diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index 2fb68ca00d5ba..33d10a5cc0ce7 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -448,6 +448,7 @@ bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const
     const auto to_shift_start_point = calcSignedArcLength(
       path_shifter_.getReferencePath().points, idx, registered_lines.front().start_idx);
     if (to_shift_start_point < helper_.getMinimumPrepareDistance()) {
+      RCLCPP_DEBUG(getLogger(), "prevent sudden steering.");
       return false;
     }
   }