diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index 4acb73b1d1b60..3ac439ba8a226 100644
--- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -534,8 +534,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
 
   // distance to stopline
   control_data.stop_dist = longitudinal_utils::calcStopDistance(
-    control_data.interpolated_traj.points.at(control_data.nearest_idx).pose,
-    control_data.interpolated_traj, m_ego_nearest_dist_threshold, m_ego_nearest_yaw_threshold);
+    current_pose, control_data.interpolated_traj, m_ego_nearest_dist_threshold,
+    m_ego_nearest_yaw_threshold);
 
   // pitch
   // NOTE: getPitchByTraj() calculates the pitch angle as defined in