diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
index 14e8271a19b5b..77fafdf7ddeea 100644
--- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
@@ -16,12 +16,15 @@
 #define SCENE_MODULE__SCENE_MODULE_INTERFACE_HPP_
 
 #include "behavior_velocity_planner/planner_data.hpp"
+#include "velocity_factor_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <rtc_interface/rtc_interface.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 #include <utilization/util.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
+#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
 #include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
@@ -100,6 +103,9 @@ class SceneModuleInterface
   bool isSafe() const { return safe_; }
   double getDistance() const { return distance_; }
 
+  void resetVelocityFactor() { velocity_factor_.reset(); }
+  VelocityFactor getVelocityFactor() const { return velocity_factor_.get(); }
+
 protected:
   const int64_t module_id_;
   bool activated_;
@@ -110,6 +116,7 @@ class SceneModuleInterface
   std::shared_ptr<const PlannerData> planner_data_;
   boost::optional<tier4_v2x_msgs::msg::InfrastructureCommand> infrastructure_command_;
   boost::optional<int> first_stop_path_point_index_;
+  VelocityFactorInterface velocity_factor_;
 
   void setSafe(const bool safe) { safe_ = safe; }
   void setDistance(const double distance) { distance_ = distance; }
@@ -150,6 +157,8 @@ class SceneModuleManagerInterface
     }
     pub_virtual_wall_ = node.create_publisher<visualization_msgs::msg::MarkerArray>(
       std::string("~/virtual_wall/") + module_name, 5);
+    pub_velocity_factor_ = node.create_publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>(
+      std::string("/planning/velocity_factors/") + module_name, 1);
     pub_stop_reason_ =
       node.create_publisher<tier4_planning_msgs::msg::StopReasonArray>("~/output/stop_reasons", 1);
     pub_infrastructure_commands_ =
@@ -188,8 +197,11 @@ class SceneModuleManagerInterface
     visualization_msgs::msg::MarkerArray debug_marker_array;
     visualization_msgs::msg::MarkerArray virtual_wall_marker_array;
     tier4_planning_msgs::msg::StopReasonArray stop_reason_array;
+    autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factor_array;
     stop_reason_array.header.frame_id = "map";
     stop_reason_array.header.stamp = clock_->now();
+    velocity_factor_array.header.frame_id = "map";
+    velocity_factor_array.header.stamp = clock_->now();
 
     tier4_v2x_msgs::msg::InfrastructureCommandArray infrastructure_command_array;
     infrastructure_command_array.stamp = clock_->now();
@@ -197,9 +209,15 @@ class SceneModuleManagerInterface
     first_stop_path_point_index_ = static_cast<int>(path->points.size()) - 1;
     for (const auto & scene_module : scene_modules_) {
       tier4_planning_msgs::msg::StopReason stop_reason;
+      scene_module->resetVelocityFactor();
       scene_module->setPlannerData(planner_data_);
       scene_module->modifyPathVelocity(path, &stop_reason);
 
+      // The velocity factor must be called after modifyPathVelocity.
+      const auto velocity_factor = scene_module->getVelocityFactor();
+      if (velocity_factor.type != VelocityFactor::UNKNOWN) {
+        velocity_factor_array.factors.emplace_back(velocity_factor);
+      }
       if (stop_reason.reason != "") {
         stop_reason_array.stop_reasons.emplace_back(stop_reason);
       }
@@ -224,6 +242,7 @@ class SceneModuleManagerInterface
     if (!stop_reason_array.stop_reasons.empty()) {
       pub_stop_reason_->publish(stop_reason_array);
     }
+    pub_velocity_factor_->publish(velocity_factor_array);
     pub_infrastructure_commands_->publish(infrastructure_command_array);
     pub_debug_->publish(debug_marker_array);
     if (is_publish_debug_path_) {
@@ -311,6 +330,8 @@ class SceneModuleManagerInterface
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_;
   rclcpp::Publisher<autoware_auto_planning_msgs::msg::PathWithLaneId>::SharedPtr pub_debug_path_;
   rclcpp::Publisher<tier4_planning_msgs::msg::StopReasonArray>::SharedPtr pub_stop_reason_;
+  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>::SharedPtr
+    pub_velocity_factor_;
   rclcpp::Publisher<tier4_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr
     pub_infrastructure_commands_;
 
