diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md
new file mode 100644
index 00000000000..e59f522d05e
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md
@@ -0,0 +1,63 @@
+# Manual control
+
+## Related API
+
+- {{ link_ad_api('/api/remote/control_mode/list') }}
+- {{ link_ad_api('/api/remote/control_mode/select') }}
+- {{ link_ad_api('/api/remote/control_mode/status') }}
+- {{ link_ad_api('/api/remote/operator/status') }}
+- {{ link_ad_api('/api/remote/command/pedals') }}
+- {{ link_ad_api('/api/remote/command/acceleration') }}
+- {{ link_ad_api('/api/remote/command/velocity') }}
+- {{ link_ad_api('/api/remote/command/steering') }}
+- {{ link_ad_api('/api/remote/command/gear') }}
+- {{ link_ad_api('/api/remote/command/turn_indicators') }}
+- {{ link_ad_api('/api/remote/command/hazard_lights') }}
+- {{ link_ad_api('/api/local/control_mode/list') }}
+- {{ link_ad_api('/api/local/control_mode/select') }}
+- {{ link_ad_api('/api/local/control_mode/status') }}
+- {{ link_ad_api('/api/local/operator/status') }}
+- {{ link_ad_api('/api/local/command/pedals') }}
+- {{ link_ad_api('/api/local/command/acceleration') }}
+- {{ link_ad_api('/api/local/command/velocity') }}
+- {{ link_ad_api('/api/local/command/steering') }}
+- {{ link_ad_api('/api/local/command/gear') }}
+- {{ link_ad_api('/api/local/command/turn_indicators') }}
+- {{ link_ad_api('/api/local/command/hazard_lights') }}
+
+## Description
+
+This API is used to manually control the vehicle, and provides the same interface for different operators: remote and local.
+For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving.
+The command sent will be used when [operation mode](./operation_mode.md) is remote or local.
+
+## Operator status
+
+The application needs to determine whether the operator is able to drive and send that information via the operator status API.
+If the operator is unable to continue driving during manual operation, Autoware will perform MRM to bring the vehicle to a safe state.
+For level 3 and below, the operator status is referenced even during autonomous driving.
+
+## Control mode
+
+Since there are multiple ways to control a vehicle, such as pedals or acceleration, the application must first select a control mode.
+
+| Mode         | Description                                                                |
+| ------------ | -------------------------------------------------------------------------- |
+| disabled     | This is the initial mode. When selected, all command APIs are unavailable. |
+| pedals       | This mode provides longitudinal control using the pedals.                  |
+| acceleration | This mode provides longitudinal control using the target acceleration.     |
+| velocity     | This mode provides longitudinal control using the target velocity.         |
+
+## Commands
+
+The commands available in each mode are as follows.
+
+| Command         | disabled |  pedals  | acceleration | velocity |
+| --------------- | :------: | :------: | :----------: | :------: |
+| pedals          |    -     | ✓ |      -       |    -     |
+| acceleration    |    -     |    -     |   ✓   |    -     |
+| velocity        |    -     |    -     |      -       | ✓ |
+| steering        |    -     | ✓ |   ✓   | ✓ |
+| gear            |    -     | ✓ |   ✓   | ✓ |
+| turn_indicators |    -     | ✓ |   ✓   | ✓ |
+| hazard_lights   |    -     | ✓ |   ✓   | ✓ |
diff --git a/docs/design/autoware-interfaces/ad-api/index.md b/docs/design/autoware-interfaces/ad-api/index.md
index 5baa16035ec..28721326d70 100644
--- a/docs/design/autoware-interfaces/ad-api/index.md
+++ b/docs/design/autoware-interfaces/ad-api/index.md
@@ -27,6 +27,7 @@ Service providers can combine these use cases to define user stories and check i
 - [Vehicle monitoring](./use-cases/vehicle-monitoring.md)
 - [Vehicle operation](./use-cases/vehicle-operation.md)
 - [System monitoring](./use-cases/system-monitoring.md)
+- [Manual control](./use-cases/manual-control/index.md)
 
 ## Features
 
@@ -43,3 +44,4 @@ Service providers can combine these use cases to define user stories and check i
 - [Cooperation](./features/cooperation.md)
 - [Heartbeat](./features/heartbeat.md)
 - [Diagnostics](./features/diagnostics.md)
+- [Manual control](./features/manual-control.md)
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md
new file mode 100644
index 00000000000..f4d59c82a48
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/command/acceleration
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/AccelerationCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: acceleration
+      text: Target acceleration [m/s^2].
