diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
index afd2ba0beca66c66188dfc6afa5c4e654f3cb0f2..1604ac0364b941fb355caadf3972482203867229 100644
--- a/modules/planning/common/planning_gflags.cc
+++ b/modules/planning/common/planning_gflags.cc
@@ -311,3 +311,5 @@ DEFINE_double(backward_routing_distance, 100.0,
               "The backward routing distance.");
 DEFINE_double(decision_valid_stop_range, 0.5,
               "The valid stop range in decision.");
+DEFINE_bool(enable_record_debug, true,
+            "True to enable record debug into debug protobuf.");
diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h
index 4adea59f78fcd4edb2fc8cab9a6c01a0d23e74d8..3bde74e9ca122682dd89b21aa09a8651ce561989 100644
--- a/modules/planning/common/planning_gflags.h
+++ b/modules/planning/common/planning_gflags.h
@@ -214,4 +214,6 @@ DECLARE_string(offline_routing_file);
 DECLARE_double(backward_routing_distance);
 DECLARE_double(decision_valid_stop_range);
 
+DECLARE_bool(enable_record_debug);
+
 #endif  // MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_
diff --git a/modules/planning/planning.cc b/modules/planning/planning.cc
index 64926df052e2fc3aa340bc22fc5576c4e213f758..c8be5bf9e4434fa7fc08da8059852182db1c5f08 100644
--- a/modules/planning/planning.cc
+++ b/modules/planning/planning.cc
@@ -105,6 +105,28 @@ Status Planning::Start() {
   return Status::OK();
 }
 
+void Planning:: RecordInput(ADCTrajectory* trajectory_pb) {
+  if (!FLAGS_enable_record_debug) {
+    ADEBUG << "Skip record input into debug";
+    return;
+  }
+  auto planning_data = trajectory_pb->mutable_debug()->mutable_planning_data();
+  auto adc_position = planning_data->mutable_adc_position();
+  const auto& localization =
+      AdapterManager::GetLocalization()->GetLatestObserved();
+  adc_position->CopyFrom(localization);
+
+  const auto& chassis = AdapterManager::GetChassis()->GetLatestObserved();
+  auto debug_chassis= planning_data->mutable_chassis();
+  debug_chassis->CopyFrom(chassis);
+
+  const auto &routing_result =
+      AdapterManager::GetRoutingResult()->GetLatestObserved();
+
+  auto debug_routing = planning_data->mutable_routing();
+  debug_routing->CopyFrom(routing_result);
+}
+
 void Planning::RunOnce() {
   AdapterManager::Observe();
   if (AdapterManager::GetLocalization()->Empty()) {
@@ -139,13 +161,15 @@ void Planning::RunOnce() {
       apollo::common::time::ToSecond(apollo::common::time::Clock::Now()) +
       planning_cycle_time;
 
+  ADCTrajectory trajectory_pb;
+  RecordInput(&trajectory_pb);
+
   if (!DataCenter::instance()->init_current_frame(
           AdapterManager::GetPlanning()->GetSeqNum() + 1)) {
     AERROR << "DataCenter init frame failed";
     return;
   }
 
-  ADCTrajectory trajectory_pb;
   bool is_auto_mode = chassis.driving_mode() == chassis.COMPLETE_AUTO_DRIVE;
   bool res_planning = Plan(is_auto_mode, execution_start_time, &trajectory_pb);
   if (res_planning) {
diff --git a/modules/planning/planning.h b/modules/planning/planning.h
index 32c5b74b3c0dee99994a01e6200e1f640817c0f1..5c0b7e4c2c5c5aa5455ead594ed2de8bb53aaf23 100644
--- a/modules/planning/planning.h
+++ b/modules/planning/planning.h
@@ -86,6 +86,7 @@ class Planning : public apollo::common::ApolloApp {
  private:
   void RegisterPlanners();
   void RunOnce();
+  void RecordInput(ADCTrajectory* trajectory_pb);
 
   std::pair<common::TrajectoryPoint, std::uint32_t>
   ComputeStartingPointFromLastTrajectory(const double curr_time) const;
diff --git a/modules/planning/proto/BUILD b/modules/planning/proto/BUILD
index 26da0b18392e4ae7197f2b1e007f91931e522e3e..20df34f777b23729d5acb846bad9991d5b829539 100644
--- a/modules/planning/proto/BUILD
+++ b/modules/planning/proto/BUILD
@@ -21,6 +21,7 @@ cc_proto_library(
         "//modules/common/proto:path_point_proto",
         "//modules/decision/proto:decision_proto",
         "//modules/localization/proto:localization_proto",
+        "//modules/map/proto:map_proto",
         "//modules/perception/proto:perception_proto",
         "//modules/prediction/proto:prediction_proto",
     ],
diff --git a/modules/planning/proto/planning_internal.proto b/modules/planning/proto/planning_internal.proto
index 368dc39b46996e9a14b9dc44d9f72ce6e35a5485..d59a9d4031f5deab1cd436fed195c6442ff023a3 100644
--- a/modules/planning/proto/planning_internal.proto
+++ b/modules/planning/proto/planning_internal.proto
@@ -2,11 +2,13 @@ syntax = "proto2";
 
 package apollo.planning_internal;
 
+import "modules/canbus/proto/chassis.proto";
 import "modules/common/proto/header.proto";
 import "modules/common/proto/error_code.proto";
 import "modules/common/proto/path_point.proto";
 import "modules/localization/proto/localization.proto";
 import "modules/localization/proto/pose.proto";
+import "modules/map/proto/routing.proto";
 import "modules/perception/proto/perception_obstacle.proto";
 import "modules/planning/proto/decision.proto";
 import "modules/prediction/proto/prediction_obstacle.proto";
@@ -85,9 +87,15 @@ message PathDebug {
   optional apollo.common.Path path = 2;
 }
 
-// next id: 7
+// next id: 10
 message PlanningData {
   optional apollo.common.Header header = 1;
+
+  // input
+  optional apollo.localization.LocalizationEstimate adc_position = 7;
+  optional apollo.canbus.Chassis chassis = 8;
+  optional apollo.hdmap.RoutingResult routing = 9;
+
   optional apollo.localization.Pose init_status = 2;  // initial status of adc
   // processed planning_obstacles
   repeated PlanningObstacle planning_obstacle = 4;