diff --git a/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_problem.h b/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_problem.h
index 11653ec7a35..ef52af345f2 100644
--- a/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_problem.h
+++ b/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_problem.h
@@ -180,6 +180,7 @@ class PiecewiseJerkProblem {
   double weight_dddx_ = 0.0;
 
   double delta_s_ = 1.0;
+  double delta_t_ = 1.0;
 
   bool has_x_ref_ = false;
   double weight_x_ref_ = 0.0;
diff --git a/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_speed_problem.cc b/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_speed_problem.cc
index 146b4561826..8ce64149752 100644
--- a/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_speed_problem.cc
+++ b/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_speed_problem.cc
@@ -86,34 +86,33 @@ void PiecewiseJerkSpeedProblem::CalculateKernel(std::vector<c_float>* P_data,
           (scale_factor_[1] * scale_factor_[1]));
   ++value_index;
 
-  auto delta_s_square = delta_s_ * delta_s_;
+  auto delta_t_square = delta_t_ * delta_t_;
   // x(i)''^2 * (w_ddx + 2 * w_dddx / delta_s^2)
   columns[2 * n].emplace_back(2 * n,
-                              (weight_ddx_ + weight_dddx_ / delta_s_square) /
+                              (weight_ddx_ + weight_dddx_ / delta_t_square) /
                                   (scale_factor_[2] * scale_factor_[2]));
   ++value_index;
 
+  for (int i = 0; i < n - 1; ++i)
+  {
+    columns[2 * n + i + 1].emplace_back(2 * n + i, (-weight_dddx_ / delta_t_square) / 
+                                                      (scale_factor_[2] * scale_factor_[2]));
+    ++value_index;
+  }
+
   for (int i = 1; i < n - 1; ++i) {
     columns[2 * n + i].emplace_back(
-        2 * n + i, (weight_ddx_ + 2.0 * weight_dddx_ / delta_s_square) /
+        2 * n + i, (weight_ddx_ + 2.0 * weight_dddx_ / delta_t_square) /
                        (scale_factor_[2] * scale_factor_[2]));
     ++value_index;
   }
 
   columns[3 * n - 1].emplace_back(
       3 * n - 1,
-      (weight_ddx_ + weight_dddx_ / delta_s_square + weight_end_state_[2]) /
+      (weight_ddx_ + weight_dddx_ / delta_t_square + weight_end_state_[2]) /
           (scale_factor_[2] * scale_factor_[2]));
   ++value_index;
 
-  // -2 * w_dddx / delta_s^2 * x(i)'' * x(i + 1)''
-  for (int i = 0; i < n - 1; ++i) {
-    columns[2 * n + i].emplace_back(2 * n + i + 1,
-                                    -2.0 * weight_dddx_ / delta_s_square /
-                                        (scale_factor_[2] * scale_factor_[2]));
-    ++value_index;
-  }
-
   CHECK_EQ(value_index, kNumValue);
 
   int ind_p = 0;