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends acceleration command used in local operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md
new file mode 100644
index 00000000000..2f1f80762e2
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/command/gear
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/GearCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: command
+      text: Target gear status.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends gear command used in local operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md
new file mode 100644
index 00000000000..2679b581bbf
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/command/hazard_lights
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/HazardLightsCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: command
+      text: Target hazard lights status.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends hazard lights command used in local operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedals.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedals.md
new file mode 100644
index 00000000000..4409d3f2bda
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedals.md
@@ -0,0 +1,20 @@
+---
+title: /api/local/command/pedals
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/PedalsCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: accelerator
+      text: Target accelerator pedal ratio.
+    - name: brake
+      text: Target brake pedal ratio.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends pedals command used in local operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md
new file mode 100644
index 00000000000..37fc91b3ff6
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/command/steering
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/SteeringCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: steering_tire_angle
+      text: Target steering tire angle [rad].
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Send steering command to this API.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md
new file mode 100644
index 00000000000..67926c7a4b0
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/command/turn_indicators
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: command
+      text: Target turn indicators status.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends turn indicators command used in local operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md
new file mode 100644
index 00000000000..4bc8792f760
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/command/velocity
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/VelocityCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: velocity
+      text: Target velocity [m/s].
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends velocity command used in local operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md
new file mode 100644
index 00000000000..eec07bba9fb
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/control_mode/list
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/ListManualControlMode
+  res:
+    - name: status
+      text: response status
+    - name: modes
+      text: List of available modes.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+List the available manual control modes as described in [manual control](../../../../features/manual-control.md).
+The disabled mode is not included in the available modes.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md
new file mode 100644
index 00000000000..6cad2e17fba
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md
@@ -0,0 +1,19 @@
+---
+title: /api/local/control_mode/select
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SelectManualControlMode
+  req:
+    - name: mode
+      text: The manual control mode to be used.
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Selects the manual control mode as described in [manual control](../../../../features/manual-control.md).
+This API fails while [operation mode](../../../../features/operation_mode.md) is local.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md
new file mode 100644
index 00000000000..1a186975208
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md
@@ -0,0 +1,15 @@
+---
+title: /api/local/control_mode/status
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Get the current manual operation mode.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md b/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md
new file mode 100644
index 00000000000..fcce8835bda
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md
@@ -0,0 +1,18 @@
+---
+title: /api/local/operator/status
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: ready
+      text: Whether the operator is able to continue driving.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+The application needs to determine whether the operator is able to drive and send that information via this API.
+For details, see the [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md
new file mode 100644
index 00000000000..9947181ce6e
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/acceleration
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/AccelerationCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: acceleration
+      text: Target acceleration [m/s^2].
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends acceleration command used in remote operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md
new file mode 100644
index 00000000000..690daf92283
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/gear
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/GearCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: command
+      text: Target gear status.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends gear command used in remote operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md
new file mode 100644
index 00000000000..18a628aff34
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/hazard_lights
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/HazardLightsCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: command
+      text: Target hazard lights status.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends hazard lights command used in remote operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedals.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedals.md
new file mode 100644
index 00000000000..05fd3c25afb
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedals.md
@@ -0,0 +1,20 @@
+---
+title: /api/remote/command/pedals
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/PedalsCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: accelerator
+      text: Target accelerator pedal ratio.
+    - name: brake
+      text: Target brake pedal ratio.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends pedals command used in remote operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md
new file mode 100644
index 00000000000..10e476777ab
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/steering
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/SteeringCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: steering_tire_angle
+      text: Target steering tire angle [rad].
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Send steering command to this API.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md
new file mode 100644
index 00000000000..02133772cd4
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/turn_indicators
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: command
+      text: Target turn indicators status.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends turn indicators command used in remote operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md
new file mode 100644
index 00000000000..cbeaee9a73b
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/velocity
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/VelocityCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: velocity
+      text: Target velocity [m/s].
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Sends velocity command used in remote operation mode.
+To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md
new file mode 100644
index 00000000000..955c8a1abbd
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/control_mode/list
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/ListManualControlMode
+  res:
+    - name: status
+      text: response status
+    - name: modes
+      text: List of available modes.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+List the available manual control modes as described in [manual control](../../../../features/manual-control.md).
