diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 91ffe11..c64dd3f 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -36,6 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/msg/CooperationDecision.msg
   planning/msg/CooperationPolicy.msg
   planning/msg/CooperationStatus.msg
+  planning/msg/CooperationStatusArray.msg
   planning/srv/SetCooperationCommands.srv
   planning/srv/SetCooperationPolicies.srv
   planning/srv/GetCooperationPolicies.srv
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
index 95773fe..491bc01 100644
--- a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
@@ -1,7 +1,7 @@
 uint8 UNKNOWN = 0
 uint8 DEACTIVATE = 1
 uint8 ACTIVATE = 2
-uint8 AUTONOMOUS = 3
-uint8 UNDECIDED = 4
+uint8 UNDECIDED = 3
+uint8 FORCE = 4
 
 uint8 decision
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
index 21f295d..3b199c7 100644
--- a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
@@ -1,4 +1,3 @@
 unique_identifier_msgs/UUID uuid
 autoware_adapi_v1_msgs/CooperationDecision autonomous
 autoware_adapi_v1_msgs/CooperationDecision cooperator
-bool cancellable
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg
new file mode 100644
index 0000000..5e556ac
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg
@@ -0,0 +1 @@
+autoware_adapi_v1_msgs/CooperationStatus[] cooperations
diff --git a/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg b/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
index f685153..c3a17d8 100644
--- a/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
@@ -18,4 +18,3 @@ uint16 status
 string behavior
 string sequence
 string detail
-autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
diff --git a/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg b/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
index 5c9327c..6fcf5b0 100644
--- a/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
@@ -12,4 +12,3 @@ uint16 status
 string behavior
 string sequence
 string detail
-autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation