diff --git a/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp
index f7feada7..b6f5ae3e 100644
--- a/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp
+++ b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp
@@ -16,7 +16,7 @@
 #define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_
 
 #include "autoware/interpolation/interpolation_utils.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 
diff --git a/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp
index c9668a4c..68d79cff 100644
--- a/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp
+++ b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp
@@ -49,7 +49,7 @@ class SplineInterpolationPoints2d
   {
     std::vector<geometry_msgs::msg::Point> points_inner;
     for (const auto & p : points) {
-      points_inner.push_back(autoware::universe_utils::getPoint(p));
+      points_inner.push_back(autoware_utils::get_point(p));
     }
     calcSplineCoefficientsInner(points_inner);
   }
diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml
index aa01d82a..a007a4eb 100644
--- a/common/autoware_interpolation/package.xml
+++ b/common/autoware_interpolation/package.xml
@@ -11,8 +11,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
+  <depend>autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/autoware_interpolation/src/spline_interpolation_points_2d.cpp b/common/autoware_interpolation/src/spline_interpolation_points_2d.cpp
index e0f55cfb..5449fbda 100644
--- a/common/autoware_interpolation/src/spline_interpolation_points_2d.cpp
+++ b/common/autoware_interpolation/src/spline_interpolation_points_2d.cpp
@@ -90,7 +90,7 @@ geometry_msgs::msg::Pose SplineInterpolationPoints2d::getSplineInterpolatedPose(
   geometry_msgs::msg::Pose pose;
   pose.position = getSplineInterpolatedPoint(idx, s);
   pose.orientation =
-    autoware::universe_utils::createQuaternionFromYaw(getSplineInterpolatedYaw(idx, s));
+    autoware_utils::create_quaternion_from_yaw(getSplineInterpolatedYaw(idx, s));
   return pose;
 }
 
diff --git a/common/autoware_interpolation/test/src/test_spline_interpolation.cpp b/common/autoware_interpolation/test/src/test_spline_interpolation.cpp
index 766e94a4..f80c1225 100644
--- a/common/autoware_interpolation/test/src/test_spline_interpolation.cpp
+++ b/common/autoware_interpolation/test/src/test_spline_interpolation.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "autoware/interpolation/spline_interpolation.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp b/common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp
index 974ad606..a55b7f5d 100644
--- a/common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp
+++ b/common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
@@ -27,15 +27,15 @@ using autoware::interpolation::SplineInterpolationPoints2d;
 
 TEST(spline_interpolation, splineYawFromPoints)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
 
   {  // straight
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(0.0, 0.0, 0.0));
-    points.push_back(createPoint(1.0, 1.5, 0.0));
-    points.push_back(createPoint(2.0, 3.0, 0.0));
-    points.push_back(createPoint(3.0, 4.5, 0.0));
-    points.push_back(createPoint(4.0, 6.0, 0.0));
+    points.push_back(create_point(0.0, 0.0, 0.0));
+    points.push_back(create_point(1.0, 1.5, 0.0));
+    points.push_back(create_point(2.0, 3.0, 0.0));
+    points.push_back(create_point(3.0, 4.5, 0.0));
+    points.push_back(create_point(4.0, 6.0, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937, 0.9827937, 0.9827937, 0.9827937};
 
@@ -47,11 +47,11 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // curve
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(-2.0, -10.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
-    points.push_back(createPoint(3.0, 3.0, 0.0));
-    points.push_back(createPoint(5.0, 10.0, 0.0));
-    points.push_back(createPoint(10.0, 12.5, 0.0));
+    points.push_back(create_point(-2.0, -10.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
+    points.push_back(create_point(3.0, 3.0, 0.0));
+    points.push_back(create_point(5.0, 10.0, 0.0));
+    points.push_back(create_point(10.0, 12.5, 0.0));
 
     const std::vector<double> ans{1.368174, 0.961318, 1.086098, 0.938357, 0.278594};
     const auto yaws = autoware::interpolation::splineYawFromPoints(points);
@@ -62,15 +62,15 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // size of base_keys is 1 (infeasible to interpolate)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
 
     EXPECT_THROW(autoware::interpolation::splineYawFromPoints(points), std::logic_error);
   }
 
   {  // straight: size of base_keys is 2 (edge case in the implementation)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937};
 
@@ -82,9 +82,9 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // straight: size of base_keys is 3 (edge case in the implementation)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
-    points.push_back(createPoint(3.0, 3.0, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
+    points.push_back(create_point(3.0, 3.0, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937, 0.9827937};
 
@@ -97,15 +97,15 @@ TEST(spline_interpolation, splineYawFromPoints)
 
 TEST(spline_interpolation, SplineInterpolationPoints2d)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
 
   // curve
   std::vector<geometry_msgs::msg::Point> points;
-  points.push_back(createPoint(-2.0, -10.0, 0.0));
-  points.push_back(createPoint(2.0, 1.5, 0.0));
-  points.push_back(createPoint(3.0, 3.0, 0.0));
-  points.push_back(createPoint(5.0, 10.0, 0.0));
-  points.push_back(createPoint(10.0, 12.5, 0.0));
+  points.push_back(create_point(-2.0, -10.0, 0.0));
+  points.push_back(create_point(2.0, 1.5, 0.0));
+  points.push_back(create_point(3.0, 3.0, 0.0));
+  points.push_back(create_point(5.0, 10.0, 0.0));
+  points.push_back(create_point(10.0, 12.5, 0.0));
 
   SplineInterpolationPoints2d s(points);
 
@@ -194,19 +194,19 @@ TEST(spline_interpolation, SplineInterpolationPoints2d)
 
   // size of base_keys is 1 (infeasible to interpolate)
   std::vector<geometry_msgs::msg::Point> single_points;
-  single_points.push_back(createPoint(1.0, 0.0, 0.0));
+  single_points.push_back(create_point(1.0, 0.0, 0.0));
   EXPECT_THROW(SplineInterpolationPoints2d{single_points}, std::logic_error);
 }
 
 TEST(spline_interpolation, SplineInterpolationPoints2dPolymorphism)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
   using autoware_planning_msgs::msg::TrajectoryPoint;
 
   std::vector<geometry_msgs::msg::Point> points;
-  points.push_back(createPoint(-2.0, -10.0, 0.0));
-  points.push_back(createPoint(2.0, 1.5, 0.0));
-  points.push_back(createPoint(3.0, 3.0, 0.0));
+  points.push_back(create_point(-2.0, -10.0, 0.0));
+  points.push_back(create_point(2.0, 1.5, 0.0));
+  points.push_back(create_point(3.0, 3.0, 0.0));
 
   std::vector<TrajectoryPoint> trajectory_points;
   for (const auto & p : points) {