diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
index be4ce4a125c68..48729c9c4fa0c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -233,11 +233,7 @@ void StaticObstacleAvoidanceModule::fillFundamentalData(
 
   std::for_each(
     data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) {
-      if (!not_use_adjacent_lane) {
-        data.drivable_lanes.push_back(
-          utils::static_obstacle_avoidance::generateExpandedDrivableLanes(
-            lanelet, planner_data_, parameters_));
-      } else if (red_signal_lane_itr->id() != lanelet.id()) {
+      if (!not_use_adjacent_lane || red_signal_lane_itr->id() != lanelet.id()) {
         data.drivable_lanes.push_back(
           utils::static_obstacle_avoidance::generateExpandedDrivableLanes(
             lanelet, planner_data_, parameters_));
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
index 744af35641a59..2aba986ab680d 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
@@ -264,9 +264,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
   AvoidOutlines outlines;
   for (auto & o : data.target_objects) {
     if (!o.avoid_margin.has_value()) {
-      if (!data.red_signal_lane.has_value()) {
-        o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
-      } else if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
+      if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
         o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY;
       } else {
         o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;