diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
index 803a6ef1e8617..085addbe17fc9 100644
--- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
+++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
@@ -450,15 +450,13 @@ boost::optional<PpOutput> PurePursuitLateralController::calcTargetCurvature(
   const bool is_reverse = (target_vel < 0);
   const double min_lookahead_distance =
     is_reverse ? param_.reverse_min_lookahead_distance : param_.min_lookahead_distance;
-  double lookahead_distance = min_lookahead_distance;
-  if (is_control_output) {
-    lookahead_distance = calcLookaheadDistance(
-      lateral_error, current_curvature, current_odometry_.twist.twist.linear.x,
-      min_lookahead_distance, is_control_output);
-  } else {
-    lookahead_distance = calcLookaheadDistance(
-      lateral_error, current_curvature, target_vel, min_lookahead_distance, is_control_output);
-  }
+  double lookahead_distance =
+    is_control_output
+      ? calcLookaheadDistance(
+          lateral_error, current_curvature, current_odometry_.twist.twist.linear.x,
+          min_lookahead_distance, is_control_output)
+      : calcLookaheadDistance(
+          lateral_error, current_curvature, target_vel, min_lookahead_distance, is_control_output);
 
   // Set PurePursuit data
   pure_pursuit_->setCurrentPose(pose);
diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
index 3a79b1f01a804..9b68594f167e8 100644
--- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
+++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
@@ -113,9 +113,8 @@ void SplineInterpolate::generateSpline(const std::vector<double> & x)
   std::vector<double> w_;
   w_.push_back(0.0);
 
-  double tmp;
   for (int i = 1; i < N - 1; i++) {
-    tmp = 1.0 / (4.0 - w_[i - 1]);
+    const double tmp = 1.0 / (4.0 - w_[i - 1]);
     c_[i] = (c_[i] - c_[i - 1]) * tmp;
     w_.push_back(tmp);
   }