diff --git a/common/.pages b/common/.pages
index 38cffcb1dc027..7d17018e2762b 100644
--- a/common/.pages
+++ b/common/.pages
@@ -3,6 +3,7 @@ nav:
   - 'Testing Libraries':
     - 'autoware_testing': common/autoware_testing/design/autoware_testing-design
     - 'fake_test_node': common/fake_test_node/design/fake_test_node-design
+    - 'Test Utils': common/autoware_test_utils
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons
diff --git a/planning/planning_test_utils/CMakeLists.txt b/common/autoware_test_utils/CMakeLists.txt
similarity index 81%
rename from planning/planning_test_utils/CMakeLists.txt
rename to common/autoware_test_utils/CMakeLists.txt
index ce746352bb89c..91adf935445b4 100644
--- a/planning/planning_test_utils/CMakeLists.txt
+++ b/common/autoware_test_utils/CMakeLists.txt
@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.14)
-project(planning_test_utils)
+project(autoware_test_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(planning_test_utils SHARED
-  src/planning_test_utils.cpp)
+ament_auto_add_library(autoware_test_utils SHARED
+  src/autoware_test_utils.cpp)
 
 ament_auto_add_library(mock_data_parser SHARED
   src/mock_data_parser.cpp)
diff --git a/planning/planning_test_utils/README.md b/common/autoware_test_utils/README.md
similarity index 96%
rename from planning/planning_test_utils/README.md
rename to common/autoware_test_utils/README.md
index c064e5791a487..a656f35a90ce4 100644
--- a/planning/planning_test_utils/README.md
+++ b/common/autoware_test_utils/README.md
@@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A
 
 ## Available Maps
 
-The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_test_utils/test_map)
+The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map)
 
 ### Common
 
diff --git a/planning/planning_test_utils/config/path_with_lane_id_data.yaml b/common/autoware_test_utils/config/path_with_lane_id_data.yaml
similarity index 100%
rename from planning/planning_test_utils/config/path_with_lane_id_data.yaml
rename to common/autoware_test_utils/config/path_with_lane_id_data.yaml
diff --git a/planning/planning_test_utils/config/test_common.param.yaml b/common/autoware_test_utils/config/test_common.param.yaml
similarity index 100%
rename from planning/planning_test_utils/config/test_common.param.yaml
rename to common/autoware_test_utils/config/test_common.param.yaml
diff --git a/planning/planning_test_utils/config/test_nearest_search.param.yaml b/common/autoware_test_utils/config/test_nearest_search.param.yaml
similarity index 100%
rename from planning/planning_test_utils/config/test_nearest_search.param.yaml
rename to common/autoware_test_utils/config/test_nearest_search.param.yaml
diff --git a/planning/planning_test_utils/config/test_vehicle_info.param.yaml b/common/autoware_test_utils/config/test_vehicle_info.param.yaml
similarity index 100%
rename from planning/planning_test_utils/config/test_vehicle_info.param.yaml
rename to common/autoware_test_utils/config/test_vehicle_info.param.yaml
diff --git a/planning/planning_test_utils/images/2km-test.png b/common/autoware_test_utils/images/2km-test.png
similarity index 100%
rename from planning/planning_test_utils/images/2km-test.png
rename to common/autoware_test_utils/images/2km-test.png
diff --git a/planning/planning_test_utils/images/2km-test.svg b/common/autoware_test_utils/images/2km-test.svg
similarity index 100%
rename from planning/planning_test_utils/images/2km-test.svg
rename to common/autoware_test_utils/images/2km-test.svg
diff --git a/planning/planning_test_utils/images/common.png b/common/autoware_test_utils/images/common.png
similarity index 100%
rename from planning/planning_test_utils/images/common.png
rename to common/autoware_test_utils/images/common.png
diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
similarity index 97%
rename from planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
rename to common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index 9d787070a9dc5..6b77bb4c24931 100644
--- a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
-#define PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
+#ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
+#define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -54,7 +54,7 @@
 #include <utility>
 #include <vector>
 
-namespace test_utils
+namespace autoware::test_utils
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_map_msgs::msg::LaneletMapBin;
@@ -191,7 +191,7 @@ LaneletMapBin make_map_bin_msg(
  * @brief Creates a LaneletMapBin message using a predefined Lanelet2 map file.
  *
  * This function loads a lanelet2_map.osm from the test_map folder in the
- * planning_test_utils package, overwrites the centerline with a resolution of 5.0,
+ * autoware_test_utils package, overwrites the centerline with a resolution of 5.0,
  * and converts the map to a LaneletMapBin message.
  *
  * @return A LaneletMapBin message containing the map data.
@@ -299,7 +299,7 @@ void updateNodeOptions(
  * @brief Loads a PathWithLaneId message from a YAML file.
  *
  * This function loads a PathWithLaneId message from a YAML file located in the
- * planning_test_utils package.
+ * autoware_test_utils package.
  *
  * @return A PathWithLaneId message containing the loaded data.
  */
@@ -468,15 +468,15 @@ void publishToTargetNode(
     throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty");
   }
 
-  test_utils::setPublisher<T>(test_node, topic_name, publisher);
+  autoware::test_utils::setPublisher<T>(test_node, topic_name, publisher);
   publisher->publish(data);
 
   if (target_node->count_subscribers(topic_name) == 0) {
     throw std::runtime_error("No subscriber for " + topic_name);
   }
-  test_utils::spinSomeNodes(test_node, target_node, repeat_count);
+  autoware::test_utils::spinSomeNodes(test_node, target_node, repeat_count);
 }
 
