diff --git a/cereal b/cereal
index 4450066983..e99eb7bdd4 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 4450066983a554851a55c5398936b2c178496797
+Subproject commit e99eb7bdd41d9bf23fe4353ea5f562bdf83052e8
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 6b56a732fb..61d2b4561b 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -24,7 +24,6 @@ class LateralPlanner:
     self.v_ego = MIN_SPEED
     self.l_lane_change_prob = 0.0
     self.r_lane_change_prob = 0.0
-    self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
 
     self.debug_mode = debug
 
@@ -80,7 +79,4 @@ class LateralPlanner:
     lateralPlanSPDEPRECATED = plan_sp_send.lateralPlanSPDEPRECATED
     lateralPlanSPDEPRECATED.laneChangePrev = self.DH.prev_lane_change
 
-    lateralPlanSPDEPRECATED.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]]
-    lateralPlanSPDEPRECATED.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]]
-
     pm.send('lateralPlanSPDEPRECATED', plan_sp_send)