diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
index 60845788adcf5..a18571144792a 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
@@ -40,48 +40,6 @@ bool VehicleCmdFilter::setParameterWithValidation(const VehicleCmdFilterParam &
   param_ = p;
   return true;
 }
-void VehicleCmdFilter::setSteerLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.steer_lim = v;
-  setParameterWithValidation(tmp);
-}
-void VehicleCmdFilter::setSteerRateLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.steer_rate_lim = v;
-  setParameterWithValidation(tmp);
-}
-void VehicleCmdFilter::setLonAccLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.lon_acc_lim = v;
-  setParameterWithValidation(tmp);
-}
-void VehicleCmdFilter::setLonJerkLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.lon_jerk_lim = v;
-  setParameterWithValidation(tmp);
-}
-void VehicleCmdFilter::setLatAccLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.lat_acc_lim = v;
-  setParameterWithValidation(tmp);
-}
-void VehicleCmdFilter::setLatJerkLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.lat_jerk_lim = v;
-  setParameterWithValidation(tmp);
-}
-void VehicleCmdFilter::setActualSteerDiffLim(const LimitArray & v)
-{
-  auto tmp = param_;
-  tmp.actual_steer_diff_lim = v;
-  setParameterWithValidation(tmp);
-}
 
 void VehicleCmdFilter::setParam(const VehicleCmdFilterParam & p)
 {
diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
index a4877692b6dac..086d45cf1fc46 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
@@ -48,14 +48,6 @@ class VehicleCmdFilter
   ~VehicleCmdFilter() = default;
 
   void setWheelBase(double v) { param_.wheel_base = v; }
-  void setVelLim(double v) { param_.vel_lim = v; }
-  void setSteerLim(const LimitArray & v);
-  void setSteerRateLim(const LimitArray & v);
-  void setLonAccLim(const LimitArray & v);
-  void setLonJerkLim(const LimitArray & v);
-  void setLatAccLim(const LimitArray & v);
-  void setLatJerkLim(const LimitArray & v);
-  void setActualSteerDiffLim(const LimitArray & v);
   void setCurrentSpeed(double v) { current_speed_ = v; }
   void setParam(const VehicleCmdFilterParam & p);
   VehicleCmdFilterParam getParam() const;
@@ -75,8 +67,6 @@ class VehicleCmdFilter
   static IsFilterActivated checkIsActivated(
     const Control & c1, const Control & c2, const double tol = 1.0e-3);
 
-  Control getPrevCmd() const { return prev_cmd_; }
-
 private:
   VehicleCmdFilterParam param_;
   Control prev_cmd_;