diff --git a/PathPlanning/LatticePlanner/model_trajectory_generator.py b/PathPlanning/LatticePlanner/model_trajectory_generator.py
deleted file mode 100644
index 3f2f87fc..00000000
--- a/PathPlanning/LatticePlanner/model_trajectory_generator.py
+++ /dev/null
@@ -1,42 +0,0 @@
-"""
-Model trajectory generator
-
-author: Atsushi Sakai
-"""
-
-import numpy as np
-import scipy.interpolate
-import matplotlib.pyplot as plt
-import unicycle_model
-
-
-def generate_trajectory(v, kp):
-
-    state = State()
-
-
-def main():
-    print(__file__ + " start!!")
-
-    v = 10.0 / 3.6  # [m/s]
-    s = 10.0  # [m]
-    k0 = 0.0
-    km = -1.0
-    kf = 1.0
-    ntime = 20.0
-
-    time = s / v  # [s]
-    xk = np.array([0.0, time / 2.0, time])
-    yk = np.array([k0, km, kf])
-    t = np.append(np.arange(0.0, time, time / ntime), time)
-    kp = scipy.interpolate.spline(xk, yk, t, order=2)
-
-    #  plt.plot(xk, yk, "xr")
-    #  plt.plot(t, kp)
-    #  plt.show()
-
-    x, y = generate_trajectory(v, kp)
-
-
-if __name__ == '__main__':
-    main()