diff --git a/planning/behavior_velocity_planner/include/scene_module/velocity_factor_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/velocity_factor_interface.hpp
new file mode 100644
index 0000000000000..cff6e54b4f134
--- /dev/null
+++ b/planning/behavior_velocity_planner/include/scene_module/velocity_factor_interface.hpp
@@ -0,0 +1,68 @@
+
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SCENE_MODULE__VELOCITY_FACTOR_INTERFACE_HPP_
+#define SCENE_MODULE__VELOCITY_FACTOR_INTERFACE_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
+#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+#include <mutex>
+#include <string>
+#include <vector>
+
+namespace behavior_velocity_planner
+{
+
+using autoware_adapi_v1_msgs::msg::VelocityFactor;
+using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
+using geometry_msgs::msg::Pose;
+using VelocityFactorType = VelocityFactor::_type_type;
+using VelocityFactorStatus = VelocityFactor::_status_type;
+
+class VelocityFactorInterface
+{
+public:
+  VelocityFactorInterface() { type_ = VelocityFactor::UNKNOWN; }
+
+  VelocityFactor get() const { return velocity_factor_; }
+  void init(const VelocityFactorType type) { type_ = type; }
+  void reset() { velocity_factor_.type = VelocityFactor::UNKNOWN; }
+
+  template <class T>
+  void set(
+    const T & points, const Pose & curr_pose, const Pose & stop_pose,
+    const VelocityFactorStatus status, const std::string detail = "")
+  {
+    const auto & curr_point = curr_pose.position;
+    const auto & stop_point = stop_pose.position;
+    velocity_factor_.type = type_;
+    velocity_factor_.pose = stop_pose;
+    velocity_factor_.distance = motion_utils::calcSignedArcLength(points, curr_point, stop_point);
+    velocity_factor_.status = status;
+    velocity_factor_.detail = detail;
+  }
+
+private:
+  VelocityFactorType type_;
+  VelocityFactor velocity_factor_;
+};
+
+}  // namespace behavior_velocity_planner
+
+#endif  // SCENE_MODULE__VELOCITY_FACTOR_INTERFACE_HPP_
diff --git a/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp
index 1d49c74afbd83..130e4a1715fde 100644
--- a/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp
@@ -99,6 +99,10 @@ class VirtualTrafficLightModule : public SceneModuleInterface
 
   void setStopReason(const Pose & stop_pose, StopReason * stop_reason);
 
+  void setVelocityFactor(
+    const geometry_msgs::msg::Pose & stop_pose,
+    autoware_adapi_v1_msgs::msg::VelocityFactor * velocity_factor);
+
   boost::optional<size_t> getPathIndexOfFirstEndLine();
 
   bool isBeforeStartLine(const size_t end_line_idx);
diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml
index c648e25a055d2..3995866f760c6 100644
--- a/planning/behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/package.xml
@@ -47,6 +47,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
diff --git a/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp
index b831ec6ea2e84..1b64566611cfe 100644
--- a/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp
@@ -63,6 +63,7 @@ BlindSpotModule::BlindSpotModule(
   turn_direction_(TurnDirection::INVALID),
   is_over_pass_judge_line_(false)
 {
+  velocity_factor_.init(VelocityFactor::REAR_CHECK);
   planner_param_ = planner_param;
 
   const auto & assigned_lanelet =
@@ -183,6 +184,8 @@ bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
     stop_factor.stop_pose = debug_data_.stop_point_pose;
     stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets);
     planning_utils::appendStopReason(stop_factor, stop_reason);
+    velocity_factor_.set(
+      path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN);
   } else {
     *path = input_path;  // reset path
   }
diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp
index eac948942f76c..9b40751449dd6 100644
--- a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp
@@ -137,6 +137,7 @@ CrosswalkModule::CrosswalkModule(
   crosswalk_(std::move(crosswalk)),
   planner_param_(planner_param)
 {
+  velocity_factor_.init(VelocityFactor::CROSSWALK);
   passed_safety_slow_point_ = false;
 }
 
