A perception and planning system includes a system frame and one or more cooling fans mounted on a first side of the system frame to generate an airflow flowing outwardly to remove at least a portion of the heat generated by the processors. The system further includes an air filtering module mounted on a second side of the system frame to filter the air flow flowing inwardly to remove durst or contaminated material from the airflow. The air filtering module includes an air filter, a mounting plate, and a cover plate. The mounting plate can be mounted on the second side of the system frame to receive the air filter. The mounting plate includes one or more magnets. The cover plate can be attached to the mounting plate by a magnetic force generated from the magnets to keep the air filter between the mounting plate and the cover plate.