diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp
index 9ce619c189146..1e15ee93a7d19 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp
@@ -110,8 +110,9 @@ ShiftLine getLaneChangeShiftLine(
 
 PathWithLaneId getReferencePathFromTargetLane(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
-  const Pose & lane_changing_start_pose, const double & prepare_distance,
-  const double & lane_changing_distance, const double & forward_path_length);
+  const Pose & lane_changing_start_pose, const double prepare_distance,
+  const double lane_changing_distance, const double forward_path_length,
+  const double lane_changing_speed);
 
 PathWithLaneId getReferencePathFromTargetLane(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
index afb1997d01e74..9cd4759ac5d90 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
@@ -143,8 +143,7 @@ BT::NodeStatus LaneChangeModule::updateState()
 
 BehaviorModuleOutput LaneChangeModule::plan()
 {
-  constexpr double resample_interval{1.0};
-  auto path = util::resamplePathWithSpline(status_.lane_change_path.path, resample_interval);
+  auto path = status_.lane_change_path.path;
 
   if (!isValidPath(path)) {
     status_.is_safe = false;
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
index 9b3e65ec92a87..11e91e14a4ac0 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
@@ -14,6 +14,7 @@
 
 #include "behavior_path_planner/scene_module/lane_change/util.hpp"
 
+#include "behavior_path_planner/path_utilities.hpp"
 #include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
 #include "behavior_path_planner/utilities.hpp"
 
@@ -237,7 +238,7 @@ LaneChangePaths getLaneChangePaths(
 
     const PathWithLaneId target_lane_reference_path = getReferencePathFromTargetLane(
       route_handler, target_lanelets, lane_changing_start_pose, prepare_distance,
-      lane_changing_distance, forward_path_length);
+      lane_changing_distance, forward_path_length, lane_changing_speed);
 
     const ShiftLine shift_line = getLaneChangeShiftLine(
       prepare_segment_reference, lane_changing_segment_reference, target_lanelets,
@@ -490,8 +491,9 @@ bool isLaneChangePathSafe(
 
 PathWithLaneId getReferencePathFromTargetLane(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
-  const Pose & lane_changing_start_pose, const double & prepare_distance,
-  const double & lane_changing_distance, const double & forward_path_length)
+  const Pose & lane_changing_start_pose, const double prepare_distance,
+  const double lane_changing_distance, const double forward_path_length,
+  const double lane_changing_speed)
 {
   const ArcCoordinates lane_change_start_arc_position =
     lanelet::utils::getArcCoordinates(target_lanes, lane_changing_start_pose);
@@ -502,7 +504,14 @@ PathWithLaneId getReferencePathFromTargetLane(
       lanelet::utils::getArcCoordinates(target_lanes, route_handler.getGoalPose());
     s_end = std::min(s_end, goal_arc_coordinates.length);
   }
-  return route_handler.getCenterLinePath(target_lanes, s_start, s_end);
+  const auto lane_changing_reference_path =
+    route_handler.getCenterLinePath(target_lanes, s_start, s_end);
+
+  constexpr auto min_resampling_points{30.0};
+  constexpr auto resampling_dt{0.2};
+  const auto resample_interval =
+    std::max(lane_changing_distance / min_resampling_points, lane_changing_speed * resampling_dt);
+  return util::resamplePathWithSpline(lane_changing_reference_path, resample_interval);
 }
 
 PathWithLaneId getReferencePathFromTargetLane(