diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
index 9d474a9a52bfa..6e12d4a6f20fb 100644
--- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
@@ -249,15 +249,6 @@ bool calcStopVelocityWithConstantJerkAccLimit(
   const auto acc_at_wp = interpolation::lerp(xs, as, distances);
   const auto jerk_at_wp = interpolation::lerp(xs, js, distances);
 
-  // for debug
-  std::stringstream ssi;
-  for (unsigned int i = 0; i < distances.size(); ++i) {
-    ssi << "d: " << distances.at(i) << ", v: " << vel_at_wp.at(i) << ", a: " << acc_at_wp.at(i)
-        << ", j: " << jerk_at_wp.at(i) << std::endl;
-  }
-  RCLCPP_DEBUG(
-    rclcpp::get_logger("velocity_planning_utils"), "Interpolated = %s", ssi.str().c_str());
-
   for (size_t i = 0; i < vel_at_wp.size(); ++i) {
     output_trajectory.at(start_index + i).longitudinal_velocity_mps = vel_at_wp.at(i);
     output_trajectory.at(start_index + i).acceleration_mps2 = acc_at_wp.at(i);