diff --git a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp
index 51a2be57ebe02..94fa668fa576c 100644
--- a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp
+++ b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp
@@ -300,7 +300,6 @@ bool calcStopDistWithJerkConstraints(
   }
 
   double x, v, a, j;
-  std::tuple<double, double, double, double> state;
 
   switch (type) {
     case AccelerationType::TRAPEZOID: {