diff --git a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp
index 56d6526e26272..255288603016b 100644
--- a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp
+++ b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp
@@ -115,7 +115,7 @@ void AbstractPlanningAlgorithm::setMap(const nav_msgs::msg::OccupancyGrid & cost
   std::vector<bool> is_obstacle_table;
   is_obstacle_table.resize(nb_of_cells);
   for (uint32_t i = 0; i < nb_of_cells; ++i) {
-    const int cost = costmap_.data[i];
+    const int cost = costmap_.data[i];  // NOLINT
     if (cost < 0 || planner_common_param_.obstacle_threshold <= cost) {
       is_obstacle_table[i] = true;
     }
diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
index 0a17b112eed6f..c9f4b46dab737 100644
--- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
+++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
@@ -388,7 +388,7 @@ double AstarSearch::getExpansionDistance(const AstarNode & current_node) const
 double AstarSearch::getSteeringCost(const int steering_index) const
 {
   return planner_common_param_.curve_weight *
-         (abs(steering_index) / planner_common_param_.turning_steps);
+         (static_cast<double>(abs(steering_index)) / planner_common_param_.turning_steps);
 }
 
 double AstarSearch::getSteeringChangeCost(