Embodiments of the invention are intended to evaluate the performance of a planning module of the ADV in terms of decision consistency in addition to other metrics, such as comfort, latency, controllability, and safety. In one embodiment, an exemplary method includes receiving, at an autonomous driving simulation platform, a record file recorded by the ADV that was automatically driving on a road segment; simulating operations of a dynamic model of the ADV in the autonomous driving simulation platform during one or more driving scenarios on the road segment based on the record file. The method further includes performing a comparison between each planned trajectory generated by a planning module of the dynamic model after an initial period of time with each trajectory stored in a buffer; and modifying a performance score generated by a planning performance profiler in the autonomous driving simulation platform based on a result of the comparison.