diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
index 8462028564f6f..e6656b46d51dc 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -988,18 +988,6 @@ auto StaticObstacleAvoidanceModule::getTurnSignal(
     return getPreviousModuleOutput().turn_signal_info;
   }
 
-  const auto itr =
-    std::remove_if(shift_lines.begin(), shift_lines.end(), [&, this](const auto & s) {
-      const auto threshold = planner_data_->parameters.turn_signal_shift_length_threshold;
-      return std::abs(s.start_shift_length - s.end_shift_length) < threshold ||
-             is_ignore_signal(s.id);
-    });
-  shift_lines.erase(itr, shift_lines.end());
-
-  if (shift_lines.empty()) {
-    return getPreviousModuleOutput().turn_signal_info;
-  }
-
   const auto target_shift_line = [&]() {
     const auto & s1 = shift_lines.front();
 
@@ -1042,6 +1030,10 @@ auto StaticObstacleAvoidanceModule::getTurnSignal(
     return s1;
   }();
 
+  if (is_ignore_signal(target_shift_line.id)) {
+    return getPreviousModuleOutput().turn_signal_info;
+  }
+
   const auto original_signal = getPreviousModuleOutput().turn_signal_info;
 
   constexpr bool is_driving_forward = true;