diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
index 828fdc2f17a51..8fe8b12252aea 100644
--- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
@@ -64,7 +64,7 @@ polygon_t createExpansionPolygon(
   boost::geometry::buffer(
     base_ls, polygons, distance_strategy, strategy::side_straight(), strategy::join_miter(),
     strategy::end_flat(), strategy::point_square());
-  return polygons.front();
+  return polygons.empty() ? polygon_t{} : polygons.front();
 }
 
 std::array<double, 3> calculate_arc_length_range_and_distance(