diff --git a/modules/planning/integration_tests/planning_test_base.cc b/modules/planning/integration_tests/planning_test_base.cc
index 12dbe5c5bdde786af38eb33ba5ed1a7425e9c4a4..cdf9813ac2e91ee22463725aaceac307848a327a 100644
--- a/modules/planning/integration_tests/planning_test_base.cc
+++ b/modules/planning/integration_tests/planning_test_base.cc
@@ -90,6 +90,7 @@ bool PlanningTestBase::SetUpAdapters() {
 }
 
 void PlanningTestBase::SetUp() {
+  planning_.Stop();
   CHECK(SetUpAdapters()) << "Failed to setup adapters";
   planning_.Init();
 }
diff --git a/modules/planning/planning.cc b/modules/planning/planning.cc
index 316f80e4ea7ed9d029bbbcd6ca6a3faad0455980..31eefc0ba4813b43b782ce1455a4223bc98c0a3a 100644
--- a/modules/planning/planning.cc
+++ b/modules/planning/planning.cc
@@ -215,7 +215,11 @@ void Planning::RunOnce() {
   }
 }
 
-void Planning::Stop() {}
+void Planning::Stop() {
+  last_publishable_trajectory_.Clear();
+  frame_.reset(nullptr);
+  planner_.reset(nullptr);
+}
 
 common::Status Planning::Plan(const bool is_on_auto_mode,
                               const double current_time_stamp,