diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
index 338cc682fb45c..06a44bdeeb33f 100644
--- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
+++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
@@ -35,8 +35,7 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesByUniform
   const vehicle_info_util::VehicleInfo & vehicle_info, const size_t circle_num,
   const double radius_ratio)
 {
-  const double lateral_offset =
-    abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m);
+  const double lateral_offset = abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m);
 
   const double radius = std::hypot(
                           vehicle_info.vehicle_length_m / static_cast<double>(circle_num) / 2.0,
@@ -62,10 +61,10 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesByBicycle
   if (circle_num < 2) {
     throw std::invalid_argument("circle_num is less than 2.");
   }
-  const double lateral_offset =
-    abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m);
+  const double lateral_offset = abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m);
   // 1st circle (rear wheel)
-  const double rear_radius = ((vehicle_info.vehicle_width_m / 2.0) + lateral_offset) * rear_radius_ratio;
+  const double rear_radius =
+    ((vehicle_info.vehicle_width_m / 2.0) + lateral_offset) * rear_radius_ratio;
   const double rear_lon_offset = 0.0;
 
   // 2nd circle (front wheel)
@@ -88,8 +87,7 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesByFitting
   if (circle_num < 2) {
     throw std::invalid_argument("circle_num is less than 2.");
   }
-  const double lateral_offset =
-    abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m);
+  const double lateral_offset = abs(vehicle_info.right_overhang_m - vehicle_info.left_overhang_m);
   const double radius = vehicle_info.vehicle_width_m / 2.0 + lateral_offset;
   std::vector<double> radiuses(circle_num, radius);
 
@@ -1383,7 +1381,7 @@ MPTOptimizer::ConstraintMatrix MPTOptimizer::calcConstraintMatrix(
     const Eigen::VectorXd CW = C_sparse_mat * mpt_mat.W + C_vec;
 
     // calculate bounds
-    [[maybe_unused]]  const double bounds_offset =
+    [[maybe_unused]] const double bounds_offset =
       vehicle_info_.vehicle_width_m / 2.0 - vehicle_circle_radiuses_.at(l_idx);
     const auto & [part_ub, part_lb] = extractBounds(ref_points, l_idx, vehicle_info_);