diff --git a/modules/planning/common/path/path_data.cc b/modules/planning/common/path/path_data.cc
index d850e512c252d97a380ab6d8cf995fcaeff1fbd7..2f1f11b0787b12056f1883dbcd5982a7594a7d1f 100644
--- a/modules/planning/common/path/path_data.cc
+++ b/modules/planning/common/path/path_data.cc
@@ -90,6 +90,11 @@ bool PathData::get_path_point_with_ref_s(
   return true;
 }
 
+void PathData::Clear() {
+  discretized_path_ = DiscretizedPath();
+  frenet_path_ = FrenetFramePath();
+}
+
 std::string PathData::DebugString() const {
   std::ostringstream sout;
   sout << "[" << std::endl;
diff --git a/modules/planning/common/path/path_data.h b/modules/planning/common/path/path_data.h
index 51db7503b30fd5440cf424fb9fb9731119773e5f..a99bd315b145fb916e3cb99dd9670ec36f1ce3e6 100644
--- a/modules/planning/common/path/path_data.h
+++ b/modules/planning/common/path/path_data.h
@@ -49,9 +49,10 @@ class PathData {
   bool get_path_point_with_ref_s(const double ref_s,
                                  common::PathPoint *const path_point) const;
 
+  void Clear();
+
   std::string DebugString() const;
 
-  // TODO(fanhaoyang) add check if the path data is valid
  private:
   DiscretizedPath discretized_path_;
 
diff --git a/modules/planning/common/speed/speed_data.cc b/modules/planning/common/speed/speed_data.cc
index 9e8bd7fab99481bca0ebf90eac1b59c975ee34a6..8f53eb95f3cc29d73d8ddac71248cfb6dea02aed 100644
--- a/modules/planning/common/speed/speed_data.cc
+++ b/modules/planning/common/speed/speed_data.cc
@@ -88,6 +88,10 @@ double SpeedData::total_time() const {
   return speed_vector_.back().t() - speed_vector_.front().t();
 }
 
+void SpeedData::Clear() {
+  speed_vector_.clear();
+}
+
 std::string SpeedData::DebugString() const {
   std::ostringstream sout;
   sout << "[" << std::endl;
diff --git a/modules/planning/common/speed/speed_data.h b/modules/planning/common/speed/speed_data.h
index 4a704ecff934739cf106932562012c10f30d7b97..c286644672a918d9e409d4a14b935ce5e38c7ce6 100644
--- a/modules/planning/common/speed/speed_data.h
+++ b/modules/planning/common/speed/speed_data.h
@@ -48,6 +48,7 @@ class SpeedData {
 
   double total_time() const;
 
+  void Clear();
  private:
   SpeedPoint interpolate(const SpeedPoint& left, const SpeedPoint& right,
                          const double weight) const;
diff --git a/modules/planning/common/trajectory/publishable_trajectory.cc b/modules/planning/common/trajectory/publishable_trajectory.cc
index 952b0c482a009a01d350d59a69148e22a33beb15..eb980edde3d17f8507c8e8fd08473bf4349e8818 100644
--- a/modules/planning/common/trajectory/publishable_trajectory.cc
+++ b/modules/planning/common/trajectory/publishable_trajectory.cc
@@ -50,7 +50,7 @@ void PublishableTrajectory::set_header_time(const double header_time) {
 ADCTrajectory PublishableTrajectory::to_trajectory_protobuf() const {
   ADCTrajectory trajectory_pb;
   trajectory_pb.mutable_header()->set_timestamp_sec(_header_time);
-  trajectory_pb.mutable_trajectory_point()->MergeFrom(
+  trajectory_pb.mutable_trajectory_point()->CopyFrom(
       {_trajectory_points.begin(), _trajectory_points.end()});
   return trajectory_pb;
 }
@@ -58,7 +58,7 @@ ADCTrajectory PublishableTrajectory::to_trajectory_protobuf() const {
 void PublishableTrajectory::populate_trajectory_protobuf(
     ADCTrajectory* trajectory_pb) const {
   trajectory_pb->mutable_header()->set_timestamp_sec(_header_time);
-  trajectory_pb->mutable_trajectory_point()->MergeFrom(
+  trajectory_pb->mutable_trajectory_point()->CopyFrom(
       {_trajectory_points.begin(), _trajectory_points.end()});
 }
 
diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt
index 988b011aad2fb964a26b786acb471df6e822322a..eb813417dda4258973e5c9fd95c2018eacf86072 100644
--- a/modules/planning/conf/planning_config.pb.txt
+++ b/modules/planning/conf/planning_config.pb.txt
@@ -1,6 +1,6 @@
 planner_type : EM em_planner_config {
 optimizer : DP_POLY_PATH_OPTIMIZER
-#optimizer : DP_ST_SPEED_OPTIMIZER
-#optimizer : QP_SPLINE_PATH_OPTIMIZER
+optimizer : DP_ST_SPEED_OPTIMIZER
+optimizer : QP_SPLINE_PATH_OPTIMIZER
 optimizer : QP_SPLINE_ST_SPEED_OPTIMIZER
 }
diff --git a/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc b/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc
index 76b52ca2e6ebe8b7f573b48c209d50e3400f8735..8d8f22e15e6dbb25bdedf1afb16dca045b54a8c2 100644
--- a/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc
+++ b/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc
@@ -80,6 +80,7 @@ Status QpSplineStGraph::search(const StGraphData& st_graph_data,
   }
 
   // extract output
+  speed_data->Clear();
   const Spline1d& spline = _spline_generator->spline();
 
   double time_resolution = _qp_spline_st_speed_config.output_time_resolution();