diff --git a/modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc b/modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc
index fb805ea710ea1473603de3cd53b4194bf790edb4..dfe31a853947a6325be76c2c3912152a81c542c5 100644
--- a/modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc
+++ b/modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc
@@ -98,6 +98,7 @@ Status DpStSpeedOptimizer::Process(const PathData& path_data,
   if (!st_graph.Search(path_decision, speed_data).ok()) {
     const std::string msg = "Failed to search graph with dynamic programming.";
     AERROR << msg;
+    RecordSTGraphDebug(boundaries, speed_limit, *speed_data);
     return Status(ErrorCode::PLANNING_ERROR, msg);
   }
 
diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
index 73936f75d9743f828160ae661b025e64f8a73b11..c6b4ce71319d2eb2af6eae1c33ac52bd77bb26fb 100644
--- a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
+++ b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
@@ -101,6 +101,7 @@ Status QpSplineStSpeedOptimizer::Process(const PathData& path_data,
   StGraphData st_graph_data(boundaries, init_point, speed_limits,
                             path_data.discretized_path().Length());
   if (st_graph.Search(st_graph_data, path_data, speed_data) != Status::OK()) {
+    RecordSTGraphDebug(boundaries, speed_limits, *speed_data);
     return Status(ErrorCode::PLANNING_ERROR,
                   "Failed to search graph with dynamic programming!");
   }