diff --git a/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp b/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
index 55755a7f3e9ba..38ecef431b59a 100644
--- a/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
+++ b/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp
@@ -239,123 +239,123 @@ TEST(TestLongitudinalControllerUtils, lerpOrientation)
   EXPECT_DOUBLE_EQ(yaw, M_PI_4 / 2);
 }
 
- TEST(TestLongitudinalControllerUtils, lerpTrajectoryPoint)
+TEST(TestLongitudinalControllerUtils, lerpTrajectoryPoint)
 {
-   using autoware_auto_planning_msgs::msg::TrajectoryPoint;
-   using geometry_msgs::msg::Pose;
-   const double abs_err = 1e-15;
-   decltype(autoware_auto_planning_msgs::msg::Trajectory::points) points;
-   TrajectoryPoint p;
-   p.pose.position.x = 0.0;
-   p.pose.position.y = 0.0;
-   p.pose.position.z = 0.0;
-   p.longitudinal_velocity_mps = 10.0;
-   p.acceleration_mps2 = 10.0;
-   points.push_back(p);
-   p.pose.position.x = 1.0;
-   p.pose.position.y = 0.0;
-   p.pose.position.z = 0.0;
-   p.longitudinal_velocity_mps = 20.0;
-   p.acceleration_mps2 = 20.0;
-   points.push_back(p);
-   p.pose.position.x = 1.0;
-   p.pose.position.y = 1.0;
-   p.pose.position.z = 1.0;
-   p.longitudinal_velocity_mps = 30.0;
-   p.acceleration_mps2 = 30.0;
-   points.push_back(p);
-   p.pose.position.x = 2.0;
-   p.pose.position.y = 1.0;
-   p.pose.position.z = 2.0;
-   p.longitudinal_velocity_mps = 40.0;
-   p.acceleration_mps2 = 40.0;
-   points.push_back(p);
-   Pose pose;
-   double max_dist = 3.0;
-   double max_yaw = 0.7;
-   // Points on the trajectory gives back the original trajectory points values
-   pose.position.x = 0.0;
-   pose.position.y = 0.0;
-   pose.position.z = 0.0;
-
-   auto result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 10.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 10.0, abs_err);
-
-   pose.position.x = 1.0;
-   pose.position.y = 0.0;
-   pose.position.z = 0.0;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 20.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 20.0, abs_err);
-
-   pose.position.x = 1.0;
-   pose.position.y = 1.0;
-   pose.position.z = 1.0;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 30.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 30.0, abs_err);
-
-   pose.position.x = 2.0;
-   pose.position.y = 1.0;
-   pose.position.z = 2.0;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 40.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 40.0, abs_err);
-
-   // Interpolate between trajectory points
-   pose.position.x = 0.5;
-   pose.position.y = 0.0;
-   pose.position.z = 0.0;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 15.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 15.0, abs_err);
-   pose.position.x = 0.75;
-   pose.position.y = 0.0;
-   pose.position.z = 0.0;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 17.5, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 17.5, abs_err);
-
-   // Interpolate away from the trajectory (interpolated point is projected)
-   pose.position.x = 0.5;
-   pose.position.y = -1.0;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, 0.0, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 15.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 15.0, abs_err);
-
-   // Ambiguous projections: possibility with the lowest index is used
-   pose.position.x = 0.5;
-   pose.position.y = 0.5;
-   result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
-   EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
-   EXPECT_NEAR(result.first.pose.position.y, 0.0, abs_err);
-   EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
-   EXPECT_NEAR(result.first.longitudinal_velocity_mps, 15.0, abs_err);
-   EXPECT_NEAR(result.first.acceleration_mps2, 15.0, abs_err);
- }
+  using autoware_auto_planning_msgs::msg::TrajectoryPoint;
+  using geometry_msgs::msg::Pose;
+  const double abs_err = 1e-15;
+  decltype(autoware_auto_planning_msgs::msg::Trajectory::points) points;
+  TrajectoryPoint p;
+  p.pose.position.x = 0.0;
+  p.pose.position.y = 0.0;
+  p.pose.position.z = 0.0;
+  p.longitudinal_velocity_mps = 10.0;
+  p.acceleration_mps2 = 10.0;
+  points.push_back(p);
+  p.pose.position.x = 1.0;
+  p.pose.position.y = 0.0;
+  p.pose.position.z = 0.0;
+  p.longitudinal_velocity_mps = 20.0;
+  p.acceleration_mps2 = 20.0;
+  points.push_back(p);
+  p.pose.position.x = 1.0;
+  p.pose.position.y = 1.0;
+  p.pose.position.z = 1.0;
+  p.longitudinal_velocity_mps = 30.0;
+  p.acceleration_mps2 = 30.0;
+  points.push_back(p);
+  p.pose.position.x = 2.0;
+  p.pose.position.y = 1.0;
+  p.pose.position.z = 2.0;
+  p.longitudinal_velocity_mps = 40.0;
+  p.acceleration_mps2 = 40.0;
+  points.push_back(p);
+  Pose pose;
+  double max_dist = 3.0;
+  double max_yaw = 0.7;
+  // Points on the trajectory gives back the original trajectory points values
+  pose.position.x = 0.0;
+  pose.position.y = 0.0;
+  pose.position.z = 0.0;
+
+  auto result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 10.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 10.0, abs_err);
+
+  pose.position.x = 1.0;
+  pose.position.y = 0.0;
+  pose.position.z = 0.0;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 20.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 20.0, abs_err);
+
+  pose.position.x = 1.0;
+  pose.position.y = 1.0;
+  pose.position.z = 1.0;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 30.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 30.0, abs_err);
+
+  pose.position.x = 2.0;
+  pose.position.y = 1.0;
+  pose.position.z = 2.0;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 40.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 40.0, abs_err);
+
+  // Interpolate between trajectory points
+  pose.position.x = 0.5;
+  pose.position.y = 0.0;
+  pose.position.z = 0.0;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 15.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 15.0, abs_err);
+  pose.position.x = 0.75;
+  pose.position.y = 0.0;
+  pose.position.z = 0.0;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, pose.position.y, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 17.5, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 17.5, abs_err);
+
+  // Interpolate away from the trajectory (interpolated point is projected)
+  pose.position.x = 0.5;
+  pose.position.y = -1.0;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, 0.0, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 15.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 15.0, abs_err);
+
+  // Ambiguous projections: possibility with the lowest index is used
+  pose.position.x = 0.5;
+  pose.position.y = 0.5;
+  result = longitudinal_utils::lerpTrajectoryPoint(points, pose, max_dist, max_yaw);
+  EXPECT_NEAR(result.first.pose.position.x, pose.position.x, abs_err);
+  EXPECT_NEAR(result.first.pose.position.y, 0.0, abs_err);
+  EXPECT_NEAR(result.first.pose.position.z, pose.position.z, abs_err);
+  EXPECT_NEAR(result.first.longitudinal_velocity_mps, 15.0, abs_err);
+  EXPECT_NEAR(result.first.acceleration_mps2, 15.0, abs_err);
+}
 
 TEST(TestLongitudinalControllerUtils, applyDiffLimitFilter)
 {