diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp
index 1ad24cb48409d..2be77b2731fe0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp
@@ -30,26 +30,6 @@ using namespace std::literals::string_literals;
 
 namespace autoware::behavior_velocity_planner
 {
-namespace
-{
-[[maybe_unused]] autoware::universe_utils::LinearRing3d createCircle(
-  const autoware::universe_utils::Point3d & p, const double radius, const size_t num_points = 50)
-{
-  autoware::universe_utils::LinearRing3d ring;  // clockwise and closed
-
-  for (size_t i = 0; i < num_points; ++i) {
-    const double theta = i * (2 * autoware::universe_utils::pi / num_points);
-    const double x = p.x() + radius * std::sin(theta);
-    const double y = p.y() + radius * std::cos(theta);
-    ring.emplace_back(x, y, p.z());
-  }
-
-  // Make closed
-  ring.emplace_back(p.x(), p.y() + radius, p.z());
-
-  return ring;
-}
-}  // namespace
 
 autoware::motion_utils::VirtualWalls VirtualTrafficLightModule::createVirtualWalls()
 {