diff --git a/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp b/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
index 33ea910..e13553d 100644
--- a/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
+++ b/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
@@ -15,9 +15,9 @@
 #ifndef PACMOD_INTERFACE__PACMOD_INTERFACE_HPP_
 #define PACMOD_INTERFACE__PACMOD_INTERFACE_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_api_utils/tier4_api_utils.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
@@ -154,7 +154,7 @@ class PacmodInterface : public rclcpp::Node
 
   double margin_time_for_gear_change_;  // [s]
 
-  vehicle_info_util::VehicleInfo vehicle_info_;
+  autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
 
   // Service
   tier4_api_utils::Service<tier4_external_api_msgs::srv::SetDoor>::SharedPtr srv_;
diff --git a/pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp b/pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp
index 1579b03..2add445 100644
--- a/pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp
+++ b/pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp
@@ -15,8 +15,8 @@
 #ifndef PACMOD_STEER_TEST__PACMOD_STEER_TEST_HPP_
 #define PACMOD_STEER_TEST__PACMOD_STEER_TEST_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <autoware_vehicle_msgs/msg/engage.hpp>
@@ -86,7 +86,7 @@ class PacmodSteerTest : public rclcpp::Node
   rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_signal_status_pub_;
 
-  vehicle_info_util::VehicleInfo vehicle_info_;
+  autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   /* ros param */
diff --git a/pacmod_interface/package.xml b/pacmod_interface/package.xml
index dddff1e..53fde3a 100644
--- a/pacmod_interface/package.xml
+++ b/pacmod_interface/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>can_msgs</depend>
   <depend>diagnostic_updater</depend>
@@ -28,7 +29,6 @@
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp b/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
index a143437..2d71b2a 100644
--- a/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
+++ b/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
@@ -21,7 +21,7 @@
 
 PacmodInterface::PacmodInterface()
 : Node("pacmod_interface"),
-  vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo())
+  vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo())
 {
   /* setup parameters */
   base_frame_id_ = declare_parameter("base_frame_id", "base_link");
diff --git a/pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp b/pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp
index 145e4db..3b40924 100644
--- a/pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp
+++ b/pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp
@@ -21,7 +21,7 @@
 
 PacmodSteerTest::PacmodSteerTest()
 : Node("pacmod_steer_test"),
-  vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo())
+  vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo())
 {
   /* setup parameters */
   /* setup parameters */