diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index d48e141fb55fe..7190975e27c55 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -759,6 +759,7 @@ void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & de
     if (o.avoid_required && o.is_avoidable) {
       data.avoid_required = true;
       data.stop_target_object = o;
+      break;
     }
   }