diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
index 4c4b7b30caecf..e2ccae19a04f7 100644
--- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
@@ -691,7 +691,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object)
 
   if (
     object.kinematics.orientation_availability ==
-    autoware_perception_msgs::msg::DetectedObjectKinematics::AVAILABLE) {
+    autoware_perception_msgs::msg::TrackedObjectKinematics::AVAILABLE) {
     return;
   }
 
@@ -712,7 +712,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object)
   if (abs_object_speed < min_abs_speed) return;
 
   switch (object.kinematics.orientation_availability) {
-    case autoware_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN: {
+    case autoware_perception_msgs::msg::TrackedObjectKinematics::SIGN_UNKNOWN: {
       const auto original_yaw =
         tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
       // flip the angle