diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index df8673cd68724..1a6ec09d88d02 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -192,7 +192,7 @@ planning/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp ky
 planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
-planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/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
diff --git a/planning/.pages b/planning/.pages
index bda94919fc352..3c868628198a8 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -25,7 +25,7 @@ nav:
         - 'Crosswalk': planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module
         - 'Detection Area': planning/behavior_velocity_detection_area_module
         - 'Intersection': planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module
-        - 'No Drivable Lane': planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module
+        - 'No Drivable Lane': planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module
         - 'No Stopping Area': planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module
         - 'Run Out': planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CMakeLists.txt
similarity index 85%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/CMakeLists.txt
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CMakeLists.txt
index 265b5b637e7ce..cee9e8ca039c9 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/CMakeLists.txt
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_no_drivable_lane_module)
+project(autoware_behavior_velocity_no_drivable_lane_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/README.md
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/README.md
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/README.md
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/config/no_drivable_lane.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/config/no_drivable_lane.param.yaml
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/config/no_drivable_lane.param.yaml
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/config/no_drivable_lane.param.yaml
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_design.svg b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_design.svg
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_design.svg
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_design.svg
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_scenarios.svg b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_scenarios.svg
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_scenarios.svg
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/docs/no_drivable_lane_scenarios.svg
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
similarity index 91%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
index e03a05cfc57c7..81e3e54539bb3 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_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_no_drivable_lane_module</name>
+  <name>autoware_behavior_velocity_no_drivable_lane_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_no_drivable_lane_module package</description>
+  <description>The autoware_behavior_velocity_no_drivable_lane_module package</description>
 
   <maintainer email="ahmed.ebrahim@leodrive.ai">Ahmed Ebrahim</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/plugins.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/plugins.xml
similarity index 70%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/plugins.xml
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/plugins.xml
index e3e9efb254fba..26635e8e24bc1 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/plugins.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/plugins.xml
@@ -1,3 +1,3 @@
-<library path="behavior_velocity_no_drivable_lane_module">
+<library path="autoware_behavior_velocity_no_drivable_lane_module">
   <class type="autoware::behavior_velocity_planner::NoDrivableLaneModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
 </library>
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/debug.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/debug.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/debug.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.hpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.hpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.hpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.hpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.cpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.hpp
similarity index 100%
rename from planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.hpp
rename to planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.hpp
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 0c5088d7c4e1d..24d11eb9d08d5 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -70,6 +70,7 @@
   <test_depend>autoware_behavior_velocity_crosswalk_module</test_depend>
   <test_depend>autoware_behavior_velocity_detection_area_module</test_depend>
   <test_depend>autoware_behavior_velocity_intersection_module</test_depend>
+  <test_depend>autoware_behavior_velocity_no_drivable_lane_module</test_depend>
   <test_depend>autoware_behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>autoware_behavior_velocity_occlusion_spot_module</test_depend>
   <test_depend>autoware_behavior_velocity_run_out_module</test_depend>
@@ -78,7 +79,6 @@
   <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>
-  <test_depend>behavior_velocity_no_drivable_lane_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
index a6cff987e30f0..29cd7a215907f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -107,7 +107,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    get_behavior_velocity_module_config("stop_line"),
                    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")});
+                   get_behavior_velocity_module_config("no_drivable_lane")});
 
   // TODO(Takagi, Isamu): set launch_modules
   // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light