diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp
index 7862a533f34eb..ffc0b61880188 100644
--- a/planning/behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_intersection_module/src/util.cpp
@@ -475,6 +475,9 @@ std::optional<size_t> getFirstPointInsidePolygon(
       if (is_in_lanelet) {
         return std::make_optional<size_t>(i);
       }
+      if (i == 0) {
+        break;
+      }
     }
   }
   return std::nullopt;
@@ -517,6 +520,9 @@ getFirstPointInsidePolygons(
       if (is_in_lanelet) {
         break;
       }
+      if (i == 0) {
+        break;
+      }
     }
   }
   return std::nullopt;