diff --git a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
index eb2d7b6a73..205f37e62f 100644
--- a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
+++ b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
@@ -318,7 +318,7 @@ def calc_ref_trajectory(state, cx, cy, cyaw, ck, sp, dl, pind):
 
     travel = 0.0
 
-    for i in range(T + 1):
+    for i in range(1, T + 1):
         travel += abs(state.v) * DT
         dind = int(round(travel / dl))