diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
index f05045f284413..1cf40255f4fef 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
@@ -247,7 +247,6 @@ bool SamplingPlannerModule::isReferencePathSafe() const
       sampling_planner_data.left_bound, sampling_planner_data.right_bound);
   }
 
-  std::vector<bool> hard_constraints_results;
   auto transform_to_sampling_path = [](const PlanResult plan) {
     autoware::sampler_common::Path path;
     for (size_t i = 0; i < plan->points.size(); ++i) {
@@ -592,13 +591,11 @@ BehaviorModuleOutput SamplingPlannerModule::plan()
   soft_constraints_input.closest_lanelets_to_goal = {closest_lanelet_to_goal};
 
   debug_data_.footprints.clear();
-  std::vector<std::vector<bool>> hard_constraints_results_full;
   std::vector<std::vector<double>> soft_constraints_results_full;
   for (auto & path : frenet_paths) {
     const auto footprint = autoware::sampler_common::constraints::buildFootprintPoints(
       path, internal_params_->constraints);
-    std::vector<bool> hard_constraints_results =
-      evaluateHardConstraints(path, internal_params_->constraints, footprint, hard_constraints_);
+    evaluateHardConstraints(path, internal_params_->constraints, footprint, hard_constraints_);
     path.constraint_results.valid_curvature = true;
     debug_data_.footprints.push_back(footprint);
     std::vector<double> soft_constraints_results = evaluateSoftConstraints(