-}  // namespace test_utils
+}  // namespace autoware::test_utils
 
-#endif  // PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
+#endif  // AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
diff --git a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
similarity index 86%
rename from planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
rename to common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
index 09d4474dda15d..47284da447133 100644
--- a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
-#define PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
 
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace test_utils
+namespace autoware::test_utils
 {
 using autoware_planning_msgs::msg::LaneletPrimitive;
 using autoware_planning_msgs::msg::LaneletRoute;
@@ -41,6 +41,6 @@ std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node);
 std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
 
 LaneletRoute parse_lanelet_route_file(const std::string & filename);
-}  // namespace test_utils
+}  // namespace autoware::test_utils
 
-#endif  // PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#endif  // AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
diff --git a/planning/planning_test_utils/package.xml b/common/autoware_test_utils/package.xml
similarity index 98%
rename from planning/planning_test_utils/package.xml
rename to common/autoware_test_utils/package.xml
index 8f3c3259c33d0..555345c1d9105 100644
--- a/planning/planning_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -1,7 +1,7 @@
 <?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>planning_test_utils</name>
+  <name>autoware_test_utils</name>
   <version>0.1.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/planning/planning_test_utils/src/planning_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp
similarity index 94%
rename from planning/planning_test_utils/src/planning_test_utils.cpp
rename to common/autoware_test_utils/src/autoware_test_utils.cpp
index 3ba97552ef250..c7435be5afcec 100644
--- a/planning/planning_test_utils/src/planning_test_utils.cpp
+++ b/common/autoware_test_utils/src/autoware_test_utils.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "planning_test_utils/planning_test_utils.hpp"
-namespace test_utils
+#include "autoware_test_utils/autoware_test_utils.hpp"
+namespace autoware::test_utils
 {
 
 geometry_msgs::msg::Pose createPose(
@@ -122,9 +122,9 @@ LaneletMapBin make_map_bin_msg(
 
 LaneletMapBin makeMapBinMsg()
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
+  const auto lanelet2_path = autoware_test_utils_dir + "/test_map/lanelet2_map.osm";
   double center_line_resolution = 5.0;
 
   return make_map_bin_msg(lanelet2_path, center_line_resolution);
@@ -147,7 +147,7 @@ Odometry makeInitialPose(const double shift)
   const auto shift_y = shift * std::cos(yaw);
   const std::array<double, 4> start_pose{
     3722.16015625 + shift_x, 73723.515625 + shift_y, 0.233112560494183, yaw};
-  current_odometry.pose.pose = test_utils::createPose(start_pose);
+  current_odometry.pose.pose = autoware::test_utils::createPose(start_pose);
   current_odometry.header.frame_id = "map";
   return current_odometry;
 }
@@ -251,9 +251,9 @@ void updateNodeOptions(
 
 PathWithLaneId loadPathWithLaneIdInYaml()
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto yaml_path = planning_test_utils_dir + "/config/path_with_lane_id_data.yaml";
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
+  const auto yaml_path = autoware_test_utils_dir + "/config/path_with_lane_id_data.yaml";
   YAML::Node yaml_node = YAML::LoadFile(yaml_path);
   PathWithLaneId path_msg;
 
@@ -311,4 +311,4 @@ PathWithLaneId loadPathWithLaneIdInYaml()
   return path_msg;
 }
 
-}  // namespace test_utils
+}  // namespace autoware::test_utils
diff --git a/planning/planning_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp
similarity index 94%
rename from planning/planning_test_utils/src/mock_data_parser.cpp
rename to common/autoware_test_utils/src/mock_data_parser.cpp
index f9f9a7b0b1594..a8f2a8c6433df 100644
--- a/planning/planning_test_utils/src/mock_data_parser.cpp
+++ b/common/autoware_test_utils/src/mock_data_parser.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "planning_test_utils/mock_data_parser.hpp"
+#include "autoware_test_utils/mock_data_parser.hpp"
 
 #include <rclcpp/logging.hpp>
 
@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace test_utils
+namespace autoware::test_utils
 {
 Pose parse_pose(const YAML::Node & node)
 {
@@ -85,8 +85,8 @@ LaneletRoute parse_lanelet_route_file(const std::string & filename)
     lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose();
     lanelet_route.segments = parse_segments(config["segments"]);
   } catch (const std::exception & e) {
-    RCLCPP_DEBUG(rclcpp::get_logger("planning_test_utils"), "Exception caught: %s", e.what());
+    RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what());
   }
   return lanelet_route;
 }
-}  // namespace test_utils
+}  // namespace autoware::test_utils
diff --git a/planning/planning_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp
similarity index 94%
rename from planning/planning_test_utils/test/test_mock_data_parser.cpp
rename to common/autoware_test_utils/test/test_mock_data_parser.cpp
index cda09522d8e6e..f9e37a521c42c 100644
--- a/planning/planning_test_utils/test/test_mock_data_parser.cpp
+++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp
@@ -16,9 +16,9 @@
 
