diff --git a/modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt b/modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
index 3a9e48ac5f05f5a7ea56c286b1ed1de7179ad19c..52fd4dd43021743e4a4a8184beecd08ca591ce11 100644
--- a/modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
+++ b/modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
@@ -58,6 +58,7 @@ stage_config: {
     task_type: PATH_BOUNDS_DECIDER
     path_bounds_decider_config {
       adc_buffer_coeff: 0.0
+      is_extend_lane_bands_to_include_adc: false
     }
   }
   task_config: {
diff --git a/modules/planning/proto/task_config.proto b/modules/planning/proto/task_config.proto
index 181274a21aa74d1fbba41b1c3964cb64acd1289c..c75b85ff5e52dd9ba76ae451b8ff3a21174395a7 100644
--- a/modules/planning/proto/task_config.proto
+++ b/modules/planning/proto/task_config.proto
@@ -152,6 +152,7 @@ message PathBoundsDeciderConfig {
   optional double pull_over_approach_lon_distance_adjust_factor = 6
       [default = 1.5];
   optional double adc_buffer_coeff = 7 [default = 1.0];
+  optional bool is_extend_lane_bands_to_include_adc = 8 [default = true];
 }
 
 //////////////////////////////////
diff --git a/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc b/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
index 0deb14f300da6d4f52430156e38579b6962e2b04..589333b9704a3c0c157213952b472d2c47aead84 100644
--- a/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
+++ b/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
@@ -1181,24 +1181,36 @@ bool PathBoundsDecider::GetBoundaryFromLanesAndADC(
         curr_lane_left_width + (lane_borrow_info == LaneBorrowInfo::LEFT_BORROW
                                     ? curr_neighbor_lane_width
                                     : 0.0);
-    double curr_left_bound_adc =
-        std::fmax(adc_l_to_lane_center_,
-                  adc_l_to_lane_center_ + ADC_speed_buffer) +
-        GetBufferBetweenADCCenterAndEdge() + ADC_buffer;
-    double curr_left_bound =
-        std::fmax(curr_left_bound_lane, curr_left_bound_adc) - offset_to_map;
 
     double curr_right_bound_lane =
         -curr_lane_right_width -
         (lane_borrow_info == LaneBorrowInfo::RIGHT_BORROW
              ? curr_neighbor_lane_width
              : 0.0);
-    double curr_right_bound_adc =
-        std::fmin(adc_l_to_lane_center_,
-                  adc_l_to_lane_center_ + ADC_speed_buffer) -
-        GetBufferBetweenADCCenterAndEdge() - ADC_buffer;
-    double curr_right_bound =
-        std::fmin(curr_right_bound_lane, curr_right_bound_adc) - offset_to_map;
+
+    double curr_left_bound = 0.0;
+    double curr_right_bound = 0.0;
+
+    if (config_.path_bounds_decider_config()
+            .is_extend_lane_bands_to_include_adc()) {
+      double curr_left_bound_adc =
+          std::fmax(adc_l_to_lane_center_,
+                    adc_l_to_lane_center_ + ADC_speed_buffer) +
+          GetBufferBetweenADCCenterAndEdge() + ADC_buffer;
+      curr_left_bound =
+          std::fmax(curr_left_bound_lane, curr_left_bound_adc) - offset_to_map;
+
+      double curr_right_bound_adc =
+          std::fmin(adc_l_to_lane_center_,
+                    adc_l_to_lane_center_ + ADC_speed_buffer) -
+          GetBufferBetweenADCCenterAndEdge() - ADC_buffer;
+      curr_right_bound =
+          std::fmin(curr_right_bound_lane, curr_right_bound_adc) -
+          offset_to_map;
+    } else {
+      curr_left_bound = curr_left_bound_lane - offset_to_map;
+      curr_right_bound = curr_right_bound_lane - offset_to_map;
+    }
 
     ADEBUG << "At s = " << curr_s
            << ", left_lane_bound = " << curr_lane_left_width