diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 57d0280330641..6c6cb1599ae78 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -42,12 +42,12 @@
   <arg name="behavior_path_planner_launch_modules" default="["/>
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::AvoidanceModuleManager, '&quot;)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::StaticObstacleAvoidanceModuleManager, '&quot;)"
     if="$(var launch_avoidance_module)"
   />
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::DynamicAvoidanceModuleManager, '&quot;)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::DynamicObstacleAvoidanceModuleManager, '&quot;)"
     if="$(var launch_dynamic_avoidance_module)"
   />
   <let
diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml
index c2b6babc402a2..6cf8719b2ef83 100644
--- a/planning/behavior_path_planner/config/scene_module_manager.param.yaml
+++ b/planning/behavior_path_planner/config/scene_module_manager.param.yaml
@@ -59,7 +59,7 @@
       priority: 1
       max_module_size: 1
 
-    avoidance:
+    static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -75,7 +75,7 @@
       priority: 3
       max_module_size: 1
 
-    dynamic_avoidance:
+    dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true