diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
index 2567787a3f2e4..a75c1bb22db41 100644
--- a/planning/behavior_path_lane_change_module/src/interface.cpp
+++ b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -225,6 +225,12 @@ bool LaneChangeInterface::canTransitFailureState()
   updateDebugMarker();
   log_debug_throttled(__func__);
 
+  if (getPreviousModuleOutput().path.points.empty()) {
+    RCLCPP_WARN(
+      getLogger(), "Previous output path is empty. Some module might accidentally reset it.");
+    return true;
+  }
+
   if (module_type_->isAbortState() && !module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has on going.");
     return false;