+The disabled mode is not included in the available modes.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md
new file mode 100644
index 00000000000..3c4c8889639
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md
@@ -0,0 +1,19 @@
+---
+title: /api/remote/control_mode/select
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SelectManualControlMode
+  req:
+    - name: mode
+      text: The manual control mode to be used.
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Selects the manual control mode as described in [manual control](../../../../features/manual-control.md).
+This API fails while [operation mode](../../../../features/operation_mode.md) is remote.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md
new file mode 100644
index 00000000000..df348cbf817
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md
@@ -0,0 +1,15 @@
+---
+title: /api/remote/control_mode/status
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Get the current manual operation mode.
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md
new file mode 100644
index 00000000000..73e1c86c752
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md
@@ -0,0 +1,18 @@
+---
+title: /api/remote/operator/status
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: ready
+      text: Whether the operator is able to continue driving.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+The application needs to determine whether the operator is able to drive and send that information via this API.
+For details, see the [manual control](../../../../features/manual-control.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md
index f932bda738e..6c29570341e 100644
--- a/docs/design/autoware-interfaces/ad-api/list/index.md
+++ b/docs/design/autoware-interfaces/ad-api/list/index.md
@@ -5,6 +5,17 @@
 | [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md)                                         | v1.1.0       | notification    |
 | [/api/fail_safe/rti_state](./api/fail_safe/rti_state.md)                                         | not released | notification    |
 | [/api/interface/version](./api/interface/version.md)                                             | v1.0.0       | function call   |
+| [/api/local/command/acceleration](./api/local/command/acceleration.md)                           | not released | realtime stream |
+| [/api/local/command/gear](./api/local/command/gear.md)                                           | not released | notification    |
+| [/api/local/command/hazard_lights](./api/local/command/hazard_lights.md)                         | not released | notification    |
+| [/api/local/command/pedals](./api/local/command/pedals.md)                                       | not released | realtime stream |
+| [/api/local/command/steering](./api/local/command/steering.md)                                   | not released | realtime stream |
+| [/api/local/command/turn_indicators](./api/local/command/turn_indicators.md)                     | not released | notification    |
+| [/api/local/command/velocity](./api/local/command/velocity.md)                                   | not released | realtime stream |
+| [/api/local/control_mode/list](./api/local/control_mode/list.md)                                 | not released | function call   |
+| [/api/local/control_mode/select](./api/local/control_mode/select.md)                             | not released | function call   |
+| [/api/local/control_mode/status](./api/local/control_mode/status.md)                             | not released | notification    |
+| [/api/local/operator/status](./api/local/operator/status.md)                                     | not released | realtime stream |
 | [/api/localization/initialization_state](./api/localization/initialization_state.md)             | v1.0.0       | notification    |
 | [/api/localization/initialize](./api/localization/initialize.md)                                 | v1.0.0       | function call   |
 | [/api/motion/accept_start](./api/motion/accept_start.md)                                         | not released | function call   |
@@ -22,6 +33,17 @@
 | [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md)             | not released | function call   |
 | [/api/planning/steering_factors](./api/planning/steering_factors.md)                             | not released | realtime stream |
 | [/api/planning/velocity_factors](./api/planning/velocity_factors.md)                             | not released | realtime stream |
+| [/api/remote/command/acceleration](./api/remote/command/acceleration.md)                         | not released | realtime stream |
+| [/api/remote/command/gear](./api/remote/command/gear.md)                                         | not released | notification    |
+| [/api/remote/command/hazard_lights](./api/remote/command/hazard_lights.md)                       | not released | notification    |
