diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index bdef13a..3aa025e 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -38,11 +38,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   perception/msg/DynamicObjectKinematics.msg
   perception/msg/DynamicObjectPath.msg
   perception/msg/ObjectClassification.msg
+  planning/msg/ControlPoint.msg
   planning/msg/SteeringFactor.msg
   planning/msg/SteeringFactorArray.msg
   planning/msg/VelocityFactor.msg
   planning/msg/VelocityFactorArray.msg
   planning/msg/PlanningBehavior.msg
+  planning/msg/PlanningFactor.msg
+  planning/msg/PlanningFactorArray.msg
   planning/msg/PlanningSequence.msg
   planning/msg/CooperationCommand.msg
   planning/msg/CooperationDecision.msg
diff --git a/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg b/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg
new file mode 100644
index 0000000..5c71444
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Pose pose
+float32 distance
diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg
new file mode 100644
index 0000000..45c4eda
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg
@@ -0,0 +1,38 @@
+## constants for common use
+uint16 UNKNOWN = 0
+
+# constants for behavior_type
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
+uint16 SHIFT_LEFT = 4
+uint16 SHIFT_RIGHT = 5
+uint16 TURN_LEFT = 6
+uint16 TURN_RIGHT = 7
+
+# constants for behavior_name
+string ADAPTIVE_CRUISE = "adaptive_cruise"
+string AVOIDANCE = "avoidance"
+string CROSSWALK = "crosswalk"
+string GOAL_PLANNER = "goal_planner"
+string INTERSECTION = "intersection"
+string LANE_CHANGE = "lane_change"
+string MERGE = "merge"
+string NO_DRIVABLE_LANE = "no_drivable_lane"
+string NO_STOPPING_AREA = "no_stopping_area"
+string REAR_CHECK = "rear_check"
+string ROUTE_OBSTACLE = "route_obstacle"
+string RUN_OUT = "run_out"
+string SIDEWALK = "sidewalk"
+string START_PLANNER = "start_planner"
+string STOP_SIGN = "stop_sign"
+string SURROUNDING_OBSTACLE = "surrounding_obstacle"
+string TRAFFIC_SIGNAL = "traffic_signal"
+string USER_DEFINED_DETECTION_AREA = "user_defined_detection_area"
+string VIRTUAL_TRAFFIC_LIGHT = "virtual_traffic_light"
+
+# variables
+uint16 behavior_type
+string behavior_name
+string detail
+autoware_adapi_v1_msgs/ControlPoint[] control_points
diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg
new file mode 100644
index 0000000..4f1c9e3
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_adapi_v1_msgs/PlanningFactor[] factors