diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
index 0501df10e75e0..3a79b1f01a804 100644
--- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
+++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
@@ -229,8 +229,8 @@ bool SplineInterpolate::interpolate(
   generateSpline(base_value);
 
   // interpolate by spline  with normalized index
-  for (int j = 0; j < static_cast<int>(normalized_idx.size()); ++j) {
-    return_value.push_back(getValue(normalized_idx[j]));
+  for (const auto & index : normalized_idx) {
+    return_value.push_back(getValue(index));
   }
   return true;
 }