diff --git a/docker/build.sh b/docker/build.sh
index 4ce2c26470..aa2c8ae8ba 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -11,7 +11,7 @@ print_help() {
     echo "  --no-cuda       Disable CUDA support"
     echo "  --platform      Specify the platform (default: current platform)"
     echo "  --devel-only    Build devel image only"
-    echo "  --target        Specify the target image"
+    echo "  --target        Specify the target image (default: universe or universe-devel if --devel-only is set)"
     echo ""
     echo "Note: The --platform option should be one of 'linux/amd64' or 'linux/arm64'."
 }
@@ -65,6 +65,7 @@ set_cuda_options() {
 set_build_options() {
     if [ -n "$option_target" ]; then
         target="$option_target"
+        image_name_suffix=""
     else
         if [ "$option_devel_only" = "true" ]; then
             target="universe-devel"
@@ -158,21 +159,6 @@ build_images() {
         --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
         --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
         --set "universe-visualization.tags=ghcr.io/autowarefoundation/autoware:universe-visualization" \
-        "universe-visualization"
-    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" -f "$SCRIPT_DIR/docker-bake-cuda.hcl" \
-        --set "*.context=$WORKSPACE_ROOT" \
-        --set "*.ssh=default" \
-        --set "*.platform=$platform" \
-        --set "*.args.ROS_DISTRO=$rosdistro" \
-        --set "*.args.BASE_IMAGE=$base_image" \
-        --set "*.args.AUTOWARE_BASE_IMAGE=$autoware_base_image" \
-        --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
-        --set "*.args.SETUP_ARGS=$setup_args" \
-        --set "*.args.LIB_DIR=$lib_dir" \
-        --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
-        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
-        --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
-        --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
         "$target$image_name_suffix"
     set +x
 }