diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index 98b727e9dbc6c..c0c0d05495f1b 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2514,6 +2514,7 @@ void AvoidanceModule::updateData()
 void AvoidanceModule::processOnEntry()
 {
   initVariables();
+  removeRTCStatus();
 }
 
 void AvoidanceModule::processOnExit()