diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 2324976f49..400bc926a1 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -70,15 +70,3 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
-
-    # vehicle parameters
-    vehicle:
-      cg_to_front_m: 1.228
-      cg_to_rear_m: 1.5618
-      mass_kg: 2400.0
-      mass_fl: 600.0
-      mass_fr: 600.0
-      mass_rl: 600.0
-      mass_rr: 600.0
-      cf: 155494.663
-      cr: 155494.663