diff --git a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
similarity index 88%
rename from perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
rename to perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
index ae6162542a1c3..4331b5c19d3f1 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
-#define DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
+#define DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
@@ -69,4 +69,4 @@ class ObjectLaneletFilterNode : public rclcpp::Node
 
 }  // namespace object_lanelet_filter
 
-#endif  // DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
diff --git a/perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
similarity index 84%
rename from perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp
rename to perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
index b9384e0f70379..be25eb6a353e6 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
-#define DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
+#define DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
@@ -55,4 +55,4 @@ class ObjectPositionFilterNode : public rclcpp::Node
 
 }  // namespace object_position_filter
 
-#endif  // DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
similarity index 93%
rename from perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
rename to perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
index 6597475ae297e..8f5fa054090f5 100644
--- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
-#define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -113,4 +113,4 @@ class Debugger
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-#endif  // OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
similarity index 90%
rename from perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
rename to perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index e7df2c409b18f..2d70247445043 100644
--- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
-#define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+// NOLINTNEXTLINE(whitespace/line_length)
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+// NOLINTNEXTLINE(whitespace/line_length)
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 
-#include "obstacle_pointcloud_based_validator/debugger.hpp"
+#include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -152,4 +154,5 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-#endif  // OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+// NOLINTNEXTLINE(whitespace/line_length)
+#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
diff --git a/perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
similarity index 89%
rename from perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
rename to perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
index f62b0d866dc3a..5fd866d09e725 100644
--- a/perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
-#define OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
+#define DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
 
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -68,4 +68,4 @@ class OccupancyGridBasedValidator : public rclcpp::Node
 };
 }  // namespace occupancy_grid_based_validator
 
-#endif  // OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
diff --git a/perception/detected_object_validation/include/utils/utils.hpp b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
similarity index 84%
rename from perception/detected_object_validation/include/utils/utils.hpp
rename to perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
index 21df77825176b..2c46e1b9dd110 100644
--- a/perception/detected_object_validation/include/utils/utils.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UTILS__UTILS_HPP_
-#define UTILS__UTILS_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_
+#define DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_
 
 #include <cstdint>
 
@@ -33,4 +33,4 @@ struct FilterTargetLabel
 };  // struct FilterTargetLabel
 }  // namespace utils
 
-#endif  // UTILS__UTILS_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index fe8de37c778ac..cd16d414425cb 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "detected_object_filter/object_lanelet_filter.hpp"
+#include "detected_object_validation/detected_object_filter/object_lanelet_filter.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/object_position_filter.cpp
index 0f59e60d57d55..a509fc7571dd5 100644
--- a/perception/detected_object_validation/src/object_position_filter.cpp
+++ b/perception/detected_object_validation/src/object_position_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "detected_object_filter/object_position_filter.hpp"
+#include "detected_object_validation/detected_object_filter/object_position_filter.hpp"
 
 namespace object_position_filter
 {
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
index 3249581513dd9..d903a9ca3bb41 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
+#include "detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
diff --git a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
index 948f040d7ebde..80e4dc66d35c2 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
+#include "detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
 
 #include <object_recognition_utils/object_classification.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
diff --git a/perception/detected_object_validation/src/utils.cpp b/perception/detected_object_validation/src/utils.cpp
index d8f438e265c3a..53b21ee7ff5b6 100644
--- a/perception/detected_object_validation/src/utils.cpp
+++ b/perception/detected_object_validation/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>