diff --git a/.gitmodules b/.gitmodules
index 4c63b290..d6318aeb 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,12 +1,6 @@
 [submodule "PathTracking/rear_wheel_feedback/pycubicspline"]
 	path = PathTracking/rear_wheel_feedback/pycubicspline
 	url = https://github.com/AtsushiSakai/pycubicspline.git
-[submodule "PathTracking/lqr/matplotrecorder"]
-	path = PathTracking/lqr/matplotrecorder
-	url = https://github.com/AtsushiSakai/matplotrecorder
-[submodule "PathTracking/lqr/pycubicspline"]
-	path = PathTracking/lqr/pycubicspline
-	url = https://github.com/AtsushiSakai/pycubicspline.git
 [submodule "PathPlanning/LatticePlanner/matplotrecorder"]
 	path = PathPlanning/LatticePlanner/matplotrecorder
 	url = https://github.com/AtsushiSakai/matplotrecorder.git
@@ -25,9 +19,6 @@
 [submodule "PathTracking/stanley_controller/pycubicspline"]
 	path = PathTracking/stanley_controller/pycubicspline
 	url = https://github.com/AtsushiSakai/pycubicspline
-[submodule "PathTracking/lqr_steer_control/pycubicspline"]
-	path = PathTracking/lqr_steer_control/pycubicspline
-	url = https://github.com/AtsushiSakai/pycubicspline
 [submodule "PathTracking/lqr_speed_steer_control/pycubicspline"]
 	path = PathTracking/lqr_speed_steer_control/pycubicspline
 	url = https://github.com/AtsushiSakai/pycubicspline
diff --git a/PathTracking/lqr_steer_control/lqr_steer_control.py b/PathTracking/lqr_steer_control/lqr_steer_control.py
index a0429fc0..341bb278 100644
--- a/PathTracking/lqr_steer_control/lqr_steer_control.py
+++ b/PathTracking/lqr_steer_control/lqr_steer_control.py
@@ -5,11 +5,15 @@ Path tracking simulation with LQR steering control and PID speed control.
 author Atsushi Sakai (@Atsushi_twi)
 
 """
+
+import sys
+sys.path.append("../../PathPlanning/CubicSpline/")
+
 import numpy as np
 import math
 import matplotlib.pyplot as plt
 import scipy.linalg as la
-from pycubicspline import pycubicspline
+import cubic_spline_planner
 
 Kp = 1.0  # speed proportional gain
 
@@ -250,7 +254,8 @@ def main():
     ay = [0.0, -3.0, -5.0, 6.5, 3.0, 5.0, -2.0]
     goal = [ax[-1], ay[-1]]
 
-    cx, cy, cyaw, ck, s = pycubicspline.calc_spline_course(ax, ay, ds=0.1)
+    cx, cy, cyaw, ck, s = cubic_spline_planner.calc_spline_course(
+        ax, ay, ds=0.1)
     target_speed = 10.0 / 3.6  # simulation parameter km/h -> m/s
 
     sp = calc_speed_profile(cx, cy, cyaw, target_speed)
diff --git a/PathTracking/lqr_steer_control/pycubicspline b/PathTracking/lqr_steer_control/pycubicspline
deleted file mode 160000
index 34b741f7..00000000
--- a/PathTracking/lqr_steer_control/pycubicspline
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 34b741f7eee6cfbe851317ca36dab59fc560ba9a