diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
index d256a64984667..0e9a27622fbd9 100644
--- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
@@ -702,7 +702,6 @@ void OptimizationBasedPlanner::publishDebugTrajectory(
   const SBoundaries & s_boundaries, const VelocityOptimizer::OptimizationResult & opt_result)
 {
   const auto & current_time = planner_data.current_time;
-  const std::vector<double> time = opt_result.t;
   // Publish optimized result and boundary
   Trajectory boundary_traj;
   boundary_traj.header.stamp = current_time;