diff --git a/autoware_perception_msgs/CMakeLists.txt b/autoware_perception_msgs/CMakeLists.txt
index e096930..e6504a4 100644
--- a/autoware_perception_msgs/CMakeLists.txt
+++ b/autoware_perception_msgs/CMakeLists.txt
@@ -11,9 +11,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PredictedObjects.msg"
   "msg/PredictedPath.msg"
   "msg/Shape.msg"
-  "msg/TrafficSignalElement.msg"
-  "msg/TrafficSignal.msg"
-  "msg/TrafficSignalArray.msg"
+  "msg/TrafficLightElement.msg"
+  "msg/TrafficLight.msg"
+  "msg/TrafficLightArray.msg"
 
   DEPENDENCIES
     std_msgs
diff --git a/autoware_perception_msgs/msg/TrafficLight.msg b/autoware_perception_msgs/msg/TrafficLight.msg
new file mode 100644
index 0000000..4002fd1
--- /dev/null
+++ b/autoware_perception_msgs/msg/TrafficLight.msg
@@ -0,0 +1,2 @@
+int64 traffic_signal_id
+autoware_perception_msgs/TrafficLightElement[] elements
diff --git a/autoware_perception_msgs/msg/TrafficLightArray.msg b/autoware_perception_msgs/msg/TrafficLightArray.msg
new file mode 100644
index 0000000..2056b82
--- /dev/null
+++ b/autoware_perception_msgs/msg/TrafficLightArray.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_perception_msgs/TrafficLight[] signals
diff --git a/autoware_perception_msgs/msg/TrafficSignalElement.msg b/autoware_perception_msgs/msg/TrafficLightElement.msg
similarity index 100%
rename from autoware_perception_msgs/msg/TrafficSignalElement.msg
rename to autoware_perception_msgs/msg/TrafficLightElement.msg
diff --git a/autoware_perception_msgs/msg/TrafficSignal.msg b/autoware_perception_msgs/msg/TrafficSignal.msg
deleted file mode 100644
index 7c07771..0000000
--- a/autoware_perception_msgs/msg/TrafficSignal.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-int64 traffic_signal_id
-autoware_perception_msgs/TrafficSignalElement[] elements
diff --git a/autoware_perception_msgs/msg/TrafficSignalArray.msg b/autoware_perception_msgs/msg/TrafficSignalArray.msg
deleted file mode 100644
index 270a633..0000000
--- a/autoware_perception_msgs/msg/TrafficSignalArray.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-builtin_interfaces/Time stamp
-autoware_perception_msgs/TrafficSignal[] signals