diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp
index 5c66f5b906bba..b881b68798cdc 100644
--- a/planning/autoware_velocity_smoother/src/node.cpp
+++ b/planning/autoware_velocity_smoother/src/node.cpp
@@ -422,7 +422,7 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr
   // receive data
   current_odometry_ptr_ = sub_current_odometry_.takeData();
   current_acceleration_ptr_ = sub_current_acceleration_.takeData();
-  external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeData();
+  external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeNewData();
   const auto operation_mode_ptr = sub_operation_mode_.takeData();
   if (operation_mode_ptr) {
     operation_mode_ = *operation_mode_ptr;
@@ -455,9 +455,6 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr
   calcExternalVelocityLimit();
   updateDataForExternalVelocityLimit();
 
-  // ignore current external velocity limit next time
-  external_velocity_limit_ptr_ = nullptr;
-
   // For negative velocity handling, multiple -1 to velocity if it is for reverse.
   // NOTE: this process must be in the beginning of the process
   is_reverse_ = isReverse(input_points);