diff --git a/modules/prediction/common/BUILD b/modules/prediction/common/BUILD
index c1635e54cfb90fa94caeb1d09e5e6b91e2645508..93876cac8117620c45ce986031ac8762016a0b50 100644
--- a/modules/prediction/common/BUILD
+++ b/modules/prediction/common/BUILD
@@ -74,8 +74,10 @@ cc_library(
     deps = [
         "//modules/prediction/proto:feature_proto",
         "//modules/prediction/proto:offline_features_proto",
+        "//modules/prediction/common:prediction_gflags",
         "//modules/common:log",
         "//modules/common:macro",
+        "//modules/common/util:util",
     ]
 )
 
diff --git a/modules/prediction/common/feature_output.cc b/modules/prediction/common/feature_output.cc
index 7506fdd0ae1235f3965dfccb300de95d1d3f82a7..199ce2bcd08072c3f931009a69a3f0d9a7bbb27f 100644
--- a/modules/prediction/common/feature_output.cc
+++ b/modules/prediction/common/feature_output.cc
@@ -16,24 +16,41 @@
 
 #include "modules/prediction/common/feature_output.h"
 
+#include <string>
+
 #include "modules/common/log.h"
+#include "modules/common/util/file.h"
+#include "modules/prediction/common/prediction_gflags.h"
 
 namespace apollo {
 namespace prediction {
 
 FeatureOutput::FeatureOutput() {}
 
-FeatureOutput::~FeatureOutput() {}
-
 bool FeatureOutput::Open() { return true; }
 
-void FeatureOutput::Close() { ADEBUG << "Close feature output"; }
+FeatureOutput::~FeatureOutput() {
+  count_ = 0;
+}
 
-bool FeatureOutput::Ready() { return Open(); }
+void FeatureOutput::Close() {
+  ADEBUG << "Close feature output";
+  Write();
+}
 
-void FeatureOutput::Insert(const Feature& feature) {}
+bool FeatureOutput::Ready() { return Open(); }
 
-void FeatureOutput::Write() {}
+void FeatureOutput::Insert(const Feature& feature) {
+  features_.add_feature()->CopyFrom(feature);
+}
+
+void FeatureOutput::Write() {
+  std::string file_name = FLAGS_prediction_data_file_prefix +
+                          std::to_string(count_) + ".bin";
+  apollo::common::util::SetProtoToBinaryFile(features_, file_name);
+  features_.Clear();
+  ++count_;
+}
 
 }  // namespace prediction
 }  // namespace apollo
diff --git a/modules/prediction/common/feature_output.h b/modules/prediction/common/feature_output.h
index e0c6805aa1e962b5d77e8a636a4a02c792acb2eb..83c91405b49810756db3bfac09981a2d98a81318 100644
--- a/modules/prediction/common/feature_output.h
+++ b/modules/prediction/common/feature_output.h
@@ -61,7 +61,7 @@ class FeatureOutput {
 
  private:
   Features features_;
-  size_t count = 0;
+  size_t count_ = 0;
   DECLARE_SINGLETON(FeatureOutput);
 };
 
diff --git a/modules/prediction/common/prediction_gflags.cc b/modules/prediction/common/prediction_gflags.cc
index fe89fc7aa36ff5b170042c36f9784335652f20ca..1c745da1194f21dcde6730e749a1ed09379cf26d 100644
--- a/modules/prediction/common/prediction_gflags.cc
+++ b/modules/prediction/common/prediction_gflags.cc
@@ -27,6 +27,9 @@ DEFINE_string(prediction_conf_file,
 DEFINE_string(prediction_adapter_config_filename,
               "modules/prediction/conf/adapter.conf",
               "Default conf file for prediction");
+DEFINE_string(prediction_data_file_prefix,
+              "data/prediction_data/feature_",
+              "Prefix of files to store feature data");
 DEFINE_bool(prediction_test_mode, false, "Set prediction to test mode");
 DEFINE_double(
     prediction_test_duration, -1.0,
diff --git a/modules/prediction/common/prediction_gflags.h b/modules/prediction/common/prediction_gflags.h
index e7862aa8535b7a51b572cf05efa08ec5ac016ca6..b635fd53009da0b28af2edfe0a3a115104765447 100644
--- a/modules/prediction/common/prediction_gflags.h
+++ b/modules/prediction/common/prediction_gflags.h
@@ -23,6 +23,7 @@
 DECLARE_string(prediction_module_name);
 DECLARE_string(prediction_conf_file);
 DECLARE_string(prediction_adapter_config_filename);
+DECLARE_string(prediction_data_file_prefix);
 
 DECLARE_bool(prediction_test_mode);
 DECLARE_double(prediction_test_duration);
diff --git a/modules/prediction/conf/prediction.conf b/modules/prediction/conf/prediction.conf
index 1ec80e70bcf701fd93fa3d8227331a514ac5072e..8187ea7860200ebcd2dd49426499784f587f4f4f 100644
--- a/modules/prediction/conf/prediction.conf
+++ b/modules/prediction/conf/prediction.conf
@@ -3,6 +3,7 @@
 
 --enable_adjust_velocity_heading
 --noenable_kf_tracking
+--prediction_offline_mode
 
 --enable_trim_prediction_trajectory
 --lane_change_dist=50.0
diff --git a/modules/prediction/evaluator/vehicle/mlp_evaluator.cc b/modules/prediction/evaluator/vehicle/mlp_evaluator.cc
index 3631ac66eaacd8b183c73274bde5fe6f444a8f57..dd0e97673f62e2ca7bc3b16bfe21274817ce34ca 100644
--- a/modules/prediction/evaluator/vehicle/mlp_evaluator.cc
+++ b/modules/prediction/evaluator/vehicle/mlp_evaluator.cc
@@ -84,6 +84,10 @@ void MLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {
     double probability = ComputeProbability(feature_values);
     lane_sequence_ptr->set_probability(probability);
   }
+
+  if (FLAGS_prediction_offline_mode) {
+    FeatureOutput::instance()->Insert(*latest_feature_ptr);
+  }
 }
 
 void MLPEvaluator::ExtractFeatureValues(Obstacle* obstacle_ptr,
diff --git a/modules/prediction/proto/offline_features.proto b/modules/prediction/proto/offline_features.proto
index 51922bc52b28bd7a26d8937ff9cab971dbc3e2f6..d4856c5600fb44388fd2f735dbeb73c17405b2e1 100644
--- a/modules/prediction/proto/offline_features.proto
+++ b/modules/prediction/proto/offline_features.proto
@@ -5,5 +5,5 @@ package apollo.prediction;
 import "modules/prediction/proto/feature.proto";
 
 message Features {
-	repeated Feature features = 1;
+	repeated Feature feature = 1;
 }