diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
index c6a920e347cab..323a23ab3e80a 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp
@@ -15,8 +15,6 @@
 #ifndef MPC_LATERAL_CONTROLLER__MPC_HPP_
 #define MPC_LATERAL_CONTROLLER__MPC_HPP_
 
-#include "geometry/common_2d.hpp"
-#include "helper_functions/angle_utils.hpp"
 #include "mpc_lateral_controller/interpolate.hpp"
 #include "mpc_lateral_controller/lowpass_filter.hpp"
 #include "mpc_lateral_controller/mpc_trajectory.hpp"
diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
index d9fce24f4185f..64cb2c134115c 100644
--- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
+++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp
@@ -16,7 +16,6 @@
 #define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
 
 #include "eigen3/Eigen/Core"
-#include "geometry/common_2d.hpp"
 #include "helper_functions/angle_utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
diff --git a/control/mpc_lateral_controller/package.xml b/control/mpc_lateral_controller/package.xml
index c805abe341bef..04a80ef9d9080 100644
--- a/control/mpc_lateral_controller/package.xml
+++ b/control/mpc_lateral_controller/package.xml
@@ -19,7 +19,6 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_geometry</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp
index fb4353d142ee0..9372bdee2b894 100644
--- a/control/mpc_lateral_controller/src/mpc.cpp
+++ b/control/mpc_lateral_controller/src/mpc.cpp
@@ -284,8 +284,8 @@ bool MPC::getData(
   *m_steer_prediction_prev = data->predicted_steer;
 
   /* check error limit */
-  const double dist_err = autoware::common::geometry::distance_2d<double>(
-    current_pose.position, data->nearest_pose.position);
+  const double dist_err =
+    tier4_autoware_utils::calcDistance2d(current_pose.position, data->nearest_pose.position);
   if (dist_err > m_admissible_position_error) {
     RCLCPP_WARN_SKIPFIRST_THROTTLE(
       m_logger, *m_clock, duration, "position error is over limit. error = %fm, limit: %fm",
diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/mpc_lateral_controller/src/mpc_utils.cpp
index 41b15f17bf075..4460e389d80b9 100644
--- a/control/mpc_lateral_controller/src/mpc_utils.cpp
+++ b/control/mpc_lateral_controller/src/mpc_utils.cpp
@@ -26,7 +26,7 @@ namespace autoware::motion::control::mpc_lateral_controller
 {
 namespace MPCUtils
 {
-using autoware::common::geometry::distance_2d;
+using tier4_autoware_utils::calcDistance2d;
 
 geometry_msgs::msg::Quaternion getQuaternionFromYaw(const double & yaw)
 {
@@ -200,12 +200,12 @@ std::vector<double> calcTrajectoryCurvature(
     p1.y = traj.y[prev_idx];
     p2.y = traj.y[curr_idx];
     p3.y = traj.y[next_idx];
-    const double den = std::max(
-      distance_2d<double>(p1, p2) * distance_2d<double>(p2, p3) * distance_2d<double>(p3, p1),
-      std::numeric_limits<double>::epsilon());
-    const double curvature =
-      2.0 * ((p2.x - p1.x) * (p3.y - p1.y) - (p2.y - p1.y) * (p3.x - p1.x)) / den;
-    curvature_vec.at(curr_idx) = curvature;
+    try {
+      curvature_vec.at(curr_idx) = tier4_autoware_utils::calcCurvature(p1, p2, p3);
+    } catch (...) {
+      std::cerr << "[MPC] 2 points are too close to calculate curvature." << std::endl;
+      curvature_vec.at(curr_idx) = 0.0;
+    }
   }
 
   /* first and last curvature is copied from next value */
@@ -380,7 +380,7 @@ double calcStopDistance(
     for (int i = origin + 1; i < static_cast<int>(current_trajectory.points.size()) - 1; ++i) {
       const auto & p0 = current_trajectory.points.at(static_cast<size_t>(i));
       const auto & p1 = current_trajectory.points.at(static_cast<size_t>(i - 1));
-      stop_dist += distance_2d<double>(p0, p1);
+      stop_dist += calcDistance2d(p0, p1);
       if (std::fabs(p0.longitudinal_velocity_mps) < zero_velocity) {
         break;
       }
@@ -395,7 +395,7 @@ double calcStopDistance(
     if (std::fabs(p0.longitudinal_velocity_mps) > zero_velocity) {
       break;
     }
-    stop_dist -= distance_2d<double>(p0, p1);
+    stop_dist -= calcDistance2d(p0, p1);
   }
   return stop_dist;
 }