 // Assuming the parseRouteFile function is in 'RouteHandler.h'
 #include "ament_index_cpp/get_package_share_directory.hpp"
-#include "planning_test_utils/mock_data_parser.hpp"
+#include "autoware_test_utils/mock_data_parser.hpp"
 
-namespace test_utils
+namespace autoware::test_utils
 {
 // Example YAML structure as a string for testing
 const char g_complete_yaml[] = R"(
@@ -94,10 +94,10 @@ TEST(ParseFunctions, CompleteYAMLTest)
 
 TEST(ParseFunction, CompleteFromFilename)
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto parser_test_route =
-    planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
+    autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
 
   const auto lanelet_route = parse_lanelet_route_file(parser_test_route);
   EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
@@ -132,4 +132,4 @@ TEST(ParseFunction, CompleteFromFilename)
   EXPECT_EQ(segment1.primitives[3].id, 88);
   EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
 }
-}  // namespace test_utils
+}  // namespace autoware::test_utils
diff --git a/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml b/common/autoware_test_utils/test_data/lanelet_route_parser_test.yaml
similarity index 100%
rename from planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml
rename to common/autoware_test_utils/test_data/lanelet_route_parser_test.yaml
diff --git a/planning/planning_test_utils/test_map/2km_test.osm b/common/autoware_test_utils/test_map/2km_test.osm
similarity index 100%
rename from planning/planning_test_utils/test_map/2km_test.osm
rename to common/autoware_test_utils/test_map/2km_test.osm
diff --git a/planning/planning_test_utils/test_map/lanelet2_map.osm b/common/autoware_test_utils/test_map/lanelet2_map.osm
similarity index 100%
rename from planning/planning_test_utils/test_map/lanelet2_map.osm
rename to common/autoware_test_utils/test_map/lanelet2_map.osm
diff --git a/planning/planning_test_utils/test_map/pointcloud_map.pcd b/common/autoware_test_utils/test_map/pointcloud_map.pcd
similarity index 100%
rename from planning/planning_test_utils/test_map/pointcloud_map.pcd
rename to common/autoware_test_utils/test_map/pointcloud_map.pcd
diff --git a/planning/.pages b/planning/.pages
index ac13a5a66fcfd..cb537399a97af 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -83,7 +83,6 @@ nav:
     - 'Planning Debug Tools':
       - 'About Planning Debug Tools': https://github.com/autowarefoundation/autoware_tools/tree/main/planning/planning_debug_tools
       - 'Stop Reason Visualizer': https://github.com/autowarefoundation/autoware_tools/blob/main/planning/planning_debug_tools/doc-stop-reason-visualizer.md
-    - 'Planning Test Utils': planning/planning_test_utils
     - 'Planning Test Manager': planning/autoware_planning_test_manager
     - 'Planning Topic Converter': planning/autoware_planning_topic_converter
     - 'Planning Validator': planning/autoware_planning_validator
diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 827221e4931b1..a34c2ed22004c 100644
--- a/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -24,7 +24,7 @@
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -44,10 +44,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
   const auto behavior_path_lane_change_module_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");
 
@@ -58,10 +58,10 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index 91b0f4c9df9f5..611a796507f44 100644
--- a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,12 +16,12 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -41,10 +41,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
 
   std::vector<std::string> module_names;
   module_names.emplace_back("autoware::behavior_path_planner::DynamicAvoidanceModuleManager");
@@ -53,10 +53,10 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 642e4d7fc6a30..12db2d1115efc 100644
--- a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
-#include "planning_test_utils/planning_test_utils.hpp"
+#include "autoware_test_utils/autoware_test_utils.hpp"
 
 #include <gtest/gtest.h>
 
@@ -23,7 +23,7 @@
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -43,10 +43,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
   const auto behavior_path_lane_change_module_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");
 
@@ -60,11 +60,11 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
+  autoware::test_utils::updateNodeOptions(
     node_options, {
-                    planning_test_utils_dir + "/config/test_common.param.yaml",
-                    planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                    planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+                    autoware_test_utils_dir + "/config/test_common.param.yaml",
+                    autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                    autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                     behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                     behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                     behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 2dd5bb2c55063..3d6987e66e07f 100644
--- a/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "autoware_behavior_path_planner/behavior_path_planner_node.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
-#include "planning_test_utils/planning_test_utils.hpp"
+#include "autoware_test_utils/autoware_test_utils.hpp"
 
 #include <gtest/gtest.h>
 
@@ -23,7 +23,7 @@
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -43,10 +43,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
   const auto behavior_path_lane_change_module_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");
 
@@ -58,10 +58,10 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
index 5422bffa2094a..e70187754599a 100644
--- a/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -24,7 +24,7 @@
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -44,10 +44,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
 
   std::vector<std::string> module_names;
 
