diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index ea51da783ea1e..b4d75d6c7734b 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1293,6 +1293,10 @@ IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStat
         std::get<intersection::OccludedAbsenceTrafficLight>(prev_decision_result_);
       return !state.collision_detected;
     }
+    if (std::holds_alternative<intersection::FullyPrioritized>(prev_decision_result_)) {
+      const auto & prev_decision = std::get<intersection::FullyPrioritized>(prev_decision_result_);
+      return !prev_decision.collision_detected;
+    }
     return false;
   }();