diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
index f97c30d448cf7..68592e338c2d9 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
@@ -93,7 +93,8 @@ LaneChangeModuleManager::LaneChangeModuleManager(
     getOrDeclareParameter<double>(*node, parameter("stuck_detection.stop_time"));
 
   // safety check
-  p.allow_loose_check_for_cancel = getOrDeclareParameter<bool>(*node, parameter("safety_check.allow_loose_check_for_cancel"));
+  p.allow_loose_check_for_cancel =
+    getOrDeclareParameter<bool>(*node, parameter("safety_check.allow_loose_check_for_cancel"));
 
   p.rss_params.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
     *node, parameter("safety_check.execution.longitudinal_distance_min_threshold"));
@@ -101,16 +102,16 @@ LaneChangeModuleManager::LaneChangeModuleManager(
     *node, parameter("safety_check.execution.longitudinal_distance_min_threshold"));
   p.rss_params.longitudinal_velocity_delta_time = getOrDeclareParameter<double>(
     *node, parameter("safety_check.execution.longitudinal_velocity_delta_time"));
-  p.rss_params.front_vehicle_deceleration =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.execution.expected_front_deceleration"));
-  p.rss_params.rear_vehicle_deceleration =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.execution.expected_rear_deceleration"));
-  p.rss_params.rear_vehicle_reaction_time =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.execution.rear_vehicle_reaction_time"));
-  p.rss_params.rear_vehicle_safety_time_margin =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.execution.rear_vehicle_safety_time_margin"));
-  p.rss_params.lateral_distance_max_threshold =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.execution.lateral_distance_max_threshold"));
+  p.rss_params.front_vehicle_deceleration = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.execution.expected_front_deceleration"));
+  p.rss_params.rear_vehicle_deceleration = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.execution.expected_rear_deceleration"));
+  p.rss_params.rear_vehicle_reaction_time = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.execution.rear_vehicle_reaction_time"));
+  p.rss_params.rear_vehicle_safety_time_margin = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.execution.rear_vehicle_safety_time_margin"));
+  p.rss_params.lateral_distance_max_threshold = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.execution.lateral_distance_max_threshold"));
 
   p.rss_params_for_abort.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
     *node, parameter("safety_check.cancel.longitudinal_distance_min_threshold"));
@@ -120,12 +121,12 @@ LaneChangeModuleManager::LaneChangeModuleManager(
     *node, parameter("safety_check.cancel.expected_front_deceleration_for_abort"));
   p.rss_params_for_abort.rear_vehicle_deceleration = getOrDeclareParameter<double>(
     *node, parameter("safety_check.cancel.expected_rear_deceleration_for_abort"));
-  p.rss_params_for_abort.rear_vehicle_reaction_time =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.cancel.rear_vehicle_reaction_time"));
-  p.rss_params_for_abort.rear_vehicle_safety_time_margin =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.cancel.rear_vehicle_safety_time_margin"));
-  p.rss_params_for_abort.lateral_distance_max_threshold =
-    getOrDeclareParameter<double>(*node, parameter("safety_check.cancel.lateral_distance_max_threshold"));
+  p.rss_params_for_abort.rear_vehicle_reaction_time = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.cancel.rear_vehicle_reaction_time"));
+  p.rss_params_for_abort.rear_vehicle_safety_time_margin = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.cancel.rear_vehicle_safety_time_margin"));
+  p.rss_params_for_abort.lateral_distance_max_threshold = getOrDeclareParameter<double>(
+    *node, parameter("safety_check.cancel.lateral_distance_max_threshold"));
 
   // target object
   {
@@ -171,19 +172,23 @@ LaneChangeModuleManager::LaneChangeModuleManager(
   }
 
   // validation of safety check parameters
-  // if loosely check is not allowed, lane change module will keep on chattering and canceling, and false positive situation might  occur
-  if(!p.allow_loose_check_for_cancel){
-    if(p.rss_params.front_vehicle_deceleration > p.rss_params_for_abort.front_vehicle_deceleration ||
-       p.rss_params.rear_vehicle_deceleration > p.rss_params_for_abort.rear_vehicle_deceleration ||
-       p.rss_params.rear_vehicle_reaction_time > p.rss_params_for_abort.rear_vehicle_reaction_time ||
-       p.rss_params.rear_vehicle_safety_time_margin > p.rss_params_for_abort.rear_vehicle_safety_time_margin ||
-       p.rss_params.lateral_distance_max_threshold > p.rss_params_for_abort.lateral_distance_max_threshold ||
-       p.rss_params.longitudinal_distance_min_threshold > p.rss_params_for_abort.longitudinal_distance_min_threshold ||
-       p.rss_params.longitudinal_velocity_delta_time > p.rss_params_for_abort.longitudinal_velocity_delta_time){
-
-    RCLCPP_FATAL_STREAM(
-      logger_, "abort parameter might be loose... Terminating the program...");
-    exit(EXIT_FAILURE);
+  // if loosely check is not allowed, lane change module will keep on chattering and canceling, and
+  // false positive situation might  occur
+  if (!p.allow_loose_check_for_cancel) {
+    if (
+      p.rss_params.front_vehicle_deceleration > p.rss_params_for_abort.front_vehicle_deceleration ||
+      p.rss_params.rear_vehicle_deceleration > p.rss_params_for_abort.rear_vehicle_deceleration ||
+      p.rss_params.rear_vehicle_reaction_time > p.rss_params_for_abort.rear_vehicle_reaction_time ||
+      p.rss_params.rear_vehicle_safety_time_margin >
+        p.rss_params_for_abort.rear_vehicle_safety_time_margin ||
+      p.rss_params.lateral_distance_max_threshold >
+        p.rss_params_for_abort.lateral_distance_max_threshold ||
+      p.rss_params.longitudinal_distance_min_threshold >
+        p.rss_params_for_abort.longitudinal_distance_min_threshold ||
+      p.rss_params.longitudinal_velocity_delta_time >
+        p.rss_params_for_abort.longitudinal_velocity_delta_time) {
+      RCLCPP_FATAL_STREAM(logger_, "abort parameter might be loose... Terminating the program...");
+      exit(EXIT_FAILURE);
     }
   }
   if (p.cancel.delta_time < 1.0) {