diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
index 1a75357b013ba..2c7e32d771b2c 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -505,6 +505,7 @@ class SceneModuleInterface
   void setStopReason(const std::string & stop_reason, const PathWithLaneId & path)
   {
     stop_reason_.reason = stop_reason;
+    stop_reason_.stop_factors.clear();
 
     if (!stop_pose_) {
       stop_reason_.reason = "";