diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
index d86aa88ae050e..e80c23fb5000c 100644
--- a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
+++ b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
@@ -105,11 +105,10 @@ void filterObjectsByPosition(
     return (-backward_distance < dist_ego_to_obj && dist_ego_to_obj < forward_distance);
   };
 
-  // Create a new container to hold the filtered objects
-  PredictedObjects filtered = filterObjects(objects, position_filter);
-
-  // Replace the original objects with the filtered list
-  objects.objects = std::move(filtered.objects);
+  // Erase objects based on filtered list
+  objects.objects.erase(
+    std::partition(objects.objects.begin(), objects.objects.end(), position_filter),
+    objects.objects.end());
 }
 
 void filterObjectsByClass(
@@ -119,10 +118,10 @@ void filterObjectsByClass(
     return isTargetObjectType(object, target_object_types);
   };
 
-  PredictedObjects filtered_objects = filterObjects(objects, object_class_filter);
-
-  // Replace the original objects with the filtered list
-  objects = std::move(filtered_objects);
+  // Erase objects based on filtered list
+  objects.objects.erase(
+    std::partition(objects.objects.begin(), objects.objects.end(), object_class_filter),
+    objects.objects.end());
 }
 
 std::pair<std::vector<size_t>, std::vector<size_t>> separateObjectIndicesByLanelets(