diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg
index 7924631..0865ed3 100644
--- a/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg
@@ -1,7 +1,8 @@
 # These constants are used in the behavior field of the SteeringFactor/VelocityFactor.
+string UNKNOWN = ""
 string AVOIDANCE = "avoidance"
 string CROSSWALK = "crosswalk"
-string EMERGENCY_OPERATION = "emergency-operation"
+string GOAL_PLANNER = "goal-planner"
 string INTERSECTION = "intersection"
 string LANE_CHANGE = "lane-change"
 string MERGE = "merge"
@@ -10,7 +11,9 @@ string NO_STOPPING_AREA = "no-stopping-area"
 string REAR_CHECK = "rear-check"
 string ROUTE_OBSTACLE = "route-obstacle"
 string SIDEWALK = "sidewalk"
+string START_PLANNER = "start-planner"
 string STOP_SIGN = "stop-sign"
 string SURROUNDING_OBSTACLE = "surrounding-obstacle"
 string TRAFFIC_SIGNAL = "traffic-signal"
 string USER_DEFINED_DETECTION_AREA = "user-defined-attention-area"
+string VIRTUAL_TRAFFIC_LIGHT = "virtual-traffic-light"