -74,7 +74,10 @@ class StopLineModuleTest : public ::testing::Test
     clock_ = std::make_shared<rclcpp::Clock>();
 
     module_ = std::make_shared<StopLineModule>(
-      1, stop_line_, planner_param_, rclcpp::get_logger("test_logger"), clock_);
+      1, stop_line_, planner_param_, rclcpp::get_logger("test_logger"), clock_,
+      std::make_shared<autoware::universe_utils::TimeKeeper>(),
+      std::make_shared<autoware::motion_utils::PlanningFactorInterface>(
+        node_.get(), "test_stopline"));
 
     module_->setPlannerData(planner_data_);
   }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp
index 4325cc1d5aaf9..a004f5b823138 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp
@@ -42,8 +42,9 @@ void TemplateModuleManager::launchNewModules(
 {
   int64_t module_id = 0;
   if (!isModuleRegistered(module_id)) {
-    registerModule(
-      std::make_shared<TemplateModule>(module_id, logger_.get_child(getModuleName()), clock_));
+    registerModule(std::make_shared<TemplateModule>(
+      module_id, logger_.get_child(getModuleName()), clock_, time_keeper_,
+      planning_factor_interface_));
   }
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp
index 3ce8502baaf63..d8eea337e7186 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp
@@ -19,14 +19,17 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <memory>
 #include <string>
 
 namespace autoware::behavior_velocity_planner
 {
 
 TemplateModule::TemplateModule(
-  const int64_t module_id, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock)
+  const int64_t module_id, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface)
 {
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp
index 70cd5cb1235e7..ba078f3fd6421 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp
@@ -18,9 +18,9 @@
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <memory>
 #include <utility>
 #include <vector>
-
 namespace autoware::behavior_velocity_planner
 {
 using tier4_planning_msgs::msg::PathWithLaneId;
@@ -29,7 +29,9 @@ class TemplateModule : public SceneModuleInterface
 {
 public:
   TemplateModule(
-    const int64_t module_id, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock);
+    const int64_t module_id, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   /**
    * @brief Modify the velocity of path points.
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
index 1b66824d04623..9a402f31af0e4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
@@ -114,7 +114,8 @@ void TrafficLightModuleManager::launchNewModules(
     if (!isModuleRegisteredFromExistingAssociatedModule(lane_id)) {
       registerModule(std::make_shared<TrafficLightModule>(
         lane_id, *(traffic_light_reg_elem.first), traffic_light_reg_elem.second, planner_param_,
-        logger_.get_child("traffic_light_module"), clock_));
+        logger_.get_child("traffic_light_module"), clock_, time_keeper_,
+        planning_factor_interface_));
       generateUUID(lane_id);
       updateRTCStatus(
         getUUID(lane_id), true, State::WAITING_FOR_EXECUTION, std::numeric_limits<double>::lowest(),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
index 458d8e1588a5b..b051d5ff7eb76 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
@@ -43,8 +43,10 @@ namespace autoware::behavior_velocity_planner
 TrafficLightModule::TrafficLightModule(
   const int64_t lane_id, const lanelet::TrafficLight & traffic_light_reg_elem,
   lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger,
-  const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterfaceWithRTC(lane_id, logger, clock),
+  const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterfaceWithRTC(lane_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   traffic_light_reg_elem_(traffic_light_reg_elem),
   lane_(lane),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp
index 3af13bc1927ce..c30cbbdfc1477 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp
@@ -69,7 +69,9 @@ class TrafficLightModule : public SceneModuleInterfaceWithRTC
   TrafficLightModule(
     const int64_t lane_id, const lanelet::TrafficLight & traffic_light_reg_elem,
     lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp
index 3815c83d3b6ab..dade98dfc1133 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp
@@ -94,7 +94,8 @@ void VirtualTrafficLightModuleManager::launchNewModules(
         ego_path_linestring, lanelet::utils::to2D(stop_line_opt.value()).basicLineString())) {
       registerModule(std::make_shared<VirtualTrafficLightModule>(
         module_id, lane_id, *m.first, m.second, planner_param_,
-        logger_.get_child("virtual_traffic_light_module"), clock_));
+        logger_.get_child("virtual_traffic_light_module"), clock_, time_keeper_,
+        planning_factor_interface_));
     }
   }
 }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
index 86239816ed6f2..9ba7b0bccf1b9 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
@@ -20,6 +20,7 @@
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -38,8 +39,10 @@ VirtualTrafficLightModule::VirtualTrafficLightModule(
   const int64_t module_id, const int64_t lane_id,
   const lanelet::autoware::VirtualTrafficLight & reg_elem, lanelet::ConstLanelet lane,
   const PlannerParam & planner_param, const rclcpp::Logger logger,
-  const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   lane_id_(lane_id),
   reg_elem_(reg_elem),
   lane_(lane),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp
index 7f37e7078a431..9e7a1192d9869 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp
@@ -31,6 +31,7 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
 
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -81,7 +82,9 @@ class VirtualTrafficLightModule : public SceneModuleInterface
     const int64_t module_id, const int64_t lane_id,
     const lanelet::autoware::VirtualTrafficLight & reg_elem, lanelet::ConstLanelet lane,
     const PlannerParam & planner_param, const rclcpp::Logger logger,
-    const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp
index 0f1a7509043b5..bfa8a96531090 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp
@@ -61,7 +61,8 @@ void WalkwayModuleManager::launchNewModules(const PathWithLaneId & path)
     const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr();
 
     registerModule(std::make_shared<WalkwayModule>(
-      lanelet.id(), lanelet_map_ptr, p, use_regulatory_element, logger, clock_));
+      lanelet.id(), lanelet_map_ptr, p, use_regulatory_element, logger, clock_, time_keeper_,
+      planning_factor_interface_));
   };
 
   const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
index 6a7505930a334..c60c3def50270 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
@@ -18,6 +18,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 
 #include <cmath>
+#include <memory>
 #include <utility>
 
 namespace autoware::behavior_velocity_planner
@@ -32,8 +33,10 @@ using autoware::universe_utils::getPose;
 WalkwayModule::WalkwayModule(
   const int64_t module_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
   const PlannerParam & planner_param, const bool use_regulatory_element,
-  const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+  const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+  const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+  const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface(module_id, logger, clock, time_keeper, planning_factor_interface),
   module_id_(module_id),
   state_(State::APPROACH),
   planner_param_(planner_param),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp
index df54eafd11cc2..1bd5003498d34 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp
@@ -44,7 +44,9 @@ class WalkwayModule : public SceneModuleInterface
   WalkwayModule(
     const int64_t module_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
     const PlannerParam & planner_param, const bool use_regulatory_element,
-    const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock);
+    const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
+    const std::shared_ptr<universe_utils::TimeKeeper> time_keeper,
+    const std::shared_ptr<motion_utils::PlanningFactorInterface> planning_factor_interface);
 
   bool modifyPathVelocity(PathWithLaneId * path) override;