diff --git a/modules/planning/pipeline/feature_generator.cc b/modules/planning/pipeline/feature_generator.cc
index cb798c4421edcc8b364b16b492da3552f7e4a8a5..1704aa46181df2817abb876c25dc650f24f416d9 100644
--- a/modules/planning/pipeline/feature_generator.cc
+++ b/modules/planning/pipeline/feature_generator.cc
@@ -98,18 +98,11 @@ void FeatureGenerator::OnLocalization(
 }
 
 void FeatureGenerator::OnChassis(const apollo::canbus::Chassis& chassis) {
-  /* To be fixed
-  if (learning_data_frame_ == nullptr) {
-    AERROR << "learning_data_frame_ pointer is nullptr";
-    return;
-  }
-  auto features = learning_data_frame_->mutable_chassis();
-  features->set_speed_mps(chassis.speed_mps());
-  features->set_throttle_percentage(chassis.throttle_percentage());
-  features->set_brake_percentage(chassis.brake_percentage());
-  features->set_steering_percentage(chassis.steering_percentage());
-  features->set_gear_location(chassis.gear_location());
-  */
+  chassis_feature_.set_speed_mps(chassis.speed_mps());
+  chassis_feature_.set_throttle_percentage(chassis.throttle_percentage());
+  chassis_feature_.set_brake_percentage(chassis.brake_percentage());
+  chassis_feature_.set_steering_percentage(chassis.steering_percentage());
+  chassis_feature_.set_gear_location(chassis.gear_location());
 }
 
 void FeatureGenerator::OnTafficLightDetection(
@@ -187,6 +180,10 @@ void FeatureGenerator::GenerateLearningDataFrame() {
       localization_for_label_.back().header().timestamp_sec());
   learning_data_frame->set_frame_num(total_learning_data_frame_num_++);
 
+  // add chassis
+  auto chassis = learning_data_frame->mutable_chassis();
+  chassis->CopyFrom(chassis_feature_);
+
   // add localization
   auto localization = learning_data_frame->mutable_localization();
   const auto& pose = localization_for_label_.back().pose();
diff --git a/modules/planning/pipeline/feature_generator.h b/modules/planning/pipeline/feature_generator.h
index 9800c369ea44c0603b4fff5894ec9e20bf36eb76..ca5b20c110ef4b23b547edc9eab50589e4729ab2 100644
--- a/modules/planning/pipeline/feature_generator.h
+++ b/modules/planning/pipeline/feature_generator.h
@@ -61,6 +61,7 @@ class FeatureGenerator {
   std::list<apollo::localization::LocalizationEstimate>
       localization_for_label_;
   int total_learning_data_frame_num_ = 0;
+  ChassisFeature chassis_feature_;
   std::vector<std::string> routing_lane_ids_;
   std::unordered_map<std::string, apollo::perception::TrafficLight::Color>
         traffic_lights_;