diff --git a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
index c55018cf..eb2d7b6a 100644
--- a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
+++ b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
@@ -6,14 +6,16 @@ author: Atsushi Sakai (@Atsushi_twi)
 
 """
 import matplotlib.pyplot as plt
+import time
 import cvxpy
 import math
 import numpy as np
 import sys
 import pathlib
-from utils.angle import angle_mod
 sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
+from utils.angle import angle_mod
+
 from PathPlanning.CubicSpline import cubic_spline_planner
 
 NX = 4  # x = x, y, v, yaw
@@ -281,7 +283,7 @@ def linear_mpc_control(xref, xbar, x0, dref):
     constraints += [cvxpy.abs(u[1, :]) <= MAX_STEER]
 
     prob = cvxpy.Problem(cvxpy.Minimize(cost), constraints)
-    prob.solve(solver=cvxpy.ECOS, verbose=False)
+    prob.solve(solver=cvxpy.CLARABEL, verbose=False)
 
     if prob.status == cvxpy.OPTIMAL or prob.status == cvxpy.OPTIMAL_INACCURATE:
         ox = get_nparray_from_matrix(x.value[0, :])
@@ -545,6 +547,7 @@ def get_switch_back_course(dl):
 
 def main():
     print(__file__ + " start!!")
+    start = time.time()
 
     dl = 1.0  # course tick
     # cx, cy, cyaw, ck = get_straight_course(dl)
@@ -560,6 +563,9 @@ def main():
     t, x, y, yaw, v, d, a = do_simulation(
         cx, cy, cyaw, ck, sp, dl, initial_state)
 
+    elapsed_time = time.time() - start
+    print(f"calc time:{elapsed_time:.6f} [sec]")
+
     if show_animation:  # pragma: no cover
         plt.close("all")
         plt.subplots()
@@ -582,6 +588,7 @@ def main():
 
 def main2():
     print(__file__ + " start!!")
+    start = time.time()
 
     dl = 1.0  # course tick
     cx, cy, cyaw, ck = get_straight_course3(dl)
@@ -593,6 +600,9 @@ def main2():
     t, x, y, yaw, v, d, a = do_simulation(
         cx, cy, cyaw, ck, sp, dl, initial_state)
 
+    elapsed_time = time.time() - start
+    print(f"calc time:{elapsed_time:.6f} [sec]")
+
     if show_animation:  # pragma: no cover
         plt.close("all")
         plt.subplots()
diff --git a/requirements/requirements.txt b/requirements/requirements.txt
index 909b39fa..76f203f4 100644
--- a/requirements/requirements.txt
+++ b/requirements/requirements.txt
@@ -1,7 +1,7 @@
 numpy == 1.26.4
 scipy == 1.13.0
 matplotlib == 3.8.4
-cvxpy == 1.4.3
+cvxpy == 1.5.1
 pytest == 8.2.0 # For unit test
 pytest-xdist == 3.6.1 # For unit test
 mypy == 1.10.0 # For unit test
diff --git a/runtests.sh b/runtests.sh
index a2a683e5..12d1b804 100755
--- a/runtests.sh
+++ b/runtests.sh
@@ -5,4 +5,4 @@ echo "Run test suites! "
 # -Werror: warning as error
 # --durations=0: show ranking of test durations
 # -l (--showlocals); show local variables when test failed
-pytest -n auto tests -l -Werror --durations=0
+pytest tests -l -Werror --durations=0