diff --git a/modules/common/math/math_utils.cc b/modules/common/math/math_utils.cc
index dd70cab168f..24ba75f59ed 100644
--- a/modules/common/math/math_utils.cc
+++ b/modules/common/math/math_utils.cc
@@ -65,7 +65,7 @@ double RandomDouble(const double s, const double t, unsigned int rand_seed) {
   return s + (t - s) / 16383.0 * (rand_r(&rand_seed) & 16383);
 }
 
-int double_compare(const double d1, const double d2, const double epsilon) {
+int DoubleCompare(const double d1, const double d2, const double epsilon) {
   DCHECK(!std::isnan(d1));
   DCHECK(!std::isnan(d2));
 
diff --git a/modules/common/math/math_utils.h b/modules/common/math/math_utils.h
index e03df2a6be4..8ae38bb95a2 100644
--- a/modules/common/math/math_utils.h
+++ b/modules/common/math/math_utils.h
@@ -152,7 +152,7 @@ T Clamp(const T value, T bound1, T bound2) {
   return value;
 }
 
-int double_compare(
+int DoubleCompare(
     const double d1, const double d2,
     const double epsilon = std::numeric_limits<double>::epsilon());
 
diff --git a/modules/common/math/math_utils_test.cc b/modules/common/math/math_utils_test.cc
index f6527cf9820..7643ab232a1 100644
--- a/modules/common/math/math_utils_test.cc
+++ b/modules/common/math/math_utils_test.cc
@@ -73,16 +73,16 @@ TEST(MathUtilsTest, Square) {
 }
 
 TEST(MathUtilsTest, Double) {
-  EXPECT_EQ(double_compare(234.32, 93.9), 1);
-  EXPECT_EQ(double_compare({234.32}, {93.9}), 1);
-  EXPECT_EQ(double_compare(234.32, 93.9, 1e-5), 1);
-  EXPECT_EQ(double_compare({234.32}, {93.9}, 1e-5), 1);
+  EXPECT_EQ(DoubleCompare(234.32, 93.9), 1);
+  EXPECT_EQ(DoubleCompare({234.32}, {93.9}), 1);
+  EXPECT_EQ(DoubleCompare(234.32, 93.9, 1e-5), 1);
+  EXPECT_EQ(DoubleCompare({234.32}, {93.9}, 1e-5), 1);
 
-  EXPECT_EQ(double_compare(23.32, 93.9), -1);
-  EXPECT_EQ(double_compare(4.32, 4.32), 0);
-  EXPECT_EQ(double_compare(2.1, 2.0009, 1e-5), 1);
-  EXPECT_EQ(double_compare(1.1, 2.0009, 1e-5), -1);
-  EXPECT_EQ(double_compare(2.1, 2.0009, 1), 0);
+  EXPECT_EQ(DoubleCompare(23.32, 93.9), -1);
+  EXPECT_EQ(DoubleCompare(4.32, 4.32), 0);
+  EXPECT_EQ(DoubleCompare(2.1, 2.0009, 1e-5), 1);
+  EXPECT_EQ(DoubleCompare(1.1, 2.0009, 1e-5), -1);
+  EXPECT_EQ(DoubleCompare(2.1, 2.0009, 1), 0);
 }
 
 }  // namespace math
diff --git a/modules/control/common/trajectory_analyzer.cc b/modules/control/common/trajectory_analyzer.cc
index 705594daf2c..3a56cb7acf4 100644
--- a/modules/control/common/trajectory_analyzer.cc
+++ b/modules/control/common/trajectory_analyzer.cc
@@ -81,8 +81,8 @@ PathPoint TrajectoryAnalyzer::QueryMatchedPathPoint(const double x,
       index_min + 1 == trajectory_points_.size() ? index_min : index_min + 1;
 
   if (index_start == index_end ||
-      common::math::double_compare(trajectory_points_[index_start].s,
-                                   trajectory_points_[index_end].s) == 0) {
+      common::math::DoubleCompare(trajectory_points_[index_start].s,
+                                  trajectory_points_[index_end].s) == 0) {
     return trajectory_points_[index_start];
   }