diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
index e8f4b0c9e87ae..4e9f37b998cd0 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -844,6 +844,11 @@ BehaviorModuleOutput GoalPlannerModule::planRunning()
 
 BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate()
 {
+  // if pull over path candidates generation is not finished, use previous module output
+  if (thread_safe_data_.get_pull_over_path_candidates().empty()) {
+    return getPreviousModuleOutput();
+  }
+
   BehaviorModuleOutput output{};
   const BehaviorModuleOutput pull_over_output = planPullOver();
   output.modified_goal = pull_over_output.modified_goal;