diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
index 0c793c9f5798e..22c4480162609 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
@@ -73,6 +73,8 @@ std::optional<SlowdownToInsert> calculate_slowdown_point(
   const std::optional<SlowdownToInsert> prev_slowdown_point, PlannerParam params)
 {
   params.extra_front_offset += params.dist_buffer;
+  params.extra_right_offset += params.dist_buffer;
+  params.extra_left_offset += params.dist_buffer;
   const auto base_footprint = make_base_footprint(params);
 
   // search for the first slowdown decision for which a stop point can be inserted