@@ -55,10 +55,10 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml"});
diff --git a/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
index 266054e9d46f2..fecafe1a8680b 100644
--- a/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -24,7 +24,7 @@
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -44,10 +44,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
 
   std::vector<std::string> module_names;
   module_names.emplace_back("autoware::behavior_path_planner::SideShiftModuleManager");
@@ -56,11 +56,11 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
+  autoware::test_utils::updateNodeOptions(
     node_options,
-    {planning_test_utils_dir + "/config/test_common.param.yaml",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    {autoware_test_utils_dir + "/config/test_common.param.yaml",
+     autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
      behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
      behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
      behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index 95512fbffa575..7aa5b67b23d34 100644
--- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,12 +16,12 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <vector>
 
 using autoware::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -41,10 +41,10 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
 
   std::vector<std::string> module_names;
   module_names.emplace_back(
@@ -54,10 +54,10 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
index e630783f82d6b..113edb6fcf7b4 100644
--- a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -24,7 +24,7 @@
 #include <vector>
 
 using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -47,8 +47,8 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_velocity_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
   const auto velocity_smoother_dir =
@@ -88,10 +88,10 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   params.emplace_back("is_simulation", false);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
                    velocity_smoother_dir + "/config/Analytical.param.yaml",
                    behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
@@ -100,7 +100,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    get_behavior_velocity_module_config("walkway"),
                    get_behavior_velocity_module_config_no_prefix("detection_area"),
                    get_behavior_velocity_module_config("intersection"),
-                   get_behavior_velocity_module_config_no_prefix("no_stopping_area"),
+                   get_behavior_velocity_module_config("no_stopping_area"),
                    get_behavior_velocity_module_config("occlusion_spot"),
                    get_behavior_velocity_module_config("run_out"),
                    get_behavior_velocity_module_config_no_prefix("speed_bump"),
diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
index 621bed12fdabc..319786dc722dd 100644
--- a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
 using autoware::freespace_planner::FreespacePlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -38,13 +38,13 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<FreespacePlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto freespace_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_freespace_planner");
   node_options.arguments(
     {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
      freespace_planner_dir + "/config/freespace_planner.param.yaml"});
   return std::make_shared<FreespacePlannerNode>(node_options);
 }
diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index 1c4f621649a4c..b28afba8b4895 100644
--- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
 using autoware::motion_planning::ObstacleCruisePlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -45,12 +45,12 @@ std::shared_ptr<ObstacleCruisePlannerNode> generateNode()
   auto node_options = rclcpp::NodeOptions{};
   const auto obstacle_cruise_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_obstacle_cruise_planner");
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   node_options.arguments(
-    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    {"--ros-args", "--params-file", autoware_test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
      "--params-file", obstacle_cruise_planner_dir + "/config/default_common.param.yaml",
      "--params-file", obstacle_cruise_planner_dir + "/config/obstacle_cruise_planner.param.yaml"});
 
diff --git a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp
index 4af88539597be..8be7806c7e48a 100644
--- a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp
+++ b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -26,20 +26,21 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager =
+    std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto path_optimizer_dir =
     ament_index_cpp::get_package_share_directory("autoware_path_optimizer");
 
   node_options.arguments(
     {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
-     planning_test_utils_dir + "/config/test_common.param.yaml", "--params-file",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
+     autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     autoware_test_utils_dir + "/config/test_common.param.yaml", "--params-file",
+     autoware_test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
      path_optimizer_dir + "/config/path_optimizer.param.yaml"});
 
   auto test_target_node = std::make_shared<autoware::path_optimizer::PathOptimizer>(node_options);
diff --git a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp
index 41c48630c8f8c..ed24c50325330 100644
--- a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp
+++ b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -26,18 +26,19 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager =
+    std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto path_smoothing_dir =
     ament_index_cpp::get_package_share_directory("autoware_path_smoother");
 
   node_options.arguments(
-    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
+    {"--ros-args", "--params-file", autoware_test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
      "--params-file", path_smoothing_dir + "/config/elastic_band_smoother.param.yaml"});
 
   auto test_target_node =
diff --git a/planning/autoware_planning_test_manager/README.md b/planning/autoware_planning_test_manager/README.md
index 97eb2fd8d94fd..f4289d0d291a5 100644
--- a/planning/autoware_planning_test_manager/README.md
+++ b/planning/autoware_planning_test_manager/README.md
@@ -29,18 +29,18 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
   rclcpp::init(0, nullptr);
 
   // instantiate test_manager with PlanningInterfaceTestManager type
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager = std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>();
 
   // get package directories for necessary configuration files
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto target_node_dir =
     ament_index_cpp::get_package_share_directory("target_node");
 
   // set arguments to get the config file
   node_options.arguments(
     {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
      autoware_planning_validator_dir + "/config/planning_validator.param.yaml"});
 
   // instantiate the TargetNode with node_options
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
index 08a6e1b9d6960..52c60a612d1bd 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
@@ -69,7 +69,7 @@
 #include <memory>
 #include <string>
 
-namespace planning_test_utils
+namespace autoware::planning_test_manager
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_map_msgs::msg::LaneletMapBin;
@@ -264,6 +264,6 @@ class PlanningInterfaceTestManager
   void publishAbnormalPath(rclcpp::Node::SharedPtr target_node, std::string topic_name);
 };  // class PlanningInterfaceTestManager
 
-}  // namespace planning_test_utils
+}  // namespace autoware::planning_test_manager
 
 #endif  // AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
index 2f7116c162334..0e86740bd5b9a 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
 #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
 #include <autoware_route_handler/route_handler.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose.hpp>
@@ -34,7 +34,7 @@ using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
 
