diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
index 60cf62a492afa..f656176193f59 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
@@ -319,7 +319,7 @@ class AvoidanceHelper
     const auto idx = getConstraintsMapIndex(0.0, values);  // use minimum avoidance speed
     const auto jerk_limit = parameters_->lateral_max_jerk_map.at(idx);
     return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) {
-      return autoware::motion_utils::calc_jerk_from_lat_lon_distance(
+      return PathShifter::calcJerkFromLatLonDistance(
                line.getRelativeLength(), line.getRelativeLongitudinal(), values.at(idx)) <
              jerk_limit + JERK_BUFFER;
     });