diff --git a/modules/planning/lattice/trajectory_generation/trajectory1d_generator.cc b/modules/planning/lattice/trajectory_generation/trajectory1d_generator.cc
index aa3b56f513b9fa715c597537de04083d9f70af45..25c080b2aaa06f6b2d171a1e787838ffa31b989b 100644
--- a/modules/planning/lattice/trajectory_generation/trajectory1d_generator.cc
+++ b/modules/planning/lattice/trajectory_generation/trajectory1d_generator.cc
@@ -128,8 +128,7 @@ void Trajectory1dGenerator::GenerateLongitudinalTrajectoryBundle(
 
   GenerateSpeedProfilesForPathTimeObstacles(ptr_lon_trajectory_bundle);
 
-  if (planning_target.has_stop_point()
-      && planning_target.stop_point().s() > 0) {
+  if (planning_target.has_stop_point()) {
     GenerateSpeedProfileForStopping(planning_target.stop_point().s(),
                                     ptr_lon_trajectory_bundle);
   }
diff --git a/modules/planning/planner/lattice/lattice_planner.cc b/modules/planning/planner/lattice/lattice_planner.cc
index 5fc6004b35270afc9490ad8cbccd71193dfce4bc..25ec76f74e2197134660b2b901ed8e1776b16582 100644
--- a/modules/planning/planner/lattice/lattice_planner.cc
+++ b/modules/planning/planner/lattice/lattice_planner.cc
@@ -298,9 +298,12 @@ Status LatticePlanner::PlanOnReferenceLine(
     if (!lattice_traj_ptr) {
       ADEBUG << "Dynamically casting trajectory1d ptr. failed.";
     }
-    ADEBUG << "Ending Lon. State s = " << lattice_traj_ptr->target_position()
-           << " ds = " << lattice_traj_ptr->target_velocity()
-           << " t = " << lattice_traj_ptr->target_time();
+
+    if (lattice_traj_ptr->has_target_position()) {
+      ADEBUG << "Ending Lon. State s = " << lattice_traj_ptr->target_position()
+             << " ds = " << lattice_traj_ptr->target_velocity()
+             << " t = " << lattice_traj_ptr->target_time();
+    }
 
     ADEBUG << "InputPose";
     ADEBUG << "XY: " << planning_init_point.ShortDebugString();
diff --git a/modules/planning/tasks/traffic_decider/traffic_decider.cc b/modules/planning/tasks/traffic_decider/traffic_decider.cc
index 0b8ea53584c5d9cd9e920e8707c74e6f8fe61e0a..89109b193d2d458f3bcc5299e3fa8854f7d44817 100644
--- a/modules/planning/tasks/traffic_decider/traffic_decider.cc
+++ b/modules/planning/tasks/traffic_decider/traffic_decider.cc
@@ -125,17 +125,18 @@ void TrafficDecider::BuildPlanningTarget(
         stop_point.set_type(StopPoint::SOFT);
         ADEBUG << "Soft stop at: " << min_s << "  STOP_REASON_YELLOW_SIGNAL";
       } else {
-        min_s = -1.0;
         ADEBUG << "No planning target found at reference line.";
       }
     }
   }
-  const auto& vehicle_config =
+  if (min_s != std::numeric_limits<double>::infinity()) {
+    const auto& vehicle_config =
       common::VehicleConfigHelper::instance()->GetConfig();
-  double front_edge_to_center =
+    double front_edge_to_center =
       vehicle_config.vehicle_param().front_edge_to_center();
-  stop_point.set_s(min_s - front_edge_to_center);
-  reference_line_info->SetStopPoint(stop_point);
+    stop_point.set_s(min_s - front_edge_to_center);
+    reference_line_info->SetStopPoint(stop_point);
+  }
 }
 
 Status TrafficDecider::Execute(Frame *frame,