@@ -218,9 +219,15 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
   if (nearest_stop_point) {
     insertDecelPointWithDebugInfo(nearest_stop_point.get(), 0.0, *path);
     planning_utils::appendStopReason(stop_factor, stop_reason);
+    velocity_factor_.set(
+      path->points, planner_data_->current_pose.pose, stop_factor.stop_pose,
+      VelocityFactor::UNKNOWN);
   } else if (rtc_stop_point) {
     insertDecelPointWithDebugInfo(rtc_stop_point.get(), 0.0, *path);
     planning_utils::appendStopReason(stop_factor_rtc, stop_reason);
+    velocity_factor_.set(
+      path->points, planner_data_->current_pose.pose, stop_factor_rtc.stop_pose,
+      VelocityFactor::UNKNOWN);
   }
 
   RCLCPP_INFO_EXPRESSION(
diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp
index 30efdc27c4197..2cf2c1fb02e47 100644
--- a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp
@@ -39,6 +39,7 @@ WalkwayModule::WalkwayModule(
   state_(State::APPROACH),
   planner_param_(planner_param)
 {
+  velocity_factor_.init(VelocityFactor::SIDEWALK);
 }
 
 boost::optional<std::pair<double, geometry_msgs::msg::Point>> WalkwayModule::getStopLine(
@@ -121,6 +122,8 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_
     stop_factor.stop_pose = stop_pose.get();
     stop_factor.stop_factor_points.push_back(path_intersects_.front());
     planning_utils::appendStopReason(stop_factor, stop_reason);
+    velocity_factor_.set(
+      path->points, planner_data_->current_pose.pose, stop_pose.get(), VelocityFactor::UNKNOWN);
 
     // use arc length to identify if ego vehicle is in front of walkway stop or not.
     const double signed_arc_dist_to_stop_point =
diff --git a/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp
index d89bb16b8b3ce..8f9bc0a6e92a3 100644
--- a/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp
@@ -46,6 +46,7 @@ DetectionAreaModule::DetectionAreaModule(
   state_(State::GO),
   planner_param_(planner_param)
 {
+  velocity_factor_.init(VelocityFactor::USER_DEFINED_DETECTION_AREA);
 }
 
 LineString2d DetectionAreaModule::getStopLineGeometry2d() const
@@ -182,6 +183,8 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
     stop_factor.stop_pose = stop_point->second;
     stop_factor.stop_factor_points = obstacle_points;
     planning_utils::appendStopReason(stop_factor, stop_reason);
+    velocity_factor_.set(
+      path->points, planner_data_->current_pose.pose, stop_point->second, VelocityFactor::UNKNOWN);
   }
 
   // Create legacy StopReason
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
index 25bc702d9d6df..d3c20427f118e 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
@@ -57,6 +57,7 @@ IntersectionModule::IntersectionModule(
   const rclcpp::Clock::SharedPtr clock)
 : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), is_go_out_(false)
 {
+  velocity_factor_.init(VelocityFactor::INTERSECTION);
   planner_param_ = planner_param;
 
   const auto & assigned_lanelet =
@@ -256,14 +257,21 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
     debug_data_.stop_point_pose = path->points.at(stop_line_idx_final).point.pose;
     debug_data_.judge_point_pose = path->points.at(pass_judge_line_idx_final).point.pose;
 
-    /* get stop point and stop factor */
-    tier4_planning_msgs::msg::StopFactor stop_factor;
-    stop_factor.stop_pose = debug_data_.stop_point_pose;
-    const auto stop_factor_conflict = planning_utils::toRosPoints(debug_data_.conflicting_targets);
-    const auto stop_factor_stuck = planning_utils::toRosPoints(debug_data_.stuck_targets);
-    stop_factor.stop_factor_points =
-      planning_utils::concatVector(stop_factor_conflict, stop_factor_stuck);
-    planning_utils::appendStopReason(stop_factor, stop_reason);
+    // Get stop point and stop factor
+    {
+      tier4_planning_msgs::msg::StopFactor stop_factor;
+      stop_factor.stop_pose = debug_data_.stop_point_pose;
+      const auto stop_factor_conflict =
+        planning_utils::toRosPoints(debug_data_.conflicting_targets);
+      const auto stop_factor_stuck = planning_utils::toRosPoints(debug_data_.stuck_targets);
+      stop_factor.stop_factor_points =
+        planning_utils::concatVector(stop_factor_conflict, stop_factor_stuck);
+      planning_utils::appendStopReason(stop_factor, stop_reason);
+
+      const auto & stop_pose = path->points.at(stop_line_idx_final).point.pose;
+      velocity_factor_.set(
+        path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN);
+    }
 
