diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
index 37bc6107c7a0d..3b37b5dbaaaac 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -139,6 +139,8 @@ class GoalPlannerModule : public SceneModuleInterface
 
   std::shared_ptr<GoalPlannerParameters> parameters_;
 
+  vehicle_info_util::VehicleInfo vehicle_info_;
+
   // planner
   std::vector<std::shared_ptr<PullOverPlannerBase>> pull_over_planners_;
   std::unique_ptr<PullOverPlannerBase> freespace_planner_;
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
index a0a984250b5fe..b12d1e5f6ffea 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -63,11 +63,13 @@ GoalPlannerModule::GoalPlannerModule(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<GoalPlannerParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface> > & rtc_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}
+: SceneModuleInterface{name, node, rtc_interface_ptr_map},
+  parameters_{parameters},
+  vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()}
 {
 #endif
   LaneDepartureChecker lane_departure_checker{};
-  lane_departure_checker.setVehicleInfo(vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo());
+  lane_departure_checker.setVehicleInfo(vehicle_info_);
 
   occupancy_grid_map_ = std::make_shared<OccupancyGridBasedCollisionDetector>();