diff --git a/tier4_planning_msgs/msg/PathChangeModuleId.msg b/tier4_planning_msgs/msg/PathChangeModuleId.msg
index 84c9c30d..bad8bcf4 100644
--- a/tier4_planning_msgs/msg/PathChangeModuleId.msg
+++ b/tier4_planning_msgs/msg/PathChangeModuleId.msg
@@ -5,4 +5,4 @@ int32 AVOIDANCE = 1
 int32 LANE_CHANGE = 2
 int32 FORCE_LANE_CHANGE = 3
 int32 GOAL_PLANNER = 4
-int32 PULL_OUT = 5
+int32 START_PLANNER = 5
diff --git a/tier4_planning_msgs/msg/StopReason.msg b/tier4_planning_msgs/msg/StopReason.msg
index ee3ebe8f..008e1631 100644
--- a/tier4_planning_msgs/msg/StopReason.msg
+++ b/tier4_planning_msgs/msg/StopReason.msg
@@ -20,7 +20,7 @@ string AVOIDANCE_BY_LANE_CHANGE=AvoidanceByLaneChange
 string EXTERNAL_LANE_CHANGE=ExternalLaneChange
 string LANE_CHANGE=LaneChange
 string GOAL_PLANNER=GoalPlanner
-string PULL_OUT=PullOut
+string START_PLANNER=StartPlanner
 string reason
 
 tier4_planning_msgs/StopFactor[] stop_factors
diff --git a/tier4_rtc_msgs/README.md b/tier4_rtc_msgs/README.md
index b335634c..6030fc20 100644
--- a/tier4_rtc_msgs/README.md
+++ b/tier4_rtc_msgs/README.md
@@ -41,7 +41,7 @@ The `tier4_rtc_msgs` package includes message/service definition files for reque
     - `AVOIDANCE_LEFT`
     - `AVOIDANCE_RIGHT`
     - `GOAL_PLANNER`
-    - `PULL_OUT`
+    - `START_PLANNER`
     - `TRAFFIC_LIGHT`
     - `INTERSECTION`
     - `CROSSWALK`
diff --git a/tier4_rtc_msgs/msg/Module.msg b/tier4_rtc_msgs/msg/Module.msg
index c2d8faf5..07d74eb1 100644
--- a/tier4_rtc_msgs/msg/Module.msg
+++ b/tier4_rtc_msgs/msg/Module.msg
@@ -6,7 +6,7 @@ uint8 LANE_CHANGE_RIGHT = 2
 uint8 AVOIDANCE_LEFT = 3
 uint8 AVOIDANCE_RIGHT = 4
 uint8 GOAL_PLANNER = 5
-uint8 PULL_OUT = 6
+uint8 START_PLANNER = 6
 uint8 TRAFFIC_LIGHT = 7
 uint8 INTERSECTION = 8
 uint8 INTERSECTION_OCCLUSION = 9