     RCLCPP_DEBUG(logger_, "not activated. stop at the line.");
     RCLCPP_DEBUG(logger_, "===== plan end =====");
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp
index c76f6c4844a99..d880a6c76dc1f 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp
@@ -39,6 +39,7 @@ MergeFromPrivateRoadModule::MergeFromPrivateRoadModule(
   const rclcpp::Clock::SharedPtr clock)
 : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id)
 {
+  velocity_factor_.init(VelocityFactor::MERGE);
   planner_param_ = planner_param;
   state_machine_.setState(StateMachine::State::STOP);
 }
@@ -111,6 +112,9 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR
     stop_factor.stop_pose = debug_data_.stop_point_pose;
     stop_factor.stop_factor_points.emplace_back(debug_data_.first_collision_point);
     planning_utils::appendStopReason(stop_factor, stop_reason);
+    const auto & stop_pose = path->points.at(stop_line_idx).point.pose;
+    velocity_factor_.set(
+      path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN);
 
     const double signed_arc_dist_to_stop_point = motion_utils::calcSignedArcLength(
       path->points, current_pose.pose.position, path->points.at(stop_line_idx).point.pose.position);
diff --git a/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp
index 542652cdf604b..1789b6dc6ff3c 100644
--- a/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp
@@ -49,6 +49,7 @@ NoStoppingAreaModule::NoStoppingAreaModule(
   no_stopping_area_reg_elem_(no_stopping_area_reg_elem),
   planner_param_(planner_param)
 {
+  velocity_factor_.init(VelocityFactor::NO_STOPPING_AREA);
   state_machine_.setState(StateMachine::State::GO);
   state_machine_.setMarginTime(planner_param_.state_clear_time);
 }
@@ -193,6 +194,9 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason
       stop_factor.stop_pose = stop_point->second;
       stop_factor.stop_factor_points = debug_data_.stuck_points;
       planning_utils::appendStopReason(stop_factor, stop_reason);
+      velocity_factor_.set(
+        path->points, planner_data_->current_pose.pose, stop_point->second,
+        VelocityFactor::UNKNOWN);
     }
 
     // Create legacy StopReason
diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
index 3ff3694762ae2..9bafd9e707741 100644
--- a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
@@ -63,6 +63,8 @@ OcclusionSpotModule::OcclusionSpotModule(
   const rclcpp::Clock::SharedPtr clock)
 : SceneModuleInterface(module_id, logger, clock), param_(planner_param)
 {
+  velocity_factor_.init(VelocityFactor::UNKNOWN);
+
   if (param_.detection_method == utils::DETECTION_METHOD::OCCUPANCY_GRID) {
     debug_data_.detection_type = "occupancy";
     //! occupancy grid limitation( 100 * 100 )
diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp
index 5bb27d1c0b24c..50334e356556b 100644
--- a/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp
@@ -33,6 +33,8 @@ RunOutModule::RunOutModule(
   debug_ptr_(debug_ptr),
   state_machine_(std::make_unique<run_out_utils::StateMachine>(planner_param.state_param))
 {
+  velocity_factor_.init(VelocityFactor::UNKNOWN);
+
   if (planner_param.run_out.use_partition_lanelet) {
     const lanelet::LaneletMapConstPtr & ll = planner_data->route_handler_->getLaneletMapPtr();
     planning_utils::getAllPartitionLanelets(ll, partition_lanelets_);
diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
index 10c42ccd894a4..0210c716ac514 100644
--- a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
@@ -33,6 +33,7 @@ StopLineModule::StopLineModule(
   stop_line_(stop_line),
   state_(State::APPROACH)
 {
+  velocity_factor_.init(VelocityFactor::STOP_SIGN);
   planner_param_ = planner_param;
 }
 
@@ -89,6 +90,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop
         stop_factor.stop_pose = stop_pose;
         stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_));
         planning_utils::appendStopReason(stop_factor, stop_reason);
+        velocity_factor_.set(
+          path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::APPROACHING);
       }
 
