diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
index 9eb79170ebe19..d08074b633500 100644
--- a/planning/behavior_path_planner/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -2994,24 +2994,9 @@ lanelet::ConstLanelets getCurrentLanesFromPath(
 
   lanelet::ConstLanelet current_lane;
   lanelet::utils::query::getClosestLanelet(reference_lanes, current_pose, &current_lane);
-  auto current_lanes = route_handler->getLaneletSequence(
-    current_lane, current_pose, p.backward_path_length, p.forward_path_length);
-
-  // Extend the 'current_lanes' with previous lanes until it contains 'front_lane_ids'.
-  const auto front_lane_ids = path.points.front().lane_ids;
-  auto have_front_lanes = [front_lane_ids](const auto & lanes) {
-    return std::any_of(lanes.begin(), lanes.end(), [&](const auto & lane) {
-      return std::find(front_lane_ids.begin(), front_lane_ids.end(), lane.id()) !=
-             front_lane_ids.end();
-    });
-  };
-  while (!have_front_lanes(current_lanes)) {
-    const auto extended_lanes = extendPrevLane(route_handler, current_lanes);
-    if (extended_lanes.size() == current_lanes.size()) break;
-    current_lanes = extended_lanes;
-  }
 
-  return current_lanes;
+  return route_handler->getLaneletSequence(
+    current_lane, current_pose, p.backward_path_length, p.forward_path_length);
 }
 
 lanelet::ConstLanelets extendNextLane(