diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index 51b9e93d6eff0..de1919c74bcd2 100644
--- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -505,6 +505,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
   // calculate the target motion for delay compensation
   constexpr double min_running_dist = 0.01;
   if (control_data.state_after_delay.running_distance > min_running_dist) {
+    control_data.interpolated_traj.points =
+      autoware::motion_utils::removeOverlapPoints(control_data.interpolated_traj.points);
     const auto target_pose = longitudinal_utils::findTrajectoryPoseAfterDistance(
       control_data.nearest_idx, control_data.state_after_delay.running_distance,
       control_data.interpolated_traj);