       // Move to stopped state if stopped
@@ -133,6 +136,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop
         stop_factor.stop_pose = ego_pos_on_path.pose;
         stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_));
         planning_utils::appendStopReason(stop_factor, stop_reason);
+        velocity_factor_.set(
+          path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::STOPPED);
       }
 
       const auto elapsed_time = (clock_->now() - *stopped_time_).seconds();
diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp
index 7ac0d3797e545..523750c833889 100644
--- a/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp
@@ -50,6 +50,10 @@ void TrafficLightModuleManager::modifyPathVelocity(
   tl_state.header.stamp = path->header.stamp;
   tl_state.is_module_running = false;
 
+  autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factor_array;
+  velocity_factor_array.header.frame_id = "map";
+  velocity_factor_array.header.stamp = clock_->now();
+
   tier4_planning_msgs::msg::StopReasonArray stop_reason_array;
   stop_reason_array.header.frame_id = "map";
   stop_reason_array.header.stamp = path->header.stamp;
@@ -60,9 +64,15 @@ void TrafficLightModuleManager::modifyPathVelocity(
     tier4_planning_msgs::msg::StopReason stop_reason;
     std::shared_ptr<TrafficLightModule> traffic_light_scene_module(
       std::dynamic_pointer_cast<TrafficLightModule>(scene_module));
+    traffic_light_scene_module->resetVelocityFactor();
     traffic_light_scene_module->setPlannerData(planner_data_);
     traffic_light_scene_module->modifyPathVelocity(path, &stop_reason);
 
+    // The velocity factor must be called after modifyPathVelocity.
+    const auto velocity_factor = traffic_light_scene_module->getVelocityFactor();
+    if (velocity_factor.type != VelocityFactor::UNKNOWN) {
+      velocity_factor_array.factors.emplace_back(velocity_factor);
+    }
     if (stop_reason.reason != "") {
       stop_reason_array.stop_reasons.emplace_back(stop_reason);
     }
@@ -91,6 +101,7 @@ void TrafficLightModuleManager::modifyPathVelocity(
   if (!stop_reason_array.stop_reasons.empty()) {
     pub_stop_reason_->publish(stop_reason_array);
   }
+  pub_velocity_factor_->publish(velocity_factor_array);
   pub_debug_->publish(debug_marker_array);
   pub_virtual_wall_->publish(virtual_wall_marker_array);
   pub_tl_state_->publish(tl_state);
diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
index 8620ed5fe7d34..4f09f89a458d3 100644
--- a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
@@ -199,6 +199,7 @@ TrafficLightModule::TrafficLightModule(
   input_(Input::PERCEPTION),
   is_prev_state_stop_(false)
 {
+  velocity_factor_.init(VelocityFactor::TRAFFIC_SIGNAL);
   planner_param_ = planner_param;
 }
 
@@ -487,6 +488,9 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP
     stop_factor.stop_factor_points = std::vector<geometry_msgs::msg::Point>{
       debug_data_.highest_confidence_traffic_light_point.value()};
   }
+  velocity_factor_.set(
+    modified_path.points, planner_data_->current_pose.pose, target_point_with_lane_id.point.pose,
+    VelocityFactor::UNKNOWN);
   planning_utils::appendStopReason(stop_factor, stop_reason);
 
   return modified_path;
diff --git a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
index d365de58adcea..263daa9c169bc 100644
--- a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
@@ -194,6 +194,8 @@ VirtualTrafficLightModule::VirtualTrafficLightModule(
   lane_(lane),
   planner_param_(planner_param)
 {
+  velocity_factor_.init(VelocityFactor::V2I_GATE_CONTROL_ENTER);
+
   // Get map data
   const auto instrument = reg_elem_.getVirtualTrafficLight();
   const auto instrument_bottom_line = toAutowarePoints(instrument);
@@ -249,6 +251,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe
   // Initialize
   setInfrastructureCommand({});
   *stop_reason = planning_utils::initializeStopReason(StopReason::VIRTUAL_TRAFFIC_LIGHT);
+
   module_data_ = {};
 
   // Copy data
@@ -575,6 +578,9 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine(
 
   // Set StopReason
   setStopReason(stop_pose, stop_reason);
+  velocity_factor_.set(
+    path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN,
+    command_.type);
 
   // Set data for visualization
   module_data_.stop_head_pose_at_stop_line =
@@ -607,6 +613,8 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine(
 
   // Set StopReason
   setStopReason(stop_pose, stop_reason);
+  velocity_factor_.set(
+    path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN);
 
