diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
index 6acc7400f52d8..3bdfd67a7bec4 100644
--- a/planning/obstacle_stop_planner/src/node.cpp
+++ b/planning/obstacle_stop_planner/src/node.cpp
@@ -1548,9 +1548,10 @@ void ObstacleStopPlannerNode::filterObstacles(
   const PredictedObjects & input_objects, const Pose & ego_pose, const TrajectoryPoints & traj,
   const double dist_threshold, PredictedObjects & filtered_objects)
 {
-  filtered_objects.header = input_objects.header;
   if (traj.size() < 2) return;
 
+  filtered_objects.header = input_objects.header;
+
   for (auto & object : input_objects.objects) {
     // Check is it in front of ego vehicle
     if (!isFrontObstacle(ego_pose, object.kinematics.initial_pose_with_covariance.pose.position)) {