diff --git a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp
index d7fc0aef204be..fc383a8d1da00 100644
--- a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp
+++ b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp
@@ -68,8 +68,10 @@ void box3DToDetectedObject(
     float vel_x = box3d.vel_x;
     float vel_y = box3d.vel_y;
     geometry_msgs::msg::Twist twist;
-    twist.linear.x = std::sqrt(std::pow(vel_x, 2) + std::pow(vel_y, 2));
-    twist.angular.z = 2 * (std::atan2(vel_y, vel_x) - yaw);
+    twist.linear.x = std::cos(yaw) * vel_x + std::sin(yaw) * vel_y;
+    twist.linear.y = -std::sin(yaw) * vel_x + std::cos(yaw) * vel_y;
+    twist.angular.z = 0;  // angular velocity is not supported
+
     obj.kinematics.twist_with_covariance.twist = twist;
     obj.kinematics.has_twist = has_twist;
     if (has_variance) {