 Pose createPoseFromLaneID(const lanelet::Id & lane_id)
 {
-  auto map_bin_msg = test_utils::makeMapBinMsg();
+  auto map_bin_msg = autoware::test_utils::makeMapBinMsg();
   // create route_handler
   auto route_handler = std::make_shared<RouteHandler>();
   route_handler->setMap(map_bin_msg);
@@ -74,7 +74,7 @@ LaneletRoute makeBehaviorRouteFromLaneId(const int & start_lane_id, const int &
   route.start_pose = start_pose;
   route.goal_pose = goal_pose;
 
-  auto map_bin_msg = test_utils::makeMapBinMsg();
+  auto map_bin_msg = autoware::test_utils::makeMapBinMsg();
   // create route_handler
   auto route_handler = std::make_shared<RouteHandler>();
   route_handler->setMap(map_bin_msg);
@@ -97,7 +97,7 @@ LaneletRoute makeBehaviorRouteFromLaneId(const int & start_lane_id, const int &
   route_handler->setRouteLanelets(path_lanelets);
   const auto local_route_sections = route_handler->createMapSegments(path_lanelets);
   route_sections =
-    test_utils::combineConsecutiveRouteSections(route_sections, local_route_sections);
+    autoware::test_utils::combineConsecutiveRouteSections(route_sections, local_route_sections);
   for (const auto & route_section : route_sections) {
     for (const auto & primitive : route_section.primitives) {
       std::cerr << "primitive: " << primitive.id << std::endl;
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index ed47594295776..6ccebfc2f56fe 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -18,6 +18,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_test_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
@@ -25,7 +26,6 @@
   <depend>lanelet2_io</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
-  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
diff --git a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
index 01a8d89ca8b4d..715dc6277f419 100644
--- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
+++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
@@ -16,10 +16,10 @@
 
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
-namespace planning_test_utils
+namespace autoware::planning_test_manager
 {
 
 PlanningInterfaceTestManager::PlanningInterfaceTestManager()
@@ -32,14 +32,14 @@ PlanningInterfaceTestManager::PlanningInterfaceTestManager()
 void PlanningInterfaceTestManager::publishOdometry(
   rclcpp::Node::SharedPtr target_node, std::string topic_name, const double shift)
 {
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, odom_pub_, test_utils::makeOdometry(shift));
+  autoware::test_utils::publishToTargetNode(
+    test_node_, target_node, topic_name, odom_pub_, autoware::test_utils::makeOdometry(shift));
 }
 
 void PlanningInterfaceTestManager::publishMaxVelocity(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, max_velocity_pub_, VelocityLimit{});
 }
 
@@ -48,66 +48,67 @@ void PlanningInterfaceTestManager::publishPointCloud(
 {
   PointCloud2 point_cloud_msg{};
   point_cloud_msg.header.frame_id = "base_link";
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, point_cloud_pub_, point_cloud_msg);
 }
 
 void PlanningInterfaceTestManager::publishAcceleration(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, acceleration_pub_, AccelWithCovarianceStamped{});
 }
 
 void PlanningInterfaceTestManager::publishPredictedObjects(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, predicted_objects_pub_, PredictedObjects{});
 }
 
 void PlanningInterfaceTestManager::publishExpandStopRange(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, expand_stop_range_pub_, ExpandStopRange{});
 }
 
 void PlanningInterfaceTestManager::publishOccupancyGrid(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, occupancy_grid_pub_, test_utils::makeCostMapMsg());
+  autoware::test_utils::publishToTargetNode(
+    test_node_, target_node, topic_name, occupancy_grid_pub_,
+    autoware::test_utils::makeCostMapMsg());
 }
 
 void PlanningInterfaceTestManager::publishCostMap(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, cost_map_pub_, test_utils::makeCostMapMsg());
+  autoware::test_utils::publishToTargetNode(
+    test_node_, target_node, topic_name, cost_map_pub_, autoware::test_utils::makeCostMapMsg());
 }
 
 void PlanningInterfaceTestManager::publishMap(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, map_pub_, test_utils::makeMapBinMsg());
+  autoware::test_utils::publishToTargetNode(
+    test_node_, target_node, topic_name, map_pub_, autoware::test_utils::makeMapBinMsg());
 }
 
 void PlanningInterfaceTestManager::publishLaneDrivingScenario(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, lane_driving_scenario_pub_,
-    test_utils::makeScenarioMsg(Scenario::LANEDRIVING));
+    autoware::test_utils::makeScenarioMsg(Scenario::LANEDRIVING));
 }
 
 void PlanningInterfaceTestManager::publishParkingScenario(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, parking_scenario_pub_,
-    test_utils::makeScenarioMsg(Scenario::PARKING));
+    autoware::test_utils::makeScenarioMsg(Scenario::PARKING));
 }
 
 void PlanningInterfaceTestManager::publishInitialPose(
@@ -115,69 +116,70 @@ void PlanningInterfaceTestManager::publishInitialPose(
   ModuleName module_name)
 {
   if (module_name == ModuleName::START_PLANNER) {
-    test_utils::publishToTargetNode(
+    autoware::test_utils::publishToTargetNode(
       test_node_, target_node, topic_name, initial_pose_pub_,
       autoware_planning_test_manager::utils::makeInitialPoseFromLaneId(10291));
   } else {
-    test_utils::publishToTargetNode(
-      test_node_, target_node, topic_name, initial_pose_pub_, test_utils::makeInitialPose(shift));
+    autoware::test_utils::publishToTargetNode(
+      test_node_, target_node, topic_name, initial_pose_pub_,
+      autoware::test_utils::makeInitialPose(shift));
   }
 }
 
 void PlanningInterfaceTestManager::publishParkingState(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, parking_state_pub_, std_msgs::msg::Bool{});
 }
 
 void PlanningInterfaceTestManager::publishTrajectory(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, trajectory_pub_, Trajectory{});
 }
 
 void PlanningInterfaceTestManager::publishRoute(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, route_pub_, test_utils::makeNormalRoute());
+  autoware::test_utils::publishToTargetNode(
+    test_node_, target_node, topic_name, route_pub_, autoware::test_utils::makeNormalRoute());
 }
 
 void PlanningInterfaceTestManager::publishTF(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, TF_pub_,
-    test_utils::makeTFMsg(target_node, "base_link", "map"));
+    autoware::test_utils::makeTFMsg(target_node, "base_link", "map"));
 }
 
 void PlanningInterfaceTestManager::publishLateralOffset(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, lateral_offset_pub_, LateralOffset{});
 }
 
 void PlanningInterfaceTestManager::publishOperationModeState(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, operation_mode_state_pub_, OperationModeState{});
 }
 
 void PlanningInterfaceTestManager::publishTrafficSignals(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, traffic_signals_pub_, TrafficLightGroupArray{});
 }
 
 void PlanningInterfaceTestManager::publishVirtualTrafficLightState(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, virtual_traffic_light_states_pub_,
     VirtualTrafficLightStateArray{});
 }
@@ -185,9 +187,9 @@ void PlanningInterfaceTestManager::publishVirtualTrafficLightState(
 void PlanningInterfaceTestManager::publishInitialPoseTF(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, initial_pose_tf_pub_,
-    test_utils::makeTFMsg(target_node, "odom", "base_link"));
+    autoware::test_utils::makeTFMsg(target_node, "odom", "base_link"));
 }
 
 void PlanningInterfaceTestManager::setTrajectoryInputTopicName(std::string topic_name)
@@ -233,100 +235,101 @@ void PlanningInterfaceTestManager::setOdometryTopicName(std::string topic_name)
 void PlanningInterfaceTestManager::publishNominalTrajectory(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, normal_trajectory_pub_,
-    test_utils::generateTrajectory<Trajectory>(10, 1.0), 5);
+    autoware::test_utils::generateTrajectory<Trajectory>(10, 1.0), 5);
 }
 
 void PlanningInterfaceTestManager::publishAbnormalTrajectory(
   rclcpp::Node::SharedPtr target_node, const Trajectory & abnormal_trajectory)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, input_trajectory_name_, abnormal_trajectory_pub_, abnormal_trajectory);
 }
 
 void PlanningInterfaceTestManager::publishNominalRoute(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, normal_route_pub_, test_utils::makeNormalRoute(), 5);
+  autoware::test_utils::publishToTargetNode(
+    test_node_, target_node, topic_name, normal_route_pub_, autoware::test_utils::makeNormalRoute(),
+    5);
 }
 
 void PlanningInterfaceTestManager::publishBehaviorNominalRoute(
   rclcpp::Node::SharedPtr target_node, std::string topic_name, ModuleName module_name)
 {
   if (module_name == ModuleName::START_PLANNER) {
-    test_utils::publishToTargetNode(
+    autoware::test_utils::publishToTargetNode(
       test_node_, target_node, topic_name, behavior_normal_route_pub_,
       autoware_planning_test_manager::utils::makeBehaviorRouteFromLaneId(10291, 10333), 5);
   } else {
-    test_utils::publishToTargetNode(
+    autoware::test_utils::publishToTargetNode(
       test_node_, target_node, topic_name, behavior_normal_route_pub_,
-      test_utils::makeBehaviorNormalRoute(), 5);
+      autoware::test_utils::makeBehaviorNormalRoute(), 5);
   }
 }
 
 void PlanningInterfaceTestManager::publishAbnormalRoute(
   rclcpp::Node::SharedPtr target_node, const LaneletRoute & abnormal_route)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, input_route_name_, abnormal_route_pub_, abnormal_route, 5);
 }
 
 void PlanningInterfaceTestManager::publishNominalPathWithLaneId(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, normal_path_with_lane_id_pub_,
-    test_utils::loadPathWithLaneIdInYaml(), 5);
+    autoware::test_utils::loadPathWithLaneIdInYaml(), 5);
 }
 
 void PlanningInterfaceTestManager::publishAbNominalPathWithLaneId(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, abnormal_path_with_lane_id_pub_, PathWithLaneId{}, 5);
 }
 
 void PlanningInterfaceTestManager::publishNominalPath(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, normal_path_pub_,
     motion_utils::convertToPath<tier4_planning_msgs::msg::PathWithLaneId>(
-      test_utils::loadPathWithLaneIdInYaml()),
+      autoware::test_utils::loadPathWithLaneIdInYaml()),
     5);
 }
 
 void PlanningInterfaceTestManager::publishAbnormalPath(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
-  test_utils::publishToTargetNode(
+  autoware::test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, abnormal_path_pub_, Path{}, 5);
 }
 
 void PlanningInterfaceTestManager::setTrajectorySubscriber(std::string topic_name)
 {
-  test_utils::setSubscriber(test_node_, topic_name, traj_sub_, count_);
+  autoware::test_utils::setSubscriber(test_node_, topic_name, traj_sub_, count_);
 }
 
