diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
index 3d8f971263dfc..1a50d7ab4131c 100644
--- a/planning/obstacle_stop_planner/src/node.cpp
+++ b/planning/obstacle_stop_planner/src/node.cpp
@@ -663,7 +663,7 @@ void ObstacleStopPlannerNode::searchObstacle(
 
   const auto now = this->now();
 
-  if (current_velocity_ptr->twist.twist.linear.x == 0) {
+  if (std::fabs(current_velocity_ptr->twist.twist.linear.x) < 1e-9) {
     updateObstacleHistory(now);
   }