   // Set data for visualization
   module_data_.stop_head_pose_at_end_line =
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp
index a6ca4a7a91563..7fe64181ff420 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp
+++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp
@@ -21,6 +21,7 @@
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
+#include "autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory.hpp"
 #include "tier4_planning_msgs/msg/stop_reason_array.hpp"
 #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp"
@@ -32,6 +33,8 @@
 #include <memory>
 #include <vector>
 
+using autoware_adapi_v1_msgs::msg::VelocityFactor;
+using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_planning_msgs::msg::Trajectory;
 using autoware_auto_planning_msgs::msg::TrajectoryPoint;
@@ -50,6 +53,8 @@ class PlannerInterface
   {
     stop_reasons_pub_ =
       node.create_publisher<tier4_planning_msgs::msg::StopReasonArray>("~/output/stop_reasons", 1);
+    velocity_factors_pub_ =
+      node.create_publisher<VelocityFactorArray>("/planning/velocity_factors/obstacle_cruise", 1);
     stop_speed_exceeded_pub_ =
       node.create_publisher<StopSpeedExceeded>("~/output/stop_speed_exceeded", 1);
   }
@@ -110,6 +115,7 @@ class PlannerInterface
 
   // Publishers
   rclcpp::Publisher<tier4_planning_msgs::msg::StopReasonArray>::SharedPtr stop_reasons_pub_;
+  rclcpp::Publisher<VelocityFactorArray>::SharedPtr velocity_factors_pub_;
   rclcpp::Publisher<StopSpeedExceeded>::SharedPtr stop_speed_exceeded_pub_;
 
   // Vehicle Parameters
diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml
index 399fe1a39608b..dd294674bb160 100644
--- a/planning/obstacle_cruise_planner/package.xml
+++ b/planning/obstacle_cruise_planner/package.xml
@@ -16,6 +16,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>geometry_msgs</depend>
diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp
index db2c9c4407ca6..45ed1d3f92d0e 100644
--- a/planning/obstacle_cruise_planner/src/planner_interface.cpp
+++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp
@@ -72,6 +72,26 @@ tier4_planning_msgs::msg::StopReasonArray makeEmptyStopReasonArray(
   return stop_reason_array;
 }
 
+VelocityFactorArray makeVelocityFactorArray(
+  const rclcpp::Time & time, const std::optional<geometry_msgs::msg::Pose> pose = std::nullopt)
+{
+  VelocityFactorArray velocity_factor_array;
+  velocity_factor_array.header.frame_id = "map";
+  velocity_factor_array.header.stamp = time;
+
+  if (pose) {
+    using distance_type = VelocityFactor::_distance_type;
+    VelocityFactor velocity_factor;
+    velocity_factor.type = VelocityFactor::ROUTE_OBSTACLE;
+    velocity_factor.pose = pose.value();
+    velocity_factor.distance = std::numeric_limits<distance_type>::quiet_NaN();
+    velocity_factor.status = VelocityFactor::UNKNOWN;
+    velocity_factor.detail = std::string();
+    velocity_factor_array.factors.push_back(velocity_factor);
+  }
+  return velocity_factor_array;
+}
+
 double calcMinimumDistanceToStop(
   const double initial_vel, const double max_acc, const double min_acc)
 {
@@ -92,6 +112,7 @@ Trajectory PlannerInterface::generateStopTrajectory(
 
   if (planner_data.target_obstacles.empty()) {
     stop_reasons_pub_->publish(makeEmptyStopReasonArray(planner_data.current_time));
+    velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time));
 
     // delete marker
     const auto markers =
@@ -207,6 +228,7 @@ Trajectory PlannerInterface::generateStopTrajectory(
     const auto stop_reasons_msg =
       makeStopReasonArray(planner_data.current_time, stop_pose, *closest_stop_obstacle);
     stop_reasons_pub_->publish(stop_reasons_msg);
+    velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose));
 