+| [/api/remote/command/pedals](./api/remote/command/pedals.md)                                     | not released | realtime stream |
+| [/api/remote/command/steering](./api/remote/command/steering.md)                                 | not released | realtime stream |
+| [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md)                   | not released | notification    |
+| [/api/remote/command/velocity](./api/remote/command/velocity.md)                                 | not released | realtime stream |
+| [/api/remote/control_mode/list](./api/remote/control_mode/list.md)                               | not released | function call   |
+| [/api/remote/control_mode/select](./api/remote/control_mode/select.md)                           | not released | function call   |
+| [/api/remote/control_mode/status](./api/remote/control_mode/status.md)                           | not released | notification    |
+| [/api/remote/operator/status](./api/remote/operator/status.md)                                   | not released | realtime stream |
 | [/api/routing/change_route](./api/routing/change_route.md)                                       | v1.5.0       | function call   |
 | [/api/routing/change_route_points](./api/routing/change_route_points.md)                         | v1.5.0       | function call   |
 | [/api/routing/clear_route](./api/routing/clear_route.md)                                         | v1.0.0       | function call   |
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelerationCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelerationCommand.md
new file mode 100644
index 00000000000..5db8bd9c6f8
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelerationCommand.md
@@ -0,0 +1,14 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/AccelerationCommand
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+float32 acceleration
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md
index 6c79186e63c..c125b5854e2 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md
@@ -2,6 +2,7 @@
 # This file is generated by tools/autoware-interfaces/generate.py
 title: autoware_adapi_v1_msgs/msg/Gear
 used:
+  - autoware_adapi_v1_msgs/msg/GearCommand
   - autoware_adapi_v1_msgs/msg/VehicleStatus
 ---
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md
new file mode 100644
index 00000000000..f20ad9ce3ed
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md
@@ -0,0 +1,16 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/GearCommand
+uses:
+  - autoware_adapi_v1_msgs/msg/Gear
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/Gear command
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md
index b7d3846de04..91601820168 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md
@@ -2,6 +2,7 @@
 # This file is generated by tools/autoware-interfaces/generate.py
 title: autoware_adapi_v1_msgs/msg/HazardLights
 used:
+  - autoware_adapi_v1_msgs/msg/HazardLightsCommand
   - autoware_adapi_v1_msgs/msg/VehicleStatus
 ---
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md
new file mode 100644
index 00000000000..226977010e4
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md
@@ -0,0 +1,16 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/HazardLightsCommand
+uses:
+  - autoware_adapi_v1_msgs/msg/HazardLights
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/HazardLights command
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md
new file mode 100644
index 00000000000..04a66fc322a
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md
@@ -0,0 +1,22 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/ManualControlMode
+used:
+  - autoware_adapi_v1_msgs/msg/ManualControlModeStatus
+  - autoware_adapi_v1_msgs/srv/ListManualControlMode
+  - autoware_adapi_v1_msgs/srv/SelectManualControlMode
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+uint8 DISABLED = 1
+uint8 PEDALS = 2
+uint8 ACCELERATION = 3
+uint8 VELOCITY = 4
+
+uint8 mode
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md
new file mode 100644
index 00000000000..51fb1785aab
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md
@@ -0,0 +1,16 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/ManualControlModeStatus
+uses:
+  - autoware_adapi_v1_msgs/msg/ManualControlMode
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/ManualControlMode mode
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md
new file mode 100644
index 00000000000..ff5bf59990f
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md
@@ -0,0 +1,14 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/ManualOperatorStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+bool ready
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md
new file mode 100644
index 00000000000..80243be6f2c
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md
@@ -0,0 +1,15 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/PedalsCommand
