diff --git a/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp b/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
index 8200db93ae2fb..5cece81f91a44 100644
--- a/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
+++ b/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
@@ -95,11 +95,9 @@ std::shared_ptr<lanelet::ConstPolygon3d> findNearestParkinglot(
   const std::shared_ptr<lanelet::LaneletMap> & lanelet_map_ptr,
   const lanelet::BasicPoint2d & current_position)
 {
-  const auto all_parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map_ptr);
-
   const auto linked_parking_lot = std::make_shared<lanelet::ConstPolygon3d>();
   const auto result = lanelet::utils::query::getLinkedParkingLot(
-    current_position, all_parking_lots, linked_parking_lot.get());
+    current_position, lanelet_map_ptr, linked_parking_lot.get());
 
   if (result) {
     return linked_parking_lot;
diff --git a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp b/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
index 7cc251a03296c..04c63299bcdc9 100644
--- a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
+++ b/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
@@ -41,11 +41,9 @@ std::shared_ptr<lanelet::ConstPolygon3d> findNearestParkinglot(
   const std::shared_ptr<lanelet::LaneletMap> & lanelet_map_ptr,
   const lanelet::BasicPoint2d & current_position)
 {
-  const auto all_parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map_ptr);
-
   const auto linked_parking_lot = std::make_shared<lanelet::ConstPolygon3d>();
   const auto result = lanelet::utils::query::getLinkedParkingLot(
-    current_position, all_parking_lots, linked_parking_lot.get());
+    current_position, lanelet_map_ptr, linked_parking_lot.get());
 
   if (result) {
     return linked_parking_lot;