diff --git a/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/cluster2d.hpp b/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/cluster2d.hpp
index 53cab7409578e..1bb6da0374fe9 100644
--- a/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/cluster2d.hpp
+++ b/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/cluster2d.hpp
@@ -79,12 +79,12 @@ struct Obstacle
   float height;
   float heading;
   MetaType meta_type;
-  std::vector<float> meta_type_probs;
+  std::vector<float> meta_type_probabilities;
 
   Obstacle() : score(0.0), height(-5.0), heading(0.0), meta_type(META_UNKNOWN)
   {
     cloud_ptr.reset(new pcl::PointCloud<pcl::PointXYZI>);
-    meta_type_probs.assign(MAX_META_TYPE, 0.0);
+    meta_type_probabilities.assign(MAX_META_TYPE, 0.0);
   }
 };
 
diff --git a/perception/lidar_apollo_instance_segmentation/src/cluster2d.cpp b/perception/lidar_apollo_instance_segmentation/src/cluster2d.cpp
index a7b1bee69aebb..8d758531758eb 100644
--- a/perception/lidar_apollo_instance_segmentation/src/cluster2d.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/cluster2d.cpp
@@ -235,13 +235,13 @@ void Cluster2D::classify(const float * inferred_data)
     for (size_t grid_id = 0; grid_id < obs->grids.size(); grid_id++) {
       int grid = obs->grids[grid_id];
       for (int k = 0; k < num_classes; k++) {
-        obs->meta_type_probs[k] += classify_pt_data[k * size_ + grid];
+        obs->meta_type_probabilities[k] += classify_pt_data[k * size_ + grid];
       }
     }
     int meta_type_id = 0;
     for (int k = 0; k < num_classes; k++) {
-      obs->meta_type_probs[k] /= obs->grids.size();
-      if (obs->meta_type_probs[k] > obs->meta_type_probs[meta_type_id]) {
+      obs->meta_type_probabilities[k] /= obs->grids.size();
+      if (obs->meta_type_probabilities[k] > obs->meta_type_probabilities[meta_type_id]) {
         meta_type_id = k;
       }
     }
diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/cluster2d.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/cluster2d.hpp
index 35655cd16cb7c..4587184ecfb1f 100644
--- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/cluster2d.hpp
+++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/cluster2d.hpp
@@ -57,12 +57,12 @@ struct Obstacle
   float height;
   float heading;
   MetaType meta_type;
-  std::vector<float> meta_type_probs;
+  std::vector<float> meta_type_probabilities;
 
   Obstacle() : score(0.0), height(-5.0), heading(0.0), meta_type(MetaType::META_UNKNOWN)
   {
     cloud_ptr.reset(new pcl::PointCloud<pcl::PointXYZI>);
-    meta_type_probs.assign(static_cast<int>(MetaType::MAX_META_TYPE), 0.0);
+    meta_type_probabilities.assign(static_cast<int>(MetaType::MAX_META_TYPE), 0.0);
   }
 };
 
diff --git a/perception/lidar_apollo_segmentation_tvm/src/cluster2d.cpp b/perception/lidar_apollo_segmentation_tvm/src/cluster2d.cpp
index 39c0da04a9c39..f96a32a5bb465 100644
--- a/perception/lidar_apollo_segmentation_tvm/src/cluster2d.cpp
+++ b/perception/lidar_apollo_segmentation_tvm/src/cluster2d.cpp
@@ -218,13 +218,13 @@ void Cluster2D::classify(const float * inferred_data)
     for (size_t grid_id = 0; grid_id < obs->grids.size(); grid_id++) {
       int32_t grid = obs->grids[grid_id];
       for (int k = 0; k < num_classes; k++) {
-        obs->meta_type_probs[k] += classify_pt_data[k * siz_ + grid];
+        obs->meta_type_probabilities[k] += classify_pt_data[k * siz_ + grid];
       }
     }
     int meta_type_id = 0;
     for (int k = 0; k < num_classes; k++) {
-      obs->meta_type_probs[k] /= static_cast<float>(obs->grids.size());
-      if (obs->meta_type_probs[k] > obs->meta_type_probs[meta_type_id]) {
+      obs->meta_type_probabilities[k] /= static_cast<float>(obs->grids.size());
+      if (obs->meta_type_probabilities[k] > obs->meta_type_probabilities[meta_type_id]) {
         meta_type_id = k;
       }
     }