diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp
index d79741fe66c2e..25dd34332f684 100644
--- a/planning/autoware_rtc_interface/src/rtc_interface.cpp
+++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp
@@ -298,6 +298,11 @@ void RTCInterface::updateCooperateStatus(
     return;
   }
 
+  if (itr->state.type == state) {
+    update_status(*itr);
+    return;
+  }
+
   RCLCPP_WARN_STREAM(
     getLogger(), "[updateCooperateStatus] uuid : " << uuid_to_string(uuid)
                                                    << " cannot transit from "