diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
index 5fdef6f467950..ec18d55a31069 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
@@ -183,7 +183,7 @@ bool StartPlannerModuleManager::isSimultaneousExecutableAsApprovedModule() const
     }
 
     // Other modules are not needed when freespace planning
-    if (start_planner_ptr->isFreespacePlanning()) {
+    if (module->isFreespacePlanning()) {
       return false;
     }
 
@@ -202,7 +202,7 @@ bool StartPlannerModuleManager::isSimultaneousExecutableAsCandidateModule() cons
     }
 
     // Other modules are not needed when freespace planning
-    if (start_planner_ptr->isFreespacePlanning()) {
+    if (module->isFreespacePlanning()) {
       return false;
     }
 
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
index c7541dc8af544..98796d52c6e73 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -1026,9 +1026,8 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
     output.drivable_area_info.drivable_margin =
       planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin;
   } else {
-    const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes(
-      *output.path, generateDrivableLanes(*output.path),
-      planner_data_->drivable_area_expansion_parameters);
+    const auto target_drivable_lanes =
+      getNonOverlappingExpandedLanes(*output.path, generateDrivableLanes(*output.path));
 
     DrivableAreaInfo current_drivable_area_info;
     current_drivable_area_info.drivable_lanes = target_drivable_lanes;