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 effaca9501bd..174453739e67 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
@@ -2443,7 +2443,7 @@ double AvoidanceModule::getRSSLongitudinalDistance(
    * =======================================
    */
   if (!is_front_object && !opposite_lane_vehicle) {
-    return v_obj * idling_time + 0.5 * accel_for_rss * std::pow(v_obj, 2.0) +
+    return v_obj * idling_time + 0.5 * accel_for_rss * std::pow(idling_time, 2.0) +
            std::pow(v_obj + accel_for_rss * idling_time, 2.0) / (2.0 * accel_for_rss) -
            std::pow(v_ego, 2.0) / (2.0 * accel_for_rss);
   }