diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
index 50ea69e209c34..16e85641fe79b 100644
--- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
+++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
@@ -71,13 +71,6 @@ double getPitchByTraj(
  */
 double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint & p_to);
 
-/**
- * @brief calculate vehicle pose after time delay by moving the vehicle at current velocity and
- * acceleration for delayed time
- */
-std::pair<double, double> calcDistAndVelAfterTimeDelay(
-  const double delay_time, const double current_vel, const double current_acc);
-
 /**
  * @brief apply linear interpolation to orientation
  * @param [in] o_from first orientation
diff --git a/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
index 01c6591e1accb..52d6d4986a4d2 100644
--- a/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
+++ b/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
@@ -117,26 +117,6 @@ double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint
   return pitch;
 }
 
-std::pair<double, double> calcDistAndVelAfterTimeDelay(
-  const double delay_time, const double current_vel, const double current_acc)
-{
-  if (delay_time <= 0.0) {
-    return std::make_pair(0.0, 0.0);
-  }
-
-  // check time to stop
-  const double time_to_stop = -current_vel / current_acc;
-
-  const double delay_time_calculation =
-    time_to_stop > 0.0 && time_to_stop < delay_time ? time_to_stop : delay_time;
-  // simple linear prediction
-  const double vel_after_delay = current_vel + current_acc * delay_time_calculation;
-  const double running_distance = delay_time_calculation * current_vel + 0.5 * current_acc *
-                                                                           delay_time_calculation *
-                                                                           delay_time_calculation;
-  return std::make_pair(running_distance, vel_after_delay);
-}
-
 double lerp(const double v_from, const double v_to, const double ratio)
 {
   return v_from + (v_to - v_from) * ratio;