     // Publish if ego vehicle collides with the obstacle with a limit acceleration
     const auto stop_speed_exceeded_msg =
diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp
index 2b34a92c4c747..2d3dc40914895 100644
--- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp
+++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp
@@ -19,6 +19,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
@@ -43,6 +44,8 @@ using std_msgs::msg::Header;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 
+using autoware_adapi_v1_msgs::msg::VelocityFactor;
+using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_planning_msgs::msg::StopFactor;
 using tier4_planning_msgs::msg::StopReason;
@@ -113,6 +116,7 @@ class ObstacleStopPlannerDebugNode
   MarkerArray makeVirtualWallMarker();
   MarkerArray makeVisualizationMarker();
   StopReasonArray makeStopReasonArray();
+  VelocityFactorArray makeVelocityFactorArray();
 
   void setDebugValues(const DebugValues::TYPE type, const double val)
   {
@@ -124,6 +128,7 @@ class ObstacleStopPlannerDebugNode
   rclcpp::Publisher<MarkerArray>::SharedPtr virtual_wall_pub_;
   rclcpp::Publisher<MarkerArray>::SharedPtr debug_viz_pub_;
   rclcpp::Publisher<StopReasonArray>::SharedPtr stop_reason_pub_;
+  rclcpp::Publisher<VelocityFactorArray>::SharedPtr velocity_factor_pub_;
   rclcpp::Publisher<Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
   rclcpp::Node * node_;
   double base_link2front_;
diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml
index eb03e76b520ce..5b48e16a848d3 100644
--- a/planning/obstacle_stop_planner/package.xml
+++ b/planning/obstacle_stop_planner/package.xml
@@ -19,6 +19,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>diagnostic_msgs</depend>
diff --git a/planning/obstacle_stop_planner/src/debug_marker.cpp b/planning/obstacle_stop_planner/src/debug_marker.cpp
index 813c4c3b9c7dc..683bbdf9e6113 100644
--- a/planning/obstacle_stop_planner/src/debug_marker.cpp
+++ b/planning/obstacle_stop_planner/src/debug_marker.cpp
@@ -46,6 +46,8 @@ ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode(
   virtual_wall_pub_ = node_->create_publisher<MarkerArray>("~/virtual_wall", 1);
   debug_viz_pub_ = node_->create_publisher<MarkerArray>("~/debug/marker", 1);
   stop_reason_pub_ = node_->create_publisher<StopReasonArray>("~/output/stop_reasons", 1);
+  velocity_factor_pub_ =
+    node_->create_publisher<VelocityFactorArray>("/planning/velocity_factors/obstacle_stop", 1);
   pub_debug_values_ =
     node_->create_publisher<Float32MultiArrayStamped>("~/obstacle_stop/debug_values", 1);
 }
@@ -149,6 +151,8 @@ void ObstacleStopPlannerDebugNode::publish()
   /* publish stop reason for autoware api */
   const auto stop_reason_msg = makeStopReasonArray();
   stop_reason_pub_->publish(stop_reason_msg);
+  const auto velocity_factor_msg = makeVelocityFactorArray();
+  velocity_factor_pub_->publish(velocity_factor_msg);
 
   // publish debug values
   Float32MultiArrayStamped debug_msg{};
@@ -389,4 +393,23 @@ StopReasonArray ObstacleStopPlannerDebugNode::makeStopReasonArray()
   return stop_reason_array;
 }
 
+VelocityFactorArray ObstacleStopPlannerDebugNode::makeVelocityFactorArray()
+{
+  VelocityFactorArray velocity_factor_array;
+  velocity_factor_array.header.frame_id = "map";
+  velocity_factor_array.header.stamp = node_->now();
+
+  if (stop_pose_ptr_) {
+    using distance_type = VelocityFactor::_distance_type;
+    VelocityFactor velocity_factor;
+    velocity_factor.type = VelocityFactor::ROUTE_OBSTACLE;
+    velocity_factor.pose = *stop_pose_ptr_;
+    velocity_factor.distance = std::numeric_limits<distance_type>::quiet_NaN();
+    velocity_factor.status = VelocityFactor::UNKNOWN;
+    velocity_factor.detail = std::string();
+    velocity_factor_array.factors.push_back(velocity_factor);
+  }
+  return velocity_factor_array;
+}
+
 }  // namespace motion_planning
diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp
index 36e1e22f4aa23..bd0fe48bbda28 100644
--- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp
+++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp
@@ -17,6 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <tier4_planning_msgs/msg/stop_reason_array.hpp>
@@ -31,6 +32,8 @@
 namespace surround_obstacle_checker
 {
 
