diff --git a/modules/planning/common/BUILD b/modules/planning/common/BUILD
index dab839fc1b6238a27fbcbf1ed354e8dca0d066cd..fe93e7147e31ae482a031a8b89dbab26fec71929 100644
--- a/modules/planning/common/BUILD
+++ b/modules/planning/common/BUILD
@@ -193,19 +193,6 @@ cc_library(
     ],
 )
 
-cc_library(
-    name = "planning_state",
-    srcs = [
-        "planning_state.cc",
-    ],
-    hdrs = [
-        "planning_state.h",
-    ],
-    deps = [
-        "//modules/common:macro",
-    ],
-)
-
 cc_library(
     name = "speed_limit",
     srcs = [
diff --git a/modules/planning/common/planning_state.cc b/modules/planning/common/planning_state.cc
deleted file mode 100644
index 5f588b3e9856d5c85cff49848e00214299e8c302..0000000000000000000000000000000000000000
--- a/modules/planning/common/planning_state.cc
+++ /dev/null
@@ -1,39 +0,0 @@
-/******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file:
- **/
-
-#include "modules/planning/common/planning_state.h"
-
-namespace apollo {
-namespace planning {
-
-PlanningState::PlanningState() {}
-
-void PlanningState::SetState(PlanningState::StateCode state) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  state_ = state;
-}
-
-PlanningState::StateCode PlanningState::State() {
-  std::lock_guard<std::mutex> lock(mutex_);
-  return state_;
-}
-
-}  // namespace planning
-}  // namespace apollo
diff --git a/modules/planning/common/planning_state.h b/modules/planning/common/planning_state.h
deleted file mode 100644
index c423298d954a3735bc6bbaf958abaa8b3502bcdd..0000000000000000000000000000000000000000
--- a/modules/planning/common/planning_state.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file planning_state.h
- **/
-
-#ifndef MODULES_PLANNING_COMMON_PLANNING_STATE_H_
-#define MODULES_PLANNING_COMMON_PLANNING_STATE_H_
-
-#include <mutex>
-
-#include "modules/common/macro.h"
-
-namespace apollo {
-namespace planning {
-
-class PlanningState {
- public:
-  enum StateCode {
-    UNKNOWN = 0,
-    INIT = 1,
-    CRUISE = 2,
-    CHANGING_LANE = 3,
-    ESTOP = 4,
-    FINISH = 6,
-  };
-
-  void SetState(StateCode state);
-  StateCode State();
-
- private:
-  StateCode state_ = StateCode::UNKNOWN;
-
-  std::mutex mutex_;
-
-  DECLARE_SINGLETON(PlanningState);
-};
-
-}  // namespace planning
-}  // namespace apollo
-
-#endif  // MODULES_PLANNING_COMMON_PLANNING_STATE_H_