diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp
index dd533aff1e30f..730c678b93427 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_
 
+#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/type_alias.hpp"
 #include "autoware/behavior_path_planner_common/data_manager.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"
-#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/type_alias.hpp"
 
 #include <rclcpp/time.hpp>
 
@@ -679,4 +679,4 @@ struct DebugData
 
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/type_alias.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/type_alias.hpp
index cfbd3f89308ac..74e893b6d1b6a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/type_alias.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/type_alias.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
 
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/path_with_lane_id.hpp>
@@ -71,4 +71,4 @@ using autoware::universe_utils::pose2transform;
 using autoware::universe_utils::toHexString;
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp
index 52c1bd55d6da0..3d2ead864975d 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_
 
-#include "autoware/behavior_path_planner_common/data_manager.hpp"
-#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp"
 #include "autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp"
+#include "autoware/behavior_path_planner_common/data_manager.hpp"
+#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <memory>
 #include <utility>
@@ -35,7 +35,8 @@ using autoware::behavior_path_planner::utils::path_safety_checker::PoseWithVeloc
 using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon;
 
 static constexpr const char * logger_namespace =
-  "planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.dynamic_obstacle_"
+  "planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.dynamic_"
+  "obstacle_"
   "avoidance.utils";
 
 bool isOnRight(const ObjectData & obj);
@@ -178,4 +179,4 @@ double calcDistanceToAvoidStartLine(
 
 }  // namespace autoware::behavior_path_planner::utils::dynamic_obstacle_avoidance
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
index 5eed57a4821c5..d1d87c48e7a12 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -20,28 +20,28 @@
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
+  <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_route_handler</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>autoware_universe_utils</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
+  <depend>magic_enum</depend>
   <depend>object_recognition_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>signal_processing</depend>
-  <depend>visualization_msgs</depend>
-  <depend>autoware_objects_of_interest_marker_interface</depend>
-  <depend>autoware_route_handler</depend>
-  <depend>autoware_rtc_interface</depend>
-  <depend>autoware_vehicle_info_utils</depend>
-  <depend>magic_enum</depend>
   <depend>sensor_msgs</depend>
+  <depend>signal_processing</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_planning_msgs</depend>
+  <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
index ae951fc0ac5e4..29e5fe98dd0d2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include "autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp"
-#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp"
 
+#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
@@ -432,8 +432,8 @@ BehaviorModuleOutput DynamicObstacleAvoidanceModule::plan()
       throw std::logic_error("The polygon_generation_method's string is invalid.");
     }();
     if (obstacle_poly) {
-//      obstacles_for_drivable_area.push_back(
-//        {object.pose, obstacle_poly.value(), object.is_collision_left});
+      //      obstacles_for_drivable_area.push_back(
+      //        {object.pose, obstacle_poly.value(), object.is_collision_left});
 
       appendObjectMarker(info_marker_, object.pose);
       appendExtractedPolygonMarker(debug_marker_, obstacle_poly.value(), object.pose.position.z);
@@ -445,15 +445,14 @@ BehaviorModuleOutput DynamicObstacleAvoidanceModule::plan()
   // generate drivable lanes
   auto current_lanelets = utils::dynamic_obstacle_avoidance::getCurrentLanesFromPath(
     getPreviousModuleOutput().reference_path, planner_data_);
-  std::for_each(
-    current_lanelets.begin(), current_lanelets.end(), [&](const auto & lanelet) {
-      current_drivable_area_info.drivable_lanes.push_back(
-        utils::dynamic_obstacle_avoidance::generateExpandedDrivableLanes(
-          lanelet, planner_data_, parameters_));
-    });
-
-//  current_drivable_area_info.drivable_lanes =
-//    getPreviousModuleOutput().drivable_area_info.drivable_lanes;
+  std::for_each(current_lanelets.begin(), current_lanelets.end(), [&](const auto & lanelet) {
+    current_drivable_area_info.drivable_lanes.push_back(
+      utils::dynamic_obstacle_avoidance::generateExpandedDrivableLanes(
+        lanelet, planner_data_, parameters_));
+  });
+
+  //  current_drivable_area_info.drivable_lanes =
+  //    getPreviousModuleOutput().drivable_area_info.drivable_lanes;
   current_drivable_area_info.obstacles = obstacles_for_drivable_area;
   current_drivable_area_info.enable_expanding_hatched_road_markings =
     parameters_->use_hatched_road_markings;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/utils.cpp
index 860a0b1040c36..5c486a9bdbf73 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/utils.cpp
@@ -14,13 +14,13 @@
 
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
+#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp"
+#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp"
+#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp"
-#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/data_structs.hpp"
-#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/utils.hpp"
-#include "autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>