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 57a6e340bf853..e9950b56ce174 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
@@ -812,7 +812,7 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
 
   // fill gap among shift lines.
   for (size_t i = 0; i < sorted.size() - 1; ++i) {
-    if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal) {
+    if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal + 1e-3) {
       continue;
     }
 
@@ -827,8 +827,6 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
   utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(
     data, debug.step1_front_shift_line);
 
-  applySmallShiftFilter(ret, 1e-3);
-
   return ret;
 }