diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
index e20c2e8ae9091..841902857ac7b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
@@ -196,8 +196,8 @@ class LaneChangeBase
   virtual int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const = 0;
 
   virtual PathWithLaneId getPrepareSegment(
-    const lanelet::ConstLanelets & current_lanes, const double arc_length_from_current,
-    const double backward_path_length, const double prepare_length) const = 0;
+    const lanelet::ConstLanelets & current_lanes, const double backward_path_length,
+    const double prepare_length) const = 0;
 
   virtual bool getLaneChangePaths(
     const lanelet::ConstLanelets & original_lanelets,
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
index 8b3dea03a8c8b..083c8ba9e7c0b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
@@ -96,8 +96,8 @@ class NormalLaneChange : public LaneChangeBase
   int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const override;
 
   PathWithLaneId getPrepareSegment(
-    const lanelet::ConstLanelets & current_lanes, const double arc_length_from_current,
-    const double backward_path_length, const double prepare_length) const override;
+    const lanelet::ConstLanelets & current_lanes, const double backward_path_length,
+    const double prepare_length) const override;
 
   bool getLaneChangePaths(
     const lanelet::ConstLanelets & original_lanelets,
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
index 7e9133a25c472..d834b7f670e26 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -466,8 +466,7 @@ int NormalLaneChange::getNumToPreferredLane(const lanelet::ConstLanelet & lane)
 }
 
 PathWithLaneId NormalLaneChange::getPrepareSegment(
-  const lanelet::ConstLanelets & current_lanes,
-  [[maybe_unused]] const double arc_length_from_current, const double backward_path_length,
+  const lanelet::ConstLanelets & current_lanes, const double backward_path_length,
   const double prepare_length) const
 {
   if (current_lanes.empty()) {
@@ -538,8 +537,6 @@ bool NormalLaneChange::getLaneChangePaths(
   const auto dist_to_end_of_current_lanes =
     utils::getDistanceToEndOfLane(getEgoPose(), original_lanelets);
 
-  [[maybe_unused]] const auto arc_position_from_current =
-    lanelet::utils::getArcCoordinates(original_lanelets, getEgoPose());
   const auto arc_position_from_target =
     lanelet::utils::getArcCoordinates(target_lanelets, getEgoPose());
 
@@ -585,8 +582,8 @@ bool NormalLaneChange::getLaneChangePaths(
       break;
     }
 
-    auto prepare_segment = getPrepareSegment(
-      original_lanelets, arc_position_from_current.length, backward_path_length, prepare_length);
+    auto prepare_segment =
+      getPrepareSegment(original_lanelets, backward_path_length, prepare_length);
 
     if (prepare_segment.points.empty()) {
       RCLCPP_DEBUG(logger_, "prepare segment is empty!!");