diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp
similarity index 93%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp
index 741b5afb50e08..5317b94db2d6b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp
@@ -11,12 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
@@ -276,20 +276,20 @@ class LaneChangeBase
     }
   }
 
-  LaneChangeStatus status_{};
+  LaneChangeStatus status_;
   PathShifter path_shifter_{};
 
   LaneChangeStates current_lane_change_state_{};
 
-  std::shared_ptr<LaneChangeParameters> lane_change_parameters_{};
-  std::shared_ptr<LaneChangePath> abort_path_{};
-  std::shared_ptr<const PlannerData> planner_data_{};
-  lane_change::CommonDataPtr common_data_ptr_{};
+  std::shared_ptr<LaneChangeParameters> lane_change_parameters_;
+  std::shared_ptr<LaneChangePath> abort_path_;
+  std::shared_ptr<const PlannerData> planner_data_;
+  lane_change::CommonDataPtr common_data_ptr_;
   FilteredLanesObjects filtered_objects_{};
   BehaviorModuleOutput prev_module_output_{};
   std::optional<Pose> lane_change_stop_pose_{std::nullopt};
 
-  PathWithLaneId prev_approved_path_{};
+  PathWithLaneId prev_approved_path_;
 
   int unsafe_hysteresis_count_{0};
   bool is_abort_path_approved_{false};
@@ -311,4 +311,4 @@ class LaneChangeBase
   friend class ::TestNormalLaneChange;
 };
 }  // namespace autoware::behavior_path_planner
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
index 07920f83fd980..9d6fbd65acfd8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 
+#include "autoware/behavior_path_lane_change_module/base_class.hpp"
 #include "autoware/behavior_path_lane_change_module/scene.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
index 2a1862de6a27e..124579735e5d8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 #include "autoware/route_handler/route_handler.hpp"
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
index 7202a1c6a9108..9bf66722dcec2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
@@ -14,8 +14,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/base_class.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <memory>
 #include <utility>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp
similarity index 95%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp
index c121ab8512cce..4dcb1c7b685d0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp
@@ -11,10 +11,10 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/parameters.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
@@ -72,6 +72,7 @@ struct PhaseMetrics
   double actual_lon_accel{0.0};
   double lat_accel{0.0};
 
+  PhaseMetrics() = default;
   PhaseMetrics(
     const double _duration, const double _length, const double _velocity,
     const double _sampled_lon_accel, const double _actual_lon_accel, const double _lat_accel)
@@ -103,10 +104,10 @@ struct Info
   PhaseInfo duration{0.0, 0.0};
   PhaseInfo length{0.0, 0.0};
 
-  Pose lane_changing_start{};
-  Pose lane_changing_end{};
+  Pose lane_changing_start;
+  Pose lane_changing_end;
 
-  ShiftLine shift_line{};
+  ShiftLine shift_line;
 
   double lateral_acceleration{0.0};
   double terminal_lane_changing_velocity{0.0};
@@ -294,4 +295,4 @@ using FilteredLanesObjects = lane_change::FilteredLanesObjects;
 using LateralAccelerationMap = lane_change::LateralAccelerationMap;
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/debug.hpp
similarity index 87%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/debug.hpp
index a28b8523a75c7..ea9807ad1616f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/debug.hpp
@@ -11,11 +11,11 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 
 #include <autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp>
 
@@ -76,4 +76,4 @@ struct Debug
 };
 }  // namespace autoware::behavior_path_planner::lane_change
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
similarity index 95%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
index a76742307e061..719bbbbf3057a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
 
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
@@ -177,4 +177,4 @@ struct Parameters
 
 }  // namespace autoware::behavior_path_planner::lane_change
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/path.hpp
similarity index 78%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/path.hpp
index 5623f03a22eb3..0fa0a9d977a26 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/path.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
@@ -29,19 +29,18 @@ using autoware::behavior_path_planner::TurnSignalInfo;
 using tier4_planning_msgs::msg::PathWithLaneId;
 struct Path
 {
-  PathWithLaneId path{};
-  ShiftedPath shifted_path{};
-  Info info{};
+  PathWithLaneId path;
+  ShiftedPath shifted_path;
+  Info info;
 };
 
 struct Status
 {
-  Path lane_change_path{};
+  Path lane_change_path;
   bool is_safe{false};
   bool is_valid_path{false};
   double start_distance{0.0};
 };
-
 }  // namespace autoware::behavior_path_planner::lane_change
 
 namespace autoware::behavior_path_planner
@@ -50,4 +49,4 @@ using LaneChangePath = lane_change::Path;
 using LaneChangePaths = std::vector<lane_change::Path>;
 using LaneChangeStatus = lane_change::Status;
 }  // namespace autoware::behavior_path_planner
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
index 29047c90590b3..eced227a5be32 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <autoware/route_handler/route_handler.hpp>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
index c95b388a2e4a4..4c2712f053b13 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <geometry_msgs/msg/detail/polygon__struct.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
index 1386c60d29aea..0adb9409fb4b0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 5b8b8966f965b..a1c2d8467d1fc 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -681,7 +681,7 @@ void NormalLaneChange::resetParameters()
   is_abort_approval_requested_ = false;
   current_lane_change_state_ = LaneChangeStates::Normal;
   abort_path_ = nullptr;
-  status_ = {};
+  status_ = LaneChangeStatus();
   unsafe_hysteresis_count_ = 0;
   lane_change_debug_.reset();
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
index ff0bd4437c21c..c7514fea01535 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
@@ -14,7 +14,6 @@
 
 #include "autoware/behavior_path_planner_common/marker_utils/colors.hpp"
 #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp"
-#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
 #include <autoware/behavior_path_lane_change_module/utils/markers.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
index 13a119848a87a..2b1c744a926e3 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
index ea36e4dc6960a..96b24d5aa9a9e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_lane_change_module/manager.hpp"
 #include "autoware/behavior_path_lane_change_module/scene.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware_test_utils/autoware_test_utils.hpp"
 #include "autoware_test_utils/mock_data_parser.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
index 68547a491324d..147a53672f30a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>