diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
index 20d157bbfe8f5..399c2f107e587 100644
--- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -593,6 +593,9 @@ bool isSatisfiedWithVehicleCondition(
   if (on_ego_driving_lane) {
     if (isObjectOnRoadShoulder(object, planner_data->route_handler, parameters)) {
       return true;
+    } else {
+      object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT;
+      return false;
     }
   }
 
@@ -1425,7 +1428,7 @@ void filterTargetObjects(
     }
 
     o.to_road_shoulder_distance = getRoadShoulderDistance(o, data, planner_data, parameters);
-    o.avoid_margin = getAvoidMargin(o, planner_data, parameters);
+    o.avoid_margin = filtering_utils::getAvoidMargin(o, planner_data, parameters);
 
     if (filtering_utils::isNoNeedAvoidanceBehavior(o, parameters)) {
       data.other_objects.push_back(o);