diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
index 2101be4511524..b37ba62b4294f 100644
--- a/planning/obstacle_avoidance_planner/src/node.cpp
+++ b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -456,9 +456,8 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea(
         motion_utils::insertStopPoint(dist_with_margin, optimized_traj_points);
       if (first_outside_idx_with_margin) {
         return *first_outside_idx_with_margin;
-      } else {
-        return *first_outside_idx;
       }
+      return *first_outside_idx;
     }();
 
     publishVirtualWall(optimized_traj_points.at(stop_idx).pose);