diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
index a4399c41bc0ef..ed7063c9fecba 100644
--- a/planning/behavior_path_avoidance_module/src/utils.cpp
+++ b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -635,18 +635,7 @@ bool isSatisfiedWithVehicleCondition(
     return true;
   }
 
-  // always ignore all merging objects.
-  if (object.behavior == ObjectData::Behavior::MERGING) {
-    object.reason = "MergingToEgoLane";
-    return false;
-  }
-
-  // Object is on center line -> ignore.
-  if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) {
-    object.reason = AvoidanceDebugFactor::TOO_NEAR_TO_CENTERLINE;
-    return false;
-  }
-
+  // check vehicle shift ratio
   lanelet::BasicPoint2d object_centroid(object.centroid.x(), object.centroid.y());
   const auto on_ego_driving_lane =
     within(object_centroid, object.overhang_lanelet.polygon2d().basicPolygon());
@@ -659,17 +648,26 @@ bool isSatisfiedWithVehicleCondition(
     }
   }
 
-  if (!object.is_within_intersection) {
-    return true;
+  // Object is on center line -> ignore.
+  if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) {
+    object.reason = AvoidanceDebugFactor::TOO_NEAR_TO_CENTERLINE;
+    return false;
   }
 
-  std::string turn_direction = object.overhang_lanelet.attributeOr("turn_direction", "else");
-  if (turn_direction == "straight") {
-    return true;
+  if (object.is_within_intersection) {
+    std::string turn_direction = object.overhang_lanelet.attributeOr("turn_direction", "else");
+    if (turn_direction == "straight") {
+      return true;
+    }
+
+    if (object.behavior == ObjectData::Behavior::NONE) {
+      object.reason = "ParallelToEgoLane";
+      return false;
+    }
   }
 
-  if (object.behavior == ObjectData::Behavior::NONE) {
-    object.reason = "ParallelToEgoLane";
+  if (object.behavior == ObjectData::Behavior::MERGING) {
+    object.reason = "MergingToEgoLane";
     return false;
   }