diff --git a/tier4_planning_msgs/msg/PlanningFactor.msg b/tier4_planning_msgs/msg/PlanningFactor.msg
index 3c380f1..68f8b4e 100644
--- a/tier4_planning_msgs/msg/PlanningFactor.msg
+++ b/tier4_planning_msgs/msg/PlanningFactor.msg
@@ -1,14 +1,10 @@
-# msg format version
-string version_msg_format
-
 # constants for behavior
 uint16 UNKNOWN = 0
-uint16 SLOW_DOWN = 1
-uint16 STOP = 2
-uint16 GO = 3
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
 uint16 LEFT_SHIFT = 4
 uint16 RIGHT_SHIFT = 5
-uint16 STRAIGHT = 6
 
 # variables
 string module
diff --git a/tier4_planning_msgs/msg/SafetyFactor.msg b/tier4_planning_msgs/msg/SafetyFactor.msg
index 9186f2c..22e964b 100644
--- a/tier4_planning_msgs/msg/SafetyFactor.msg
+++ b/tier4_planning_msgs/msg/SafetyFactor.msg
@@ -1,6 +1,3 @@
-# msg format version
-string version_msg_format
-
 # constants for common use
 uint16 UNKNOWN = 0