diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
index 03fae6864fe50..3531ef1406ba9 100644
--- a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
+++ b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -202,6 +202,7 @@ std::optional<std::pair<size_t, geometry_msgs::msg::Point>> intersectBound(
       std::pair<size_t, geometry_msgs::msg::Point> result;
       result.first = static_cast<size_t>(i);
       result.second = *intersect_point;
+      result.second.z = p1.z;
       return result;
     }
   }