diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index ef62b7c1975a6..15c6039d42d48 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -465,8 +465,8 @@ AvoidPointArray AvoidanceModule::calcRawShiftPointsFromObjects(
   const auto & lat_collision_margin = parameters_.lateral_collision_margin;
   const auto & vehicle_width = planner_data_->parameters.vehicle_width;
   const auto & road_shoulder_safety_margin = parameters_.road_shoulder_safety_margin;
-  const auto max_allowable_lateral_distance =
-    lat_collision_safety_buffer + lat_collision_margin + vehicle_width;
+  const auto max_allowable_lateral_distance = lat_collision_safety_buffer + lat_collision_margin +
+                                              vehicle_width - road_shoulder_safety_margin;
 
   const auto avoid_margin =
     lat_collision_safety_buffer + lat_collision_margin + 0.5 * vehicle_width;
@@ -494,20 +494,9 @@ AvoidPointArray AvoidanceModule::calcRawShiftPointsFromObjects(
       continue;
     }
 
-    const auto max_shift_length =
-      o.to_road_shoulder_distance - road_shoulder_safety_margin - 0.5 * vehicle_width;
-
-    const auto max_left_shift_limit = [&max_shift_length, this]() noexcept {
-      return std::min(getLeftShiftBound(), max_shift_length);
-    };
-
-    const auto max_right_shift_limit = [&max_shift_length, this]() noexcept {
-      return std::max(getRightShiftBound(), -max_shift_length);
-    };
-
     const auto shift_length = isOnRight(o)
-                                ? std::min(o.overhang_dist + avoid_margin, max_left_shift_limit())
-                                : std::max(o.overhang_dist - avoid_margin, max_right_shift_limit());
+                                ? std::min(o.overhang_dist + avoid_margin, getLeftShiftBound())
+                                : std::max(o.overhang_dist - avoid_margin, getRightShiftBound());
     const auto avoiding_shift = shift_length - current_ego_shift;
     const auto return_shift = shift_length;