diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
index 7bf54c02..71f15375 100644
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
@@ -153,6 +153,9 @@ def kill_online_perception_node(self):
                 pass
 
     def binary_search(self, data, timestamp):
+        if not data:
+            return None
+
         if data[-1][0] < timestamp:
             return data[-1][1]
         elif data[0][0] > timestamp: