diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg
index f9c1578..511db08 100644
--- a/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg
@@ -18,3 +18,4 @@ string TRAFFIC_SIGNAL = "traffic-signal"
 string USER_DEFINED_DETECTION_AREA = "user-defined-attention-area"
 string VIRTUAL_TRAFFIC_LIGHT = "virtual-traffic-light"
 string RUN_OUT = "run-out"
+string ADAPTIVE_CRUISE = "adaptive-cruise"