diff --git a/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
index be0c0703c0541..c576851853e20 100644
--- a/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -417,7 +417,9 @@ void BehaviorPathPlannerNode::run()
   const auto controlled_by_autoware_autonomously =
     planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
     planner_data_->operation_mode->is_autoware_control_enabled;
-  if (!controlled_by_autoware_autonomously && !planner_manager_->hasApprovedModules())
+  if (
+    !controlled_by_autoware_autonomously &&
+    !planner_manager_->hasNonAlwaysExecutableApprovedModules())
     planner_manager_->resetCurrentRouteLanelet(planner_data_);
 
   // run behavior planner