diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
index b20ebffdb0e60..6014e5b8f1fdc 100644
--- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
+++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
@@ -207,7 +207,6 @@ class StartPlannerModule : public SceneModuleInterface
 
   bool isModuleRunning() const;
   bool isCurrentPoseOnMiddleOfTheRoad() const;
-  bool isOverlapWithCenterLane() const;
   bool isPreventingRearVehicleFromPassingThrough() const;
 
   bool isCloseToOriginalStartPose() const;
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
index cd4c6c856fa63..8b3e5932fce0c 100644
--- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -423,37 +423,6 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const
          gap_between_ego_and_lane_border.value();
 }
 
-bool StartPlannerModule::isOverlapWithCenterLane() const
-{
-  const Pose & current_pose = planner_data_->self_odometry->pose.pose;
-  const auto current_lanes = utils::getCurrentLanes(planner_data_);
-  const auto local_vehicle_footprint = vehicle_info_.createFootprint();
-  const auto vehicle_footprint =
-    transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(current_pose));
-  for (const auto & current_lane : current_lanes) {
-    std::vector<geometry_msgs::msg::Point> centerline_points;
-    for (const auto & point : current_lane.centerline()) {
-      geometry_msgs::msg::Point center_point = lanelet::utils::conversion::toGeomMsgPt(point);
-      centerline_points.push_back(center_point);
-    }
-
-    for (size_t i = 0; i < centerline_points.size() - 1; ++i) {
-      const auto & p1 = centerline_points.at(i);
-      const auto & p2 = centerline_points.at(i + 1);
-      for (size_t j = 0; j < vehicle_footprint.size() - 1; ++j) {
-        const auto p3 = tier4_autoware_utils::toMsg(vehicle_footprint[j].to_3d());
-        const auto p4 = tier4_autoware_utils::toMsg(vehicle_footprint[j + 1].to_3d());
-        const auto intersection = tier4_autoware_utils::intersect(p1, p2, p3, p4);
-
-        if (intersection.has_value()) {
-          return true;
-        }
-      }
-    }
-  }
-  return false;
-}
-
 bool StartPlannerModule::isCloseToOriginalStartPose() const
 {
   const Pose start_pose = planner_data_->route_handler->getOriginalStartPose();