diff --git a/planning/.pages b/planning/.pages
index 4514894605bbc..c7a2ecce5f270 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -10,13 +10,13 @@ nav:
         - 'Dynamic Drivable Area': planning/behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design
         - 'Turn Signal': planning/behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design
     - 'Scene Module':
-        - 'Avoidance': planning/behavior_path_avoidance_module
         - 'Avoidance by Lane Change': planning/behavior_path_avoidance_by_lane_change_module
-        - 'Dynamic Avoidance': planning/behavior_path_dynamic_avoidance_module
+        - 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module
         - 'Goal Planner': planning/behavior_path_goal_planner_module
         - 'Lane Change': planning/behavior_path_lane_change_module
         - 'Side Shift': planning/behavior_path_side_shift_module
         - 'Start Planner': planning/behavior_path_start_planner_module
+        - 'Static Obstacle Avoidance': planning/autoware_behavior_path_static_obstacle_avoidance_module
   - 'Behavior Velocity Planner':
     - 'About Behavior Velocity': planning/autoware_behavior_velocity_planner
     - 'Template for Custom Module': planning/behavior_velocity_template_module
diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md
index e0fec11d166a6..5c62af59bebdb 100644
--- a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md
+++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md
@@ -9,8 +9,8 @@ Each module performs the following roles.
 Dynamic Avoidance module cuts off the drivable area according to the position and velocity of the target to be avoided.
 Obstacle Avoidance module modifies the path to be followed so that it fits within the received drivable area.
 
-Avoidance functions are also provided by the [Avoidance module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_avoidance_module/), but these modules have different roles.
-The Avoidance module performs avoidance through the outside of own lanes but cannot avoid the moving objects.
+Static obstacle's avoidance functions are also provided by the [Static Avoidance module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_static_obstacle_avoidance_module/), but these modules have different roles.
+The Static Obstacle Avoidance module performs avoidance through the outside of own lanes but cannot avoid the moving objects.
 On the other hand, this module can avoid moving objects.
 For this reason, the word "dynamic" is used in the module's name.
 The table below lists the avoidance modules that can handle each situation.
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json b/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json
index e0f1156172932..cb150514ac372 100644
--- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json
+++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json
@@ -1,9 +1,9 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for behavior_path_avoidance_module",
+  "title": "Parameters for behavior_path_static_obstacle_avoidance_module",
   "type": "object",
   "definitions": {
-    "behavior_path_avoidance_module": {
+    "behavior_path_static_obstacle_avoidance_module": {
       "type": "object",
       "properties": {
         "resample_interval_for_planning": {
@@ -1473,7 +1473,7 @@
           "type": "object",
           "properties": {
             "avoidance": {
-              "$ref": "#/definitions/behavior_path_avoidance_module"
+              "$ref": "#/definitions/behavior_path_static_obstacle_avoidance_module"
             }
           },
           "required": ["avoidance"],
diff --git a/planning/behavior_path_avoidance_by_lane_change_module/README.md b/planning/behavior_path_avoidance_by_lane_change_module/README.md
index d91d7116ee056..7d090c3a9416f 100644
--- a/planning/behavior_path_avoidance_by_lane_change_module/README.md
+++ b/planning/behavior_path_avoidance_by_lane_change_module/README.md
@@ -13,7 +13,7 @@ This module is designed as one of the obstacle avoidance features and generates
 
 ## Inner-workings / Algorithms
 
-Basically, this module is implemented by reusing the avoidance target filtering logic of the existing [Normal Avoidance Module](../behavior_path_avoidance_module/README.md) and the path generation logic of the [Normal Lane Change Module](../behavior_path_lane_change_module/README.md). On the other hand, the conditions under which the module is activated differ from those of a normal avoidance module.
+Basically, this module is implemented by reusing the avoidance target filtering logic of the existing [Static Object Avoidance Module](../behavior_path_static_obstacle_avoidance_module/README.md) and the path generation logic of the [Normal Lane Change Module](../behavior_path_lane_change_module/README.md). On the other hand, the conditions under which the module is activated differ from those of a normal avoidance module.
 
 Check that the following conditions are satisfied after the filtering process for the avoidance target.
 
diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md
index 9cbd864be9dbb..ce03283233b3a 100644
--- a/planning/behavior_path_lane_change_module/README.md
+++ b/planning/behavior_path_lane_change_module/README.md
@@ -296,7 +296,7 @@ First, we divide the target objects into obstacles in the target lane, obstacles
 
 ![object lanes](./images/lane_objects.drawio.svg)
 
-Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light. The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_avoidance_module/README.md).
+Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light. The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_static_obstacle_avoidance_module/README.md).
 
 The detection area for the target lane can be expanded beyond its original boundaries to enable detection of objects that are outside the target lane's limits.