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 96e2796a91d22..7c1c0ec494ced 100644
--- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -477,6 +477,7 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
   control_data.interpolated_traj.points.insert(
     control_data.interpolated_traj.points.begin() + current_interpolated_pose.second + 1,
     current_interpolated_pose.first);
+
   control_data.nearest_idx = current_interpolated_pose.second + 1;
   control_data.target_idx = control_data.nearest_idx;
   const auto nearest_point = current_interpolated_pose.first;
@@ -507,6 +508,8 @@ 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);