diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
index bfeb942c82be3..0f3536eeb4e7c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
@@ -305,7 +305,7 @@ class AvoidanceHelper
   {
     const auto & p = parameters_;
     return prepare_distance >
-           std::max(getEgoSpeed() * p->min_prepare_distance, p->min_prepare_distance);
+           std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance);
   }
 
   bool isComfortable(const AvoidLineArray & shift_lines) const