 void PlanningInterfaceTestManager::setRouteSubscriber(std::string topic_name)
 {
-  test_utils::setSubscriber(test_node_, topic_name, route_sub_, count_);
+  autoware::test_utils::setSubscriber(test_node_, topic_name, route_sub_, count_);
 }
 void PlanningInterfaceTestManager::setScenarioSubscriber(std::string topic_name)
 {
-  test_utils::setSubscriber(test_node_, topic_name, scenario_sub_, count_);
+  autoware::test_utils::setSubscriber(test_node_, topic_name, scenario_sub_, count_);
 }
 
 void PlanningInterfaceTestManager::setPathWithLaneIdSubscriber(std::string topic_name)
 {
-  test_utils::setSubscriber(test_node_, topic_name, path_with_lane_id_sub_, count_);
+  autoware::test_utils::setSubscriber(test_node_, topic_name, path_with_lane_id_sub_, count_);
 }
 
 void PlanningInterfaceTestManager::setPathSubscriber(std::string topic_name)
 {
-  test_utils::setSubscriber(test_node_, topic_name, path_sub_, count_);
+  autoware::test_utils::setSubscriber(test_node_, topic_name, path_sub_, count_);
 }
 
 // test for normal working
@@ -339,9 +342,10 @@ void PlanningInterfaceTestManager::testWithNominalTrajectory(rclcpp::Node::Share
 void PlanningInterfaceTestManager::testWithAbnormalTrajectory(rclcpp::Node::SharedPtr target_node)
 {
   publishAbnormalTrajectory(target_node, Trajectory{});
-  publishAbnormalTrajectory(target_node, test_utils::generateTrajectory<Trajectory>(1, 0.0));
   publishAbnormalTrajectory(
-    target_node, test_utils::generateTrajectory<Trajectory>(10, 0.0, 0.0, 0.0, 0.0, 1));
+    target_node, autoware::test_utils::generateTrajectory<Trajectory>(1, 0.0));
+  publishAbnormalTrajectory(
+    target_node, autoware::test_utils::generateTrajectory<Trajectory>(10, 0.0, 0.0, 0.0, 0.0, 1));
 }
 
 // test for normal working
@@ -455,4 +459,4 @@ int PlanningInterfaceTestManager::getReceivedTopicNum()
   return count_;
 }
 
-}  // namespace planning_test_utils
+}  // namespace autoware::planning_test_manager
diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp
index 78f57e0fe104d..33ef0a1817af8 100644
--- a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp
+++ b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp
@@ -16,18 +16,18 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 using autoware::planning_validator::PlanningValidator;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
 
   // set subscriber with topic name: planning_validator → test_node_
   test_manager->setTrajectorySubscriber("planning_validator/output/trajectory");
@@ -43,13 +43,13 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<PlanningValidator> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto planning_validator_dir =
     ament_index_cpp::get_package_share_directory("autoware_planning_validator");
   node_options.arguments(
     {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
      planning_validator_dir + "/config/planning_validator.param.yaml"});
   return std::make_shared<PlanningValidator>(node_options);
 }
diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml
index 3a0aeb8d8c981..0e5ae5aa63c3e 100644
--- a/planning/autoware_remaining_distance_time_calculator/package.xml
+++ b/planning/autoware_remaining_distance_time_calculator/package.xml
@@ -14,11 +14,11 @@
   <depend>autoware_internal_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_test_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
-  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
diff --git a/planning/autoware_route_handler/README.md b/planning/autoware_route_handler/README.md
index e8df4fd087930..bc62f06db7520 100644
--- a/planning/autoware_route_handler/README.md
+++ b/planning/autoware_route_handler/README.md
@@ -4,8 +4,8 @@
 
 ## Unit Testing
 
-The unit testing depends on `planning_test_utils` package.
-`planning_test_utils` is a library that provides several common functions to simplify unit test creating.
+The unit testing depends on `autoware_test_utils` package.
+`autoware_test_utils` is a library that provides several common functions to simplify unit test creating.
 
 ![route_handler_test](./images/route_handler_test.svg)
 
@@ -15,4 +15,4 @@ By default, route file is necessary to create tests. The following illustrates t
 
 ![lane_change_test_route](./images/lane_change_test_route.svg)
 
-- The route is based on map that can be obtained from `planning_test_utils\test_map`
+- The route is based on map that can be obtained from `autoware_test_utils\test_map`
diff --git a/planning/autoware_route_handler/images/route_handler_test.svg b/planning/autoware_route_handler/images/route_handler_test.svg
index 38b2a97da0432..445fec1dd88d0 100644
--- a/planning/autoware_route_handler/images/route_handler_test.svg
+++ b/planning/autoware_route_handler/images/route_handler_test.svg
@@ -212,7 +212,7 @@
             >
               <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
                 <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                  planning_test_utils
+                  autoware_test_utils
                 </div>
               </div>
             </div>
diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml
index 48b1b055b2157..61a8a43b31461 100644
--- a/planning/autoware_route_handler/package.xml
+++ b/planning/autoware_route_handler/package.xml
@@ -24,9 +24,9 @@
 