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+float32 accelerator
+float32 brake
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md
index 7a2b8f31505..7bf5cc4c221 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md
@@ -9,6 +9,8 @@ used:
   - autoware_adapi_v1_msgs/srv/GetDoorLayout
   - autoware_adapi_v1_msgs/srv/GetVehicleDimensions
   - autoware_adapi_v1_msgs/srv/InitializeLocalization
+  - autoware_adapi_v1_msgs/srv/ListManualControlMode
+  - autoware_adapi_v1_msgs/srv/SelectManualControlMode
   - autoware_adapi_v1_msgs/srv/SetCooperationCommands
   - autoware_adapi_v1_msgs/srv/SetCooperationPolicies
   - autoware_adapi_v1_msgs/srv/SetDoorCommand
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md
new file mode 100644
index 00000000000..6a038b917a1
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md
@@ -0,0 +1,14 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/SteeringCommand
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+float32 steering_tire_angle
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md
index f27fb2c2f0f..7df9657c812 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md
@@ -2,6 +2,7 @@
 # This file is generated by tools/autoware-interfaces/generate.py
 title: autoware_adapi_v1_msgs/msg/TurnIndicators
 used:
+  - autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand
   - autoware_adapi_v1_msgs/msg/VehicleStatus
 ---
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md
new file mode 100644
index 00000000000..c957237b0e6
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md
@@ -0,0 +1,16 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand
+uses:
+  - autoware_adapi_v1_msgs/msg/TurnIndicators
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/TurnIndicators command
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md
new file mode 100644
index 00000000000..d3ae21a4813
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md
@@ -0,0 +1,14 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/VelocityCommand
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+float32 velocity
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md
new file mode 100644
index 00000000000..6fe74ce50c4
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md
@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/srv/ListManualControlMode
+uses:
+  - autoware_adapi_v1_msgs/msg/ManualControlMode
+  - autoware_adapi_v1_msgs/msg/ResponseStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+autoware_adapi_v1_msgs/ManualControlMode[] modes
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md
new file mode 100644
index 00000000000..9b369fe1a67
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md
@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/srv/SelectManualControlMode
+uses:
+  - autoware_adapi_v1_msgs/msg/ManualControlMode
+  - autoware_adapi_v1_msgs/msg/ResponseStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+autoware_adapi_v1_msgs/ManualControlMode mode
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md
index e68eb24d3a3..9735185bd01 100644
--- a/docs/design/autoware-interfaces/ad-api/types/index.md
+++ b/docs/design/autoware-interfaces/ad-api/types/index.md
@@ -1,5 +1,6 @@
 # Types of Autoware AD API
 
+- [autoware_adapi_v1_msgs/msg/AccelerationCommand](./autoware_adapi_v1_msgs/msg/AccelerationCommand.md)
 - [autoware_adapi_v1_msgs/msg/CooperationCommand](./autoware_adapi_v1_msgs/msg/CooperationCommand.md)
 - [autoware_adapi_v1_msgs/msg/CooperationDecision](./autoware_adapi_v1_msgs/msg/CooperationDecision.md)
 - [autoware_adapi_v1_msgs/msg/CooperationPolicy](./autoware_adapi_v1_msgs/msg/CooperationPolicy.md)
@@ -18,13 +19,19 @@
 - [autoware_adapi_v1_msgs/msg/DynamicObjectKinematics](./autoware_adapi_v1_msgs/msg/DynamicObjectKinematics.md)
 - [autoware_adapi_v1_msgs/msg/DynamicObjectPath](./autoware_adapi_v1_msgs/msg/DynamicObjectPath.md)
 - [autoware_adapi_v1_msgs/msg/Gear](./autoware_adapi_v1_msgs/msg/Gear.md)
+- [autoware_adapi_v1_msgs/msg/GearCommand](./autoware_adapi_v1_msgs/msg/GearCommand.md)
 - [autoware_adapi_v1_msgs/msg/HazardLights](./autoware_adapi_v1_msgs/msg/HazardLights.md)
+- [autoware_adapi_v1_msgs/msg/HazardLightsCommand](./autoware_adapi_v1_msgs/msg/HazardLightsCommand.md)
 - [autoware_adapi_v1_msgs/msg/Heartbeat](./autoware_adapi_v1_msgs/msg/Heartbeat.md)
 - [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md)
+- [autoware_adapi_v1_msgs/msg/ManualControlMode](./autoware_adapi_v1_msgs/msg/ManualControlMode.md)
+- [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md)
+- [autoware_adapi_v1_msgs/msg/ManualOperatorStatus](./autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md)
 - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md)
 - [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md)
 - [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md)