+using autoware_adapi_v1_msgs::msg::VelocityFactor;
+using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
 using geometry_msgs::msg::PolygonStamped;
 using tier4_planning_msgs::msg::StopFactor;
 using tier4_planning_msgs::msg::StopReason;
@@ -63,6 +66,7 @@ class SurroundObstacleCheckerDebugNode
   rclcpp::Publisher<MarkerArray>::SharedPtr debug_virtual_wall_pub_;
   rclcpp::Publisher<MarkerArray>::SharedPtr debug_viz_pub_;
   rclcpp::Publisher<StopReasonArray>::SharedPtr stop_reason_pub_;
+  rclcpp::Publisher<VelocityFactorArray>::SharedPtr velocity_factor_pub_;
 
   rclcpp::Publisher<PolygonStamped>::SharedPtr vehicle_footprint_pub_;
   rclcpp::Publisher<PolygonStamped>::SharedPtr vehicle_footprint_offset_pub_;
@@ -77,6 +81,7 @@ class SurroundObstacleCheckerDebugNode
   MarkerArray makeVirtualWallMarker();
   MarkerArray makeVisualizationMarker();
   StopReasonArray makeStopReasonArray();
+  VelocityFactorArray makeVelocityFactorArray();
 
   Polygon2d createSelfPolygonWithOffset(const Polygon2d & base_polygon, const double & offset);
   PolygonStamped boostPolygonToPolygonStamped(const Polygon2d & boost_polygon, const double & z);
diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml
index 243cf2cf3dfd1..e1d31acbaba1c 100644
--- a/planning/surround_obstacle_checker/package.xml
+++ b/planning/surround_obstacle_checker/package.xml
@@ -14,6 +14,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_tf2</depend>
diff --git a/planning/surround_obstacle_checker/src/debug_marker.cpp b/planning/surround_obstacle_checker/src/debug_marker.cpp
index 1fe52d4273571..c30f778584fd7 100644
--- a/planning/surround_obstacle_checker/src/debug_marker.cpp
+++ b/planning/surround_obstacle_checker/src/debug_marker.cpp
@@ -51,6 +51,8 @@ SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode(
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/virtual_wall", 1);
   debug_viz_pub_ = node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/marker", 1);
   stop_reason_pub_ = node.create_publisher<StopReasonArray>("~/output/stop_reasons", 1);
+  velocity_factor_pub_ =
+    node.create_publisher<VelocityFactorArray>("/planning/velocity_factors/surround_obstacle", 1);
   vehicle_footprint_pub_ = node.create_publisher<PolygonStamped>("~/debug/footprint", 1);
   vehicle_footprint_offset_pub_ =
     node.create_publisher<PolygonStamped>("~/debug/footprint_offset", 1);
@@ -116,6 +118,8 @@ void SurroundObstacleCheckerDebugNode::publish()
   /* publish stop reason for autoware api */
   const auto stop_reason_msg = makeStopReasonArray();
   stop_reason_pub_->publish(stop_reason_msg);
+  const auto velocity_factor_msg = makeVelocityFactorArray();
+  velocity_factor_pub_->publish(velocity_factor_msg);
 
   /* reset variables */
   stop_pose_ptr_ = nullptr;
@@ -183,6 +187,25 @@ StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray()
   return stop_reason_array;
 }
 
+VelocityFactorArray SurroundObstacleCheckerDebugNode::makeVelocityFactorArray()
+{
+  VelocityFactorArray velocity_factor_array;
+  velocity_factor_array.header.frame_id = "map";
+  velocity_factor_array.header.stamp = clock_->now();
+
+  if (stop_pose_ptr_) {
+    using distance_type = VelocityFactor::_distance_type;
+    VelocityFactor velocity_factor;
+    velocity_factor.type = VelocityFactor::SURROUNDING_OBSTACLE;
+    velocity_factor.pose = *stop_pose_ptr_;
+    velocity_factor.distance = std::numeric_limits<distance_type>::quiet_NaN();
+    velocity_factor.status = VelocityFactor::UNKNOWN;
+    velocity_factor.detail = std::string();
+    velocity_factor_array.factors.push_back(velocity_factor);
+  }
+  return velocity_factor_array;
+}
+
 Polygon2d SurroundObstacleCheckerDebugNode::createSelfPolygonWithOffset(
   const Polygon2d & base_polygon, const double & offset)
 {