diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
index 8e6ab24929a00..1f5cf8c2a9500 100644
--- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
@@ -107,14 +107,15 @@ std::pair<double, double> projectObstacleVelocityToTrajectory(
 
   const size_t obj_idx = motion_utils::findNearestIndex(path_points, obj_pose.position);
 
-  const double obj_vel_yaw = std::atan2(
-    object.kinematics.initial_twist_with_covariance.twist.linear.y,
-    object.kinematics.initial_twist_with_covariance.twist.linear.x);
+  const double obj_yaw = tf2::getYaw(obj_pose.orientation);
+  const double obj_vel_yaw =
+    obj_yaw + std::atan2(
+                object.kinematics.initial_twist_with_covariance.twist.linear.y,
+                object.kinematics.initial_twist_with_covariance.twist.linear.x);
   const double path_yaw = tf2::getYaw(path_points.at(obj_idx).point.pose.orientation);
 
-  return std::make_pair(
-    obj_vel_norm * std::cos(obj_vel_yaw - path_yaw),
-    obj_vel_norm * std::sin(obj_vel_yaw - path_yaw));
+  const double diff_yaw = tier4_autoware_utils::normalizeRadian(obj_vel_yaw - path_yaw);
+  return std::make_pair(obj_vel_norm * std::cos(diff_yaw), obj_vel_norm * std::sin(diff_yaw));
 }
 
 double calcObstacleMaxLength(const autoware_auto_perception_msgs::msg::Shape & shape)
@@ -517,7 +518,31 @@ void DynamicAvoidanceModule::updateTargetObjects()
                                      ? isLeft(prev_module_path->points, future_obj_pose->position)
                                      : is_object_left;
 
-    // 2.g. calculate longitudinal and lateral offset to avoid
+    // 2.g. check if the ego is not ahead of the object.
+    const double signed_dist_ego_to_obj = [&]() {
+      const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(prev_module_path->points);
+      const double lon_offset_ego_to_obj = motion_utils::calcSignedArcLength(
+        prev_module_path->points, getEgoPose().position, ego_seg_idx, lat_lon_offset.nearest_idx);
+      if (0 < lon_offset_ego_to_obj) {
+        return std::max(
+          0.0, lon_offset_ego_to_obj - planner_data_->parameters.front_overhang +
+                 lat_lon_offset.min_lon_offset);
+      }
+      return std::min(
+        0.0, lon_offset_ego_to_obj + planner_data_->parameters.rear_overhang +
+               lat_lon_offset.max_lon_offset);
+    }();
+    if (signed_dist_ego_to_obj < 0) {
+      RCLCPP_INFO_EXPRESSION(
+        getLogger(), parameters_->enable_debug_info,
+        "[DynamicAvoidance] Ignore obstacle (%s) since distance from ego to object (%f) is less "
+        "than 0.",
+        obj_uuid.c_str(), signed_dist_ego_to_obj);
+      continue;
+    }
+
+    // 2.h. calculate longitudinal and lateral offset to avoid to generate object polygon by
+    // "object_path_base"
     const auto obj_points = tier4_autoware_utils::toPolygon2d(object.pose, object.shape);
     const auto lon_offset_to_avoid = calcMinMaxLongitudinalOffsetToAvoid(
       path_points_for_object_polygon, object.pose, obj_points, object.vel, time_to_collision);