diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
index 6f63ecbdce06d..700800e94ecd5 100644
--- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
+++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
@@ -276,7 +276,7 @@ bool CTRVMotionModel::predictStateStep(const double dt, KalmanFilter & ekf) cons
   Eigen::MatrixXd X_next_t(DIM, 1);                               // predicted state
   X_next_t(IDX::X) = X_t(IDX::X) + X_t(IDX::VEL) * cos_yaw * dt;  // dx = v * cos(yaw)
   X_next_t(IDX::Y) = X_t(IDX::Y) + X_t(IDX::VEL) * sin_yaw * dt;  // dy = v * sin(yaw)
-  X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ)) * dt;       // dyaw = omega
+  X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ))*dt;         // dyaw = omega
   X_next_t(IDX::VEL) = X_t(IDX::VEL);
   X_next_t(IDX::WZ) = X_t(IDX::WZ);
 
diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp
index da0dd0ec09a26..78b6e4aa09cd5 100644
--- a/planning/autoware_surround_obstacle_checker/src/node.cpp
+++ b/planning/autoware_surround_obstacle_checker/src/node.cpp
@@ -411,8 +411,8 @@ std::optional<geometry_msgs::msg::TransformStamped> SurroundObstacleCheckerNode:
 
 auto SurroundObstacleCheckerNode::isStopRequired(
   const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
-  const std::optional<rclcpp::Time> & last_obstacle_found_time,
-  const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>
+  const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
+  -> std::pair<bool, std::optional<rclcpp::Time>>
 {
   if (!is_vehicle_stopped) {
     return std::make_pair(false, std::nullopt);
diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp
index 480a937a4a909..58f55233ed32d 100644
--- a/planning/autoware_surround_obstacle_checker/src/node.hpp
+++ b/planning/autoware_surround_obstacle_checker/src/node.hpp
@@ -89,8 +89,8 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
 
   auto isStopRequired(
     const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
-    const std::optional<rclcpp::Time> & last_obstacle_found_time,
-    const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>;
+    const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
+    -> std::pair<bool, std::optional<rclcpp::Time>>;
 
   // ros
   mutable tf2_ros::Buffer tf_buffer_{get_clock()};
diff --git a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp
index c5fbb7958208d..1122a37bb2672 100644
--- a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp
+++ b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp
@@ -48,8 +48,8 @@ class SurroundObstacleCheckerNodeTest : public ::testing::Test
 
   auto isStopRequired(
     const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
-    const std::optional<rclcpp::Time> & last_obstacle_found_time,
-    const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>
+    const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
+    -> std::pair<bool, std::optional<rclcpp::Time>>
   {
     return node_->isStopRequired(
       is_obstacle_found, is_vehicle_stopped, state, last_obstacle_found_time, time_threshold);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp
index c9eb93abb2e2f..4f0829c901915 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp
@@ -32,8 +32,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co
 }
 
 auto findNearestCollisionPoint(
-  const LineString2d & line1, const LineString2d & line2,
-  const Point2d & origin) -> std::optional<Point2d>
+  const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
+  -> std::optional<Point2d>
 {
   std::vector<Point2d> collision_points;
   bg::intersection(line1, line2, collision_points);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp
index c6655064d3ffa..ad4ed84cea116 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp
@@ -48,8 +48,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co
  * @return intersection point. if there is no intersection point, return std::nullopt.
  */
 auto findNearestCollisionPoint(
-  const LineString2d & line1, const LineString2d & line2,
-  const Point2d & origin) -> std::optional<Point2d>;
+  const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
+  -> std::optional<Point2d>;
 
 /**
  * @brief find intersection point between path and stop line and return the point.
diff --git a/vehicle/autoware_accel_brake_map_calibrator/README.md b/vehicle/autoware_accel_brake_map_calibrator/README.md
index 024c8059a169e..a85e7de98a3ef 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/README.md
+++ b/vehicle/autoware_accel_brake_map_calibrator/README.md
@@ -212,10 +212,11 @@ Update by Recursive Least Squares(RLS) method using data close enough to each gr
 #### Parameters
 
 Data selection is determined by the following thresholds.
-| Name | Default Value |
+
+| Name                    | Default Value |
 | ----------------------- | ------------- |
-| velocity_diff_threshold | 0.556 |
-| pedal_diff_threshold | 0.03 |
+| velocity_diff_threshold | 0.556         |
+| pedal_diff_threshold    | 0.03          |
 
 #### Update formula