diff --git a/autoware_vehicle_msgs/CMakeLists.txt b/autoware_vehicle_msgs/CMakeLists.txt
index 76e4bed..1459201 100644
--- a/autoware_vehicle_msgs/CMakeLists.txt
+++ b/autoware_vehicle_msgs/CMakeLists.txt
@@ -19,6 +19,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/SteeringReport.msg"
     "msg/TurnIndicatorsCommand.msg"
     "msg/TurnIndicatorsReport.msg"
+    "msg/VehicleControlCommand.msg"
+    "msg/VehicleKinematicState.msg"
     "msg/VehicleOdometry.msg"
     "msg/VelocityReport.msg"
     "srv/ControlModeCommand.srv"
diff --git a/autoware_vehicle_msgs/msg/VehicleControlCommand.msg b/autoware_vehicle_msgs/msg/VehicleControlCommand.msg
new file mode 100644
index 0000000..3728ccd
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/VehicleControlCommand.msg
@@ -0,0 +1,5 @@
+builtin_interfaces/Time stamp
+float32 long_accel_mps2
+float32 velocity_mps
+float32 front_wheel_angle_rad
+float32 rear_wheel_angle_rad
diff --git a/autoware_vehicle_msgs/msg/VehicleKinematicState.msg b/autoware_vehicle_msgs/msg/VehicleKinematicState.msg
new file mode 100644
index 0000000..950c75f
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/VehicleKinematicState.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+autoware_planning_msgs/TrajectoryPoint state
+geometry_msgs/Transform delta