diff --git a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
index 506dd07507ffc3efd00ad2b4c1347e110baa6773..91676b7d3c6b5c72a2741cf91105672c6a08c7b7 100644
--- a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
+++ b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
@@ -196,7 +196,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseKeepLane() {
     AERROR << "Ego vehicle not found";
     return;
   }
-  if (ego_vehicle->history_size() < 2) {
+  if (ego_vehicle->history_size() == 0) {
     AERROR << "Ego vehicle has no history";
     return;
   }