diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
index 37ac0125a23ce..cbf40e59535be 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
@@ -477,13 +477,6 @@ class AvoidanceModule : public SceneModuleInterface
    */
   TurnSignalInfo calcTurnSignalInfo(const ShiftedPath & path) const;
 
-  // TODO(murooka) judge when and which way to extend drivable area. current implementation is keep
-  // extending during avoidance module
-  // TODO(murooka) freespace during turning in intersection where there is no neighbor lanes
-  // NOTE: Assume that there is no situation where there is an object in the middle lane of more
-  // than two lanes since which way to avoid is not obvious
-  void generateExpandDrivableLanes(BehaviorModuleOutput & output) const;
-
   /**
    * @brief fill debug markers.
    */
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index 0a47addc3f99d..305654fea1529 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -1943,25 +1943,6 @@ bool AvoidanceModule::isSafePath(
   return safe_ || safe_count_ > parameters_->hysteresis_factor_safe_count;
 }
 
-void AvoidanceModule::generateExpandDrivableLanes(BehaviorModuleOutput & output) const
-{
-  DrivableAreaInfo current_drivable_area_info;
-  // generate drivable lanes
-  current_drivable_area_info.drivable_lanes = avoid_data_.drivable_lanes;
-  // generate obstacle polygons
-  current_drivable_area_info.obstacles = utils::avoidance::generateObstaclePolygonsForDrivableArea(
-    avoid_data_.target_objects, parameters_, planner_data_->parameters.vehicle_width / 2.0);
-  // expand hatched road markings
-  current_drivable_area_info.enable_expanding_hatched_road_markings =
-    parameters_->use_hatched_road_markings;
-  // expand intersection areas
-  current_drivable_area_info.enable_expanding_intersection_areas =
-    parameters_->use_intersection_areas;
-
-  output.drivable_area_info = utils::combineDrivableAreaInfo(
-    current_drivable_area_info, getPreviousModuleOutput().drivable_area_info);
-}
-
 PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & original_path) const
 {
   const auto previous_path = helper_.getPreviousReferencePath();
@@ -2095,8 +2076,26 @@ BehaviorModuleOutput AvoidanceModule::plan()
   utils::clipPathLength(*output.path, ego_idx, planner_data_->parameters);
 
   // Drivable area generation.
-  generateExpandDrivableLanes(output);
-  setDrivableLanes(output.drivable_area_info.drivable_lanes);
+  {
+    DrivableAreaInfo current_drivable_area_info;
+    // generate drivable lanes
+    current_drivable_area_info.drivable_lanes = avoid_data_.drivable_lanes;
+    // generate obstacle polygons
+    current_drivable_area_info.obstacles =
+      utils::avoidance::generateObstaclePolygonsForDrivableArea(
+        avoid_data_.target_objects, parameters_, planner_data_->parameters.vehicle_width / 2.0);
+    // expand hatched road markings
+    current_drivable_area_info.enable_expanding_hatched_road_markings =
+      parameters_->use_hatched_road_markings;
+    // expand intersection areas
+    current_drivable_area_info.enable_expanding_intersection_areas =
+      parameters_->use_intersection_areas;
+
+    output.drivable_area_info = utils::combineDrivableAreaInfo(
+      current_drivable_area_info, getPreviousModuleOutput().drivable_area_info);
+
+    setDrivableLanes(output.drivable_area_info.drivable_lanes);
+  }
 
   return output;
 }