 - [autoware_adapi_v1_msgs/msg/OperationModeState](./autoware_adapi_v1_msgs/msg/OperationModeState.md)
+- [autoware_adapi_v1_msgs/msg/PedalsCommand](./autoware_adapi_v1_msgs/msg/PedalsCommand.md)
 - [autoware_adapi_v1_msgs/msg/ResponseStatus](./autoware_adapi_v1_msgs/msg/ResponseStatus.md)
 - [autoware_adapi_v1_msgs/msg/Route](./autoware_adapi_v1_msgs/msg/Route.md)
 - [autoware_adapi_v1_msgs/msg/RouteData](./autoware_adapi_v1_msgs/msg/RouteData.md)
@@ -33,12 +40,15 @@
 - [autoware_adapi_v1_msgs/msg/RouteSegment](./autoware_adapi_v1_msgs/msg/RouteSegment.md)
 - [autoware_adapi_v1_msgs/msg/RouteState](./autoware_adapi_v1_msgs/msg/RouteState.md)
 - [autoware_adapi_v1_msgs/msg/RtiState](./autoware_adapi_v1_msgs/msg/RtiState.md)
+- [autoware_adapi_v1_msgs/msg/SteeringCommand](./autoware_adapi_v1_msgs/msg/SteeringCommand.md)
 - [autoware_adapi_v1_msgs/msg/SteeringFactor](./autoware_adapi_v1_msgs/msg/SteeringFactor.md)
 - [autoware_adapi_v1_msgs/msg/SteeringFactorArray](./autoware_adapi_v1_msgs/msg/SteeringFactorArray.md)
 - [autoware_adapi_v1_msgs/msg/TurnIndicators](./autoware_adapi_v1_msgs/msg/TurnIndicators.md)
+- [autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand](./autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md)
 - [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md)
 - [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md)
 - [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md)
+- [autoware_adapi_v1_msgs/msg/VelocityCommand](./autoware_adapi_v1_msgs/msg/VelocityCommand.md)
 - [autoware_adapi_v1_msgs/msg/VelocityFactor](./autoware_adapi_v1_msgs/msg/VelocityFactor.md)
 - [autoware_adapi_v1_msgs/msg/VelocityFactorArray](./autoware_adapi_v1_msgs/msg/VelocityFactorArray.md)
 - [autoware_adapi_v1_msgs/srv/AcceptStart](./autoware_adapi_v1_msgs/srv/AcceptStart.md)
@@ -48,6 +58,8 @@
 - [autoware_adapi_v1_msgs/srv/GetDoorLayout](./autoware_adapi_v1_msgs/srv/GetDoorLayout.md)
 - [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](./autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md)
 - [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md)
+- [autoware_adapi_v1_msgs/srv/ListManualControlMode](./autoware_adapi_v1_msgs/srv/ListManualControlMode.md)
+- [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md)
 - [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md)
 - [autoware_adapi_v1_msgs/srv/SetCooperationPolicies](./autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md)
 - [autoware_adapi_v1_msgs/srv/SetDoorCommand](./autoware_adapi_v1_msgs/srv/SetDoorCommand.md)
diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md
new file mode 100644
index 00000000000..10fcb70f0fd
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md
@@ -0,0 +1,31 @@
+# Manual control
+
+## Description
+
+To operate a vehicle without a steering wheel or steering wheel, or to develop a remote operation system, an interface to manually drive a vehicle using Autoware is required.
+
+## Requirements
+
+- The vehicle can transition to a safe state when a communication problem occurs.
+- Supports the following commands and statuses.
+  - Pedal, acceleration or velocity as longitudinal control
+  - Steering tire angle as lateral control
+  - Gear
+  - Turn indicators
+  - Hazard lights
+- The following are under consideration.
+  - Headlights
+  - Wipers
+  - Parking brake
+  - Horn
+
+## Sequence
+
+```plantuml
+{% include 'design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml' %}
+```
+
+## Related features
+
+- [Manual control](../../features/manual-control.md)
+- [Vehicle status](../../features/vehicle-status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml
new file mode 100644
index 00000000000..cb8e81955ba
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml
@@ -0,0 +1,17 @@
+@startuml
+
+skinparam SequenceMessageAlign center
+participant "Application" as app
+participant "AD API" as adapi
+
+app -> adapi ++: /api/remote/control_mode/select
+return
+adapi -> app: /api/remote/control_mode/status
+
+par
+  app -> adapi: /api/remote/command/**
+else
+  adapi -> app: /api/vehicle/status
+end
+
+@enduml
diff --git a/docs/installation/autoware/docker-installation.md b/docs/installation/autoware/docker-installation.md
index 16a5aa0546f..099529297d1 100644
--- a/docs/installation/autoware/docker-installation.md
+++ b/docs/installation/autoware/docker-installation.md
@@ -34,6 +34,12 @@ Open AD Kit offers two types of Docker image to let you get started with Autowar
    ./setup-dev-env.sh -y --no-nvidia docker
    ```
 
+   To download only the artifacts:
+
+   ```bash
+   ./setup-dev-env.sh -y download_artifacts
+   ```
+
 !!! info
 
     GPU acceleration is required for some features such as object detection and traffic light detection/classification. For details of how to enable these features without a GPU, refer to the [Running Autoware without CUDA](../../how-to-guides/others/running-autoware-without-cuda.md).
