diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt
index 9378e09f099cc..53c78b54bc2ab 100644
--- a/perception/map_based_prediction/CMakeLists.txt
+++ b/perception/map_based_prediction/CMakeLists.txt
@@ -6,8 +6,6 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
-find_package(glog REQUIRED)
-
 include_directories(
   SYSTEM
     ${EIGEN3_INCLUDE_DIR}
@@ -19,8 +17,6 @@ ament_auto_add_library(map_based_prediction_node SHARED
   src/debug.cpp
 )
 
-target_link_libraries(map_based_prediction_node glog::glog)
-
 rclcpp_components_register_node(map_based_prediction_node
   PLUGIN "map_based_prediction::MapBasedPredictionNode"
   EXECUTABLE map_based_prediction
diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml
index b07d9855f9821..6a1354b37928f 100644
--- a/perception/map_based_prediction/package.xml
+++ b/perception/map_based_prediction/package.xml
@@ -18,7 +18,6 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
-  <depend>libgoogle-glog-dev</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
index 75c1d61e0a19c..1b00325cda8ea 100644
--- a/perception/map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -43,8 +43,6 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <chrono>
 #include <cmath>
@@ -728,8 +726,6 @@ void replaceObjectYawWithLaneletsYaw(
 MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
 : Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
 {
-  google::InitGoogleLogging("map_based_prediction_node");
-  google::InstallFailureSignalHandler();
   enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
   prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
   lateral_control_time_horizon_ =