diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 48f263e14ba72..e04bfbf7c309e 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -311,6 +311,7 @@ void BehaviorVelocityPlannerNode::onParam()
   // lock(mutex_);
   planner_data_.velocity_smoother_ =
     std::make_unique<motion_velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
+  planner_data_.velocity_smoother->setWheelBase(planner_data_->vehicle_info_.wheel_base_m);
 }
 
 void BehaviorVelocityPlannerNode::onLaneletMap(