@@ -45,7 +51,7 @@ Open AD Kit offers two types of Docker image to let you get started with Autowar
 You can use `run.sh` to run the Autoware runtime container with the map data:
 
 ```bash
-./docker/run.sh --map-path path_to_map_data
+./docker/run.sh --map-path path_to_map --data-path path_to_data
 ```
 
 For more launch options, you can append a custom launch command instead of using the default launch command which is `ros2 launch autoware_launch autoware.launch.xml`.
@@ -53,8 +59,7 @@ For more launch options, you can append a custom launch command instead of using
 Here is an example of running the runtime container with a custom launch command:
 
 ```bash
-./docker/run.sh --map-path ~/autoware_map/sample-map-rosbag ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
-
+./docker/run.sh --map-path ~/autoware_map/sample-map-rosbag --data-path ~/autoware_data ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
 ```
 
 !!! info
diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml
index ffe7f4a4f6a..152ea982174 100644
--- a/yaml/autoware-interfaces.yaml
+++ b/yaml/autoware-interfaces.yaml
@@ -1,4 +1,8 @@
 types:
+  autoware_adapi_v1_msgs/msg/AccelerationCommand:
+    msg:
+      acceleration: float32
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/CooperationCommand:
     msg:
       cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision
@@ -78,9 +82,17 @@ types:
   autoware_adapi_v1_msgs/msg/Gear:
     msg:
       status: uint8
+  autoware_adapi_v1_msgs/msg/GearCommand:
+    msg:
+      command: autoware_adapi_v1_msgs/msg/Gear
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/HazardLights:
     msg:
       status: uint8
+  autoware_adapi_v1_msgs/msg/HazardLightsCommand:
+    msg:
+      command: autoware_adapi_v1_msgs/msg/HazardLights
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/Heartbeat:
     msg:
       seq: uint16
@@ -89,6 +101,17 @@ types:
     msg:
       stamp: builtin_interfaces/msg/Time
       state: uint16
+  autoware_adapi_v1_msgs/msg/ManualControlMode:
+    msg:
+      mode: uint8
+  autoware_adapi_v1_msgs/msg/ManualControlModeStatus:
+    msg:
+      mode: autoware_adapi_v1_msgs/msg/ManualControlMode
+      stamp: builtin_interfaces/msg/Time
+  autoware_adapi_v1_msgs/msg/ManualOperatorStatus:
+    msg:
+      ready: bool
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/MotionState:
     msg:
       stamp: builtin_interfaces/msg/Time
@@ -112,6 +135,11 @@ types:
       is_stop_mode_available: bool
       mode: uint8
       stamp: builtin_interfaces/msg/Time
+  autoware_adapi_v1_msgs/msg/PedalsCommand:
+    msg:
+      accelerator: float32
+      brake: float32
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/ResponseStatus:
     msg:
       code: uint16
@@ -146,6 +174,10 @@ types:
       message: string
       request: bool
       stamp: builtin_interfaces/msg/Time
+  autoware_adapi_v1_msgs/msg/SteeringCommand:
+    msg:
+      stamp: builtin_interfaces/msg/Time
+      steering_tire_angle: float32
   autoware_adapi_v1_msgs/msg/SteeringFactor:
     msg:
       behavior: string
@@ -163,6 +195,10 @@ types:
   autoware_adapi_v1_msgs/msg/TurnIndicators:
     msg:
       status: uint8
+  autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand:
+    msg:
+      command: autoware_adapi_v1_msgs/msg/TurnIndicators
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/VehicleDimensions:
     msg:
       footprint: geometry_msgs/msg/Polygon
@@ -188,6 +224,10 @@ types:
       stamp: builtin_interfaces/msg/Time
       steering_tire_angle: float64
       turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators
+  autoware_adapi_v1_msgs/msg/VelocityCommand:
+    msg:
+      stamp: builtin_interfaces/msg/Time
+      velocity: float32
   autoware_adapi_v1_msgs/msg/VelocityFactor:
     msg:
       behavior: string
@@ -227,6 +267,15 @@ types:
       pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1]
     res:
       status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/ListManualControlMode:
+    res:
+      modes: autoware_adapi_v1_msgs/msg/ManualControlMode[]
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/SelectManualControlMode:
+    req:
+      mode: autoware_adapi_v1_msgs/msg/ManualControlMode
+    res:
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
   autoware_adapi_v1_msgs/srv/SetCooperationCommands:
     req:
       commands: autoware_adapi_v1_msgs/msg/CooperationCommand[]