diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
index 323878923f8e8..8d8afb41730f9 100644
--- a/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
+++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
@@ -53,10 +53,15 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
           auto p = geometry_msgs::msg::Point().set__x(coll_p.x()).set__y(coll_p.y());
           const auto dist_ego_to_coll =
             motion_utils::calcSignedArcLength(ego_data.path.points, ego_pose.position, p);
-          const auto dist_obj_to_coll = tier4_autoware_utils::calcDistance2d(object_pose.position, p);
-          const auto tta_cp_npc = abs(dist_obj_to_coll) / object.kinematics.initial_twist_with_covariance.twist.linear.x;
-          const auto tta_cp_ego = dist_ego_to_coll / ego_data.path.points[path_idx].point.longitudinal_velocity_mps;
-          if (abs(dist_ego_to_coll) < closest_dist && std::abs(tta_cp_npc - tta_cp_ego) < params.time_horizon) {
+          const auto dist_obj_to_coll =
+            tier4_autoware_utils::calcDistance2d(object_pose.position, p);
+          const auto tta_cp_npc =
+            abs(dist_obj_to_coll) / object.kinematics.initial_twist_with_covariance.twist.linear.x;
+          const auto tta_cp_ego =
+            dist_ego_to_coll / ego_data.path.points[path_idx].point.longitudinal_velocity_mps;
+          if (
+            abs(dist_ego_to_coll) < closest_dist &&
+            std::abs(tta_cp_npc - tta_cp_ego) < params.time_horizon) {
             closest_dist = dist_ego_to_coll;
             closest_collision_point = p;
           }