diff --git a/planning/obstacle_avoidance_planner/src/utils/utils.cpp b/planning/obstacle_avoidance_planner/src/utils/utils.cpp
index bb74a3e57677c..892c844610283 100644
--- a/planning/obstacle_avoidance_planner/src/utils/utils.cpp
+++ b/planning/obstacle_avoidance_planner/src/utils/utils.cpp
@@ -661,18 +661,18 @@ bg_polygon createDrivablePolygon(
 {
   bg_polygon drivable_area_poly;
 
-  // right bound
-  for (const auto rp : right_bound) {
-    drivable_area_poly.outer().push_back(bg_point(rp.x, rp.y));
-  }
-
   // left bound
-  auto reversed_left_bound = left_bound;
-  std::reverse(reversed_left_bound.begin(), reversed_left_bound.end());
-  for (const auto lp : reversed_left_bound) {
+  for (const auto lp : left_bound) {
     drivable_area_poly.outer().push_back(bg_point(lp.x, lp.y));
   }
 
+  // right bound
+  auto reversed_right_bound = right_bound;
+  std::reverse(reversed_right_bound.begin(), reversed_right_bound.end());
+  for (const auto rp : reversed_right_bound) {
+    drivable_area_poly.outer().push_back(bg_point(rp.x, rp.y));
+  }
+
   drivable_area_poly.outer().push_back(drivable_area_poly.outer().front());
   return drivable_area_poly;
 }