diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 332bf34..9e6ddcd 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -6,6 +6,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
+  common/msg/Shape.msg
   localization/msg/LocalizationInitializationState.msg
   localization/srv/InitializeLocalization.srv
   routing/msg/RouteState.msg
@@ -20,6 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   operation_mode/srv/ChangeOperationMode.srv
   motion/msg/MotionState.msg
   motion/srv/AcceptStart.srv
+  planning/msg/PlanningArea.msg
+  planning/msg/PlanningAreaArray.msg
   planning/msg/SteeringFactor.msg
   planning/msg/SteeringFactorArray.msg
   planning/msg/VelocityFactor.msg
diff --git a/autoware_adapi_v1_msgs/common/msg/Shape.msg b/autoware_adapi_v1_msgs/common/msg/Shape.msg
new file mode 100644
index 0000000..7a2b392
--- /dev/null
+++ b/autoware_adapi_v1_msgs/common/msg/Shape.msg
@@ -0,0 +1,12 @@
+# constants
+uint8 UNKNOWN = 0
+uint8 POLYGON = 1
+uint8 CIRCLE = 2
+uint8 PRISM = 3
+uint8 CYLINDER = 4
+
+# variables
+uint8 shape
+geometry_msgs/Pose pose # Pose of the object
+geometry_msgs/Point[] points
+float64 radius
diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningArea.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningArea.msg
new file mode 100644
index 0000000..15e1c1f
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningArea.msg
@@ -0,0 +1,12 @@
+# constants
+uint16 BLIND_SPOT=1
+uint16 CROSSWALK=2
+uint16 DETECTION_AREA=3
+uint16 INTERSECTION=4
+uint16 MERGE_FROM_PRIVATE=5
+uint16 NO_STOPPING_AREA=6
+uint16 WALKWAY=7
+
+# variables
+uint16 type
+autoware_adapi_v1_msgs/Shape shape
diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg
new file mode 100644
index 0000000..64190d9
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_adapi_v1_msgs/PlanningArea[] areas