diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index 2681df4db..361ff8c69 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -69,6 +69,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
             ("~/input/current_odometry", "/localization/kinematic_state"),
             ("~/input/current_steering", "/vehicle/status/steering_status"),
+            ("~/input/current_accel", "/localization/acceleration"),
             ("~/output/predicted_trajectory", "lateral/predicted_trajectory"),
             ("~/output/lateral_diagnostic", "lateral/diagnostic"),
             ("~/output/slope_angle", "longitudinal/slope_angle"),
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 91779111d..ebb190f8e 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -11,8 +11,6 @@
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
       safe_distance_margin : 6.0 # This is also used as a stop margin [m]
 
-      lpf_gain_for_accel: 0.2 # gain of low pass filter for ego acceleration [-]
-
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index fc1859eb7..db68a478c 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -140,6 +140,7 @@ def generate_launch_description():
         remappings=[
             ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
             ("~/input/odometry", "/localization/kinematic_state"),
+            ("~/input/acceleration", "/localization/acceleration"),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
             ("~/output/velocity_limit", "/planning/scenario_planning/max_velocity_candidates"),
@@ -191,6 +192,7 @@ def generate_launch_description():
                 "/planning/scenario_planning/clear_velocity_limit",
             ),
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
+            ("~/input/acceleration", "/localization/acceleration"),
             (
                 "~/input/pointcloud",
                 "/perception/obstacle_segmentation/pointcloud",