diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
index 87b75b7126fa7..fb9eb7ba8e696 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
@@ -66,8 +66,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path)
 
   // TODO(soblin): PlanningFactorInterface use trajectory class
   planning_factor_interface_->add(
-    path->points, trajectory->compute(*stop_point).point.pose,
-    planner_data_->current_odometry->pose, planner_data_->current_odometry->pose,
+    path->points, planner_data_->current_odometry->pose,
+    trajectory->compute(*stop_point).point.pose, trajectory->compute(*stop_point).point.pose,
     tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
     true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "stopline");
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
index 078cd003dd47b..ae24f5f04c296 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
@@ -99,6 +99,7 @@ void TrafficLightModuleManager::modifyPathVelocity(
     virtual_wall_marker_creator_.add_virtual_walls(
       traffic_light_scene_module->createVirtualWalls());
   }
+  planning_factor_interface_->publish();
   pub_debug_->publish(debug_marker_array);
   pub_virtual_wall_->publish(virtual_wall_marker_creator_.create_markers(clock_->now()));
   pub_tl_state_->publish(tl_state);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
index a505c9e239293..dc2dff02aaa5b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
@@ -317,7 +317,7 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS
     modified_path.points, planner_data_->current_odometry->pose,
     target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose,
     tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
-    true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+    true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "traffic_light");
 
   return modified_path;
 }