diff --git a/control/predicted_path_checker/config/predicted_path_checker.param.yaml b/control/predicted_path_checker/config/predicted_path_checker.param.yaml
index 5988875c8bd6d..23eea4b752b9a 100644
--- a/control/predicted_path_checker/config/predicted_path_checker.param.yaml
+++ b/control/predicted_path_checker/config/predicted_path_checker.param.yaml
@@ -14,4 +14,3 @@
       longitudinal_margin: 0.15
       stop_search_radius: 4.0
       resample_interval: 0.3
-
diff --git a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp b/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
index 8520cdcd71d74..389c24b76d653 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COLLISION_CHECKER__COLLISION_CHECKER_HPP_
-#define COLLISION_CHECKER__COLLISION_CHECKER_HPP_
+#ifndef PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
+#define PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
 
 #include <motion_utils/trajectory/tmp_conversion.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
@@ -117,4 +117,4 @@ class CollisionChecker
 };
 }  // namespace collision_checker
 
-#endif  // COLLISION_CHECKER__COLLISION_CHECKER_HPP_
+#endif  // PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml
index fd8e02315da9f..198bb053abe55 100644
--- a/control/predicted_path_checker/package.xml
+++ b/control/predicted_path_checker/package.xml
@@ -14,12 +14,12 @@
   <depend>autoware_auto_planning_msgs</depend>
   <depend>boost</depend>
   <depend>diagnostic_updater</depend>
-  <depend>motion_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
-  <depend>pcl_ros</depend>
   <depend>pcl_conversions</depend>
+  <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
index 0b2a33cb207d9..e32105a23ea10 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -41,12 +41,18 @@ PredictedPathCheckerNode::PredictedPathCheckerNode(const rclcpp::NodeOptions & n
   node_param_.delay_time = declare_parameter("delay_time", 0.5);
 
   // Collision Checker Parameter
-  collision_checker_param_.stop_search_radius = declare_parameter("collision_checker_params.stop_search_radius", 5.0);
-  collision_checker_param_.longitudinal_margin = declare_parameter("collision_checker_params.longitudinal_margin", 0.15);
-  collision_checker_param_.width_margin = declare_parameter("collision_checker_params.width_margin", 0.2);
-  collision_checker_param_.stop_margin = declare_parameter("collision_checker_params.stop_margin", 1.0);
-  collision_checker_param_.search_radius = declare_parameter("collision_checker_params.search_radius", 6.0);
-  collision_checker_param_.resample_interval = declare_parameter("collision_checker_params.resample_interval", 0.5);
+  collision_checker_param_.stop_search_radius =
+    declare_parameter("collision_checker_params.stop_search_radius", 5.0);
+  collision_checker_param_.longitudinal_margin =
+    declare_parameter("collision_checker_params.longitudinal_margin", 0.15);
+  collision_checker_param_.width_margin =
+    declare_parameter("collision_checker_params.width_margin", 0.2);
+  collision_checker_param_.stop_margin =
+    declare_parameter("collision_checker_params.stop_margin", 1.0);
+  collision_checker_param_.search_radius =
+    declare_parameter("collision_checker_params.search_radius", 6.0);
+  collision_checker_param_.resample_interval =
+    declare_parameter("collision_checker_params.resample_interval", 0.5);
 
   vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();