diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
index b1a34230d3b0a..55c89c15208cd 100644
--- a/perception/map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -450,9 +450,10 @@ ObjectClassification::_label_type changeLabelForPrediction(
       return ObjectClassification::MOTORCYCLE;
     } else if (high_speed_object) {
       // high speed object outside road lanelet will move like unknown object
-      return ObjectClassification::UNKNOWN;
+      // return ObjectClassification::UNKNOWN;
+      return label;
     } else {
-      return label == ObjectClassification::BICYCLE;
+      return ObjectClassification::BICYCLE;
     }
   } else if (label == ObjectClassification::PEDESTRIAN) {
     const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true);