diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 22db71ba7be63..8465dda939294 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -1249,7 +1249,7 @@ bool NormalLaneChange::get_path_using_path_shifter(
     PathWithLaneId prepare_segment;
     try {
       if (!utils::lane_change::get_prepare_segment(
-            common_data_ptr_, prev_module_output_.path, prep_metric, prepare_segment)) {
+            common_data_ptr_, prev_module_output_.path, prep_metric.length, prepare_segment)) {
         debug_print("Reject: failed to get valid prepare segment!");
         continue;
       }
@@ -1268,6 +1268,11 @@ bool NormalLaneChange::get_path_using_path_shifter(
     const auto lane_changing_metrics = get_lane_changing_metrics(
       prepare_segment, prep_metric, shift_length, dist_to_next_regulatory_element);
 
+    // set_prepare_velocity must only be called after computing lane change metrics, as lane change
+    // metrics rely on the prepare segment's original velocity as max_path_velocity.
+    utils::lane_change::set_prepare_velocity(
+      prepare_segment, common_data_ptr_->get_ego_speed(), prep_metric.velocity);
+
     for (const auto & lc_metric : lane_changing_metrics) {
       const auto debug_print_lat = [&](const std::string & s) {
         RCLCPP_DEBUG(