diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 73b19ef7ee65f..4da5933afa7af 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -618,7 +618,11 @@ void BehaviorPathPlannerNode::run()
   // update planner data
   planner_data_->self_pose = self_pose_listener_.getCurrentPose();
 
-  const auto planner_data = planner_data_;
+  const auto planner_data = std::make_shared<PlannerData>(*planner_data_);
+
+  // unlock planner data
+  mutex_pd_.unlock();
+
   // run behavior planner
   const auto output = bt_manager_->run(planner_data);
 
@@ -631,9 +635,6 @@ void BehaviorPathPlannerNode::run()
   // compute turn signal
   computeTurnSignal(planner_data, *path, output);
 
-  // unlock planner data
-  mutex_pd_.unlock();
-
   // publish drivable bounds
   publish_bounds(*path);