diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
index fa45880f4c0e..98d7d4d837c8 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
@@ -541,7 +541,9 @@ bool hasEnoughDistance(
     return true;
   }
 
-  if (lane_change_total_distance > util::getDistanceToEndOfLane(current_pose, target_lanes)) {
+  if (
+    lane_change_total_distance + lane_change_required_distance >
+    util::getDistanceToEndOfLane(current_pose, target_lanes)) {
     return false;
   }