diff --git a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
index 3f3d969164ab4..8ce002780813f 100644
--- a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
+++ b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
@@ -20,6 +20,7 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/primitives/BasicRegulatoryElements.h>
 
+#include <algorithm>
 #include <map>
 #include <memory>
 #include <tuple>