diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp
index 6b750bc9674f3..a51b2fd337512 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp
@@ -258,10 +258,10 @@ int main(int argc, char ** argv)
   const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo();
   autoware::lane_departure_checker::LaneDepartureChecker lane_departure_checker{};
   lane_departure_checker.setVehicleInfo(vehicle_info);
-  autoware::lane_departure_checker::Param lane_depature_checker_params;
-  lane_depature_checker_params.footprint_extra_margin =
+  autoware::lane_departure_checker::Param lane_departure_checker_params;
+  lane_departure_checker_params.footprint_extra_margin =
     goal_planner_parameter.lane_departure_check_expansion_margin;
-  lane_departure_checker.setParam(lane_depature_checker_params);
+  lane_departure_checker.setParam(lane_departure_checker_params);
   auto shift_pull_over_planner = autoware::behavior_path_planner::ShiftPullOver(
     *node, goal_planner_parameter, lane_departure_checker);
   const auto pull_over_path_opt =
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
index c48588bc5386d..a446493793c53 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
@@ -217,31 +217,32 @@ std::optional<size_t> getFirstPointInsidePolygon(
 }
 
 void retrievePathsBackward(
-  const std::vector<std::vector<bool>> & adjacency, const size_t src_ind,
-  const std::vector<size_t> & visited_inds, std::vector<std::vector<size_t>> & paths)
+  const std::vector<std::vector<bool>> & adjacency, const size_t src_index,
+  const std::vector<size_t> & visited_indices, std::vector<std::vector<size_t>> & paths)
 {
-  const auto & nexts = adjacency.at(src_ind);
-  const bool is_terminal = (std::find(nexts.begin(), nexts.end(), true) == nexts.end());
+  const auto & next_indices = adjacency.at(src_index);
+  const bool is_terminal =
+    (std::find(next_indices.begin(), next_indices.end(), true) == next_indices.end());
   if (is_terminal) {
-    std::vector<size_t> path(visited_inds.begin(), visited_inds.end());
-    path.push_back(src_ind);
+    std::vector<size_t> path(visited_indices.begin(), visited_indices.end());
+    path.push_back(src_index);
     paths.emplace_back(std::move(path));
     return;
   }
-  for (size_t next = 0; next < nexts.size(); next++) {
-    if (!nexts.at(next)) {
+  for (size_t next = 0; next < next_indices.size(); next++) {
+    if (!next_indices.at(next)) {
       continue;
     }
-    if (std::find(visited_inds.begin(), visited_inds.end(), next) != visited_inds.end()) {
+    if (std::find(visited_indices.begin(), visited_indices.end(), next) != visited_indices.end()) {
       // loop detected
-      std::vector<size_t> path(visited_inds.begin(), visited_inds.end());
-      path.push_back(src_ind);
+      std::vector<size_t> path(visited_indices.begin(), visited_indices.end());
+      path.push_back(src_index);
       paths.emplace_back(std::move(path));
       continue;
     }
-    auto new_visited_inds = visited_inds;
-    new_visited_inds.push_back(src_ind);
-    retrievePathsBackward(adjacency, next, new_visited_inds, paths);
+    auto new_visited_indices = visited_indices;
+    new_visited_indices.push_back(src_index);
+    retrievePathsBackward(adjacency, next, new_visited_indices, paths);
   }
   return;
 }
@@ -263,10 +264,10 @@ mergeLaneletsByTopologicalSort(
     ind2Id[ind] = Id;
     Id2lanelet[Id] = lanelet;
   }
-  std::set<size_t> terminal_inds;
+  std::set<size_t> terminal_indices;
   for (const auto & terminal_lanelet : terminal_lanelets) {
     if (Id2ind.count(terminal_lanelet.id()) > 0) {
-      terminal_inds.insert(Id2ind[terminal_lanelet.id()]);
+      terminal_indices.insert(Id2ind[terminal_lanelet.id()]);
     }
   }
 
@@ -292,7 +293,7 @@ mergeLaneletsByTopologicalSort(
   }
 
   std::unordered_map<size_t, std::vector<std::vector<size_t>>> branches;
-  for (const auto & terminal_ind : terminal_inds) {
+  for (const auto & terminal_ind : terminal_indices) {
     std::vector<std::vector<size_t>> paths;
     std::vector<size_t> visited;
     retrievePathsBackward(adjacency, terminal_ind, visited, paths);
@@ -311,11 +312,11 @@ mergeLaneletsByTopologicalSort(
     if (sub_branches.size() == 0) {
       continue;
     }
-    for (const auto & sub_inds : sub_branches) {
+    for (const auto & sub_indices : sub_branches) {
       lanelet::ConstLanelets to_be_merged;
       originals.push_back(lanelet::ConstLanelets({}));
       auto & original = originals.back();
-      for (const auto & sub_ind : sub_inds) {
+      for (const auto & sub_ind : sub_indices) {
         to_be_merged.push_back(Id2lanelet[ind2Id[sub_ind]]);
         original.push_back(Id2lanelet[ind2Id[sub_ind]]);
       }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp
index 6167e7a366295..0fac44f6cdf97 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp
@@ -105,11 +105,11 @@ mergeLaneletsByTopologicalSort(
 
 /**
  * @brief this functions retrieves all the paths from the given source to terminal nodes on the tree
- @param[in] visited_inds visited node indices excluding src_ind so far
+ @param[in] visited_indices visited node indices excluding src_ind so far
  */
 void retrievePathsBackward(
-  const std::vector<std::vector<bool>> & adjacency, const size_t src_ind,
-  const std::vector<size_t> & visited_inds, std::vector<std::vector<size_t>> & paths);
+  const std::vector<std::vector<bool>> & adjacency, const size_t src_index,
+  const std::vector<size_t> & visited_indices, std::vector<std::vector<size_t>> & paths);
 
 /**
  * @brief find the index of the first point where vehicle footprint intersects with the given