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_test_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
-  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>
diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp
index bc557a82b196d..292cbaa6ba7d9 100644
--- a/planning/autoware_route_handler/test/test_route_handler.hpp
+++ b/planning/autoware_route_handler/test/test_route_handler.hpp
@@ -16,9 +16,9 @@
 #define TEST_ROUTE_HANDLER_HPP_
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_test_utils/autoware_test_utils.hpp"
+#include "autoware_test_utils/mock_data_parser.hpp"
 #include "gtest/gtest.h"
-#include "planning_test_utils/mock_data_parser.hpp"
-#include "planning_test_utils/planning_test_utils.hpp"
 
 #include <autoware_route_handler/route_handler.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
@@ -44,11 +44,12 @@ class TestRouteHandler : public ::testing::Test
 public:
   TestRouteHandler()
   {
-    const auto planning_test_utils_dir =
-      ament_index_cpp::get_package_share_directory("planning_test_utils");
-    const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm";
+    const auto autoware_test_utils_dir =
+      ament_index_cpp::get_package_share_directory("autoware_test_utils");
+    const auto lanelet2_path = autoware_test_utils_dir + "/test_map/2km_test.osm";
     constexpr double center_line_resolution = 5.0;
-    const auto map_bin_msg = test_utils::make_map_bin_msg(lanelet2_path, center_line_resolution);
+    const auto map_bin_msg =
+      autoware::test_utils::make_map_bin_msg(lanelet2_path, center_line_resolution);
     route_handler_ = std::make_shared<RouteHandler>(map_bin_msg);
     set_lane_change_test_route();
   }
@@ -61,9 +62,10 @@ class TestRouteHandler : public ::testing::Test
 
   void set_lane_change_test_route()
   {
-    const auto route_handler_dir = ament_index_cpp::get_package_share_directory("route_handler");
+    const auto route_handler_dir =
+      ament_index_cpp::get_package_share_directory("autoware_route_handler");
     const auto rh_test_route = route_handler_dir + "/test_route/lane_change_test_route.yaml";
-    route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route));
+    route_handler_->setRoute(autoware::test_utils::parse_lanelet_route_file(rh_test_route));
   }
 
   std::shared_ptr<RouteHandler> route_handler_;
diff --git a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
index 052c455c477a7..1b90992dae715 100644
--- a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
+++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -24,7 +24,7 @@
 #include <vector>
 namespace autoware::scenario_selector
 {
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index efa500b66f914..e6b812ff9b388 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -43,9 +43,9 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_path_planner</test_depend>
   <test_depend>autoware_behavior_velocity_planner</test_depend>
   <test_depend>autoware_lint_common</test_depend>
-  <test_depend>behavior_path_planner</test_depend>
   <test_depend>ros_testing</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
index 02d9cbc1e24a0..07f8f3e30e659 100644
--- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
@@ -55,7 +55,7 @@ def generate_test_description():
                 "config/static_centerline_generator.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("behavior_path_planner"),
+                get_package_share_directory("autoware_behavior_path_planner"),
                 "config/behavior_path_planner.param.yaml",
             ),
             os.path.join(
diff --git a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp
index 30a64955366e4..d4374e21686e7 100644
--- a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp
+++ b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 using autoware::velocity_smoother::VelocitySmootherNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -39,14 +39,14 @@ std::shared_ptr<VelocitySmootherNode> generateNode()
   auto node_options = rclcpp::NodeOptions{};
   node_options.append_parameter_override("algorithm_type", "JerkFiltered");
   node_options.append_parameter_override("publish_debug_trajs", false);
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
   node_options.arguments(
-    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    {"--ros-args", "--params-file", autoware_test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
      "--params-file", velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
      "--params-file", velocity_smoother_dir + "/config/default_common.param.yaml", "--params-file",
      velocity_smoother_dir + "/config/JerkFiltered.param.yaml"});
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
index 9a6205a830279..3c7b7d1df9bf5 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
@@ -23,7 +23,7 @@
 #include <vector>
 
 using autoware::motion_velocity_planner::MotionVelocityPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -45,8 +45,8 @@ std::shared_ptr<MotionVelocityPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto motion_velocity_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_motion_velocity_planner_node");
   const auto velocity_smoother_dir =
@@ -67,10 +67,10 @@ std::shared_ptr<MotionVelocityPlannerNode> generateNode()
   params.emplace_back("is_simulation", false);
   node_options.parameter_overrides(params);
 
-  test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+  autoware::test_utils::updateNodeOptions(
+    node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
+                   autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
                    velocity_smoother_dir + "/config/Analytical.param.yaml",
                    motion_velocity_planner_dir + "/config/motion_velocity_planner.param.yaml",
diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
index 4e846d9ff1417..474ed9a338725 100644
--- a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
+++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware::planning_test_manager::PlanningInterfaceTestManager;
 using motion_planning::ObstacleStopPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -38,17 +38,17 @@ std::shared_ptr<ObstacleStopPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto obstacle_stop_planner_dir =
     ament_index_cpp::get_package_share_directory("obstacle_stop_planner");
 
   node_options.append_parameter_override("enable_slow_down", false);
 
   node_options.arguments(
-    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    {"--ros-args", "--params-file", autoware_test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     "--params-file", autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
      "--params-file", obstacle_stop_planner_dir + "/config/common.param.yaml", "--params-file",
      obstacle_stop_planner_dir + "/config/adaptive_cruise_control.param.yaml", "--params-file",
      obstacle_stop_planner_dir + "/config/obstacle_stop_planner.param.yaml"});