diff --git a/autoware_planning_msgs/msg/RoadSegments.msg b/autoware_planning_msgs/msg/RoadSegments.msg
index a890647..e9b2f07 100644
--- a/autoware_planning_msgs/msg/RoadSegments.msg
+++ b/autoware_planning_msgs/msg/RoadSegments.msg
@@ -1,3 +1,3 @@
 std_msgs/Header header
-Segment[] segments # The segments/lanelets
+Segment[] segments
 geometry_msgs/Pose pose
diff --git a/autoware_planning_msgs/msg/Segment.msg b/autoware_planning_msgs/msg/Segment.msg
index b8fce8f..be184a0 100644
--- a/autoware_planning_msgs/msg/Segment.msg
+++ b/autoware_planning_msgs/msg/Segment.msg
@@ -1,6 +1,4 @@
-# Segments are similar to lanelets.
-
 uint16 id
 Linestring[2] linestrings
-int32[] successor_lanelet_id
-int32[] neighboring_lanelet_id
+int32[] successor_segment_id
+int32[] neighboring_segment_id