diff --git a/modules/planning/tasks/optimizers/speed_decider/speed_decider.cc b/modules/planning/tasks/optimizers/speed_decider/speed_decider.cc
index 71ed7cf63ffb7b1a2a0c4fe1ba70e7c0047b43f2..e0870bf58fc47d8dba7a46ba914f28f517909272 100644
--- a/modules/planning/tasks/optimizers/speed_decider/speed_decider.cc
+++ b/modules/planning/tasks/optimizers/speed_decider/speed_decider.cc
@@ -417,15 +417,6 @@ bool SpeedDecider::CreateYieldDecision(
 
   PerceptionObstacle::Type obstacle_type = obstacle.Perception().type();
   double yield_distance = FLAGS_yield_distance;
-  switch (obstacle_type) {
-    case PerceptionObstacle::PEDESTRIAN:
-    case PerceptionObstacle::BICYCLE:
-      yield_distance = FLAGS_yield_distance_pedestrian_bycicle;
-      break;
-    default:
-      yield_distance = FLAGS_yield_distance;
-      break;
-  }
 
   const auto& obstacle_boundary = obstacle.st_boundary();
   const double yield_distance_s =