diff --git a/cyber/transport/shm/condition_notifier.cc b/cyber/transport/shm/condition_notifier.cc
index cc5fc1889f7..57b3fa5bd94 100644
--- a/cyber/transport/shm/condition_notifier.cc
+++ b/cyber/transport/shm/condition_notifier.cc
@@ -63,7 +63,7 @@ bool ConditionNotifier::Notify(const ReadableInfo& info) {
   uint64_t seq = indicator_->next_seq.fetch_add(1);
   uint64_t idx = seq % kBufLength;
   indicator_->infos[idx] = info;
-  indicator_->seqs[idx] = seq;
+  indicator_->seqs[idx].store(seq, std::memory_order_release);
 
   return true;
 }
@@ -84,7 +84,7 @@ bool ConditionNotifier::Listen(int timeout_ms, ReadableInfo* info) {
     uint64_t seq = indicator_->next_seq.load();
     if (seq != next_seq_) {
       auto idx = next_seq_ % kBufLength;
-      auto actual_seq = indicator_->seqs[idx];
+      auto actual_seq = indicator_->seqs[idx].load(std::memory_order_acquire);
       if (actual_seq >= next_seq_) {
         next_seq_ = actual_seq;
         *info = indicator_->infos[idx];
diff --git a/cyber/transport/shm/condition_notifier.h b/cyber/transport/shm/condition_notifier.h
index 46e6564a3c4..fe591ba9dc1 100644
--- a/cyber/transport/shm/condition_notifier.h
+++ b/cyber/transport/shm/condition_notifier.h
@@ -34,7 +34,7 @@ class ConditionNotifier : public NotifierBase {
   struct Indicator {
     std::atomic<uint64_t> next_seq = {0};
     ReadableInfo infos[kBufLength];
-    uint64_t seqs[kBufLength] = {0};
+    std::atomic<uint64_t> seqs[kBufLength] = {0};
   };
 
  public: