diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp
index a0ae99d54df0b..f88efa49f10ff 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp
@@ -194,7 +194,7 @@ void PathShifter::applyLinearShifter(ShiftedPath * shifted_path) const
       double ith_shift_length = 0.0;
       if (i < shift_line.start_idx) {
         ith_shift_length = 0.0;
-      } else if (shift_line.start_idx <= i && i <= shift_line.end_idx) {
+      } else if (i <= shift_line.end_idx) {
         auto dist_from_start = arclength_arr.at(i) - arclength_arr.at(shift_line.start_idx);
         ith_shift_length = (dist_from_start / shifting_arclength) * delta_shift;
       } else {