diff --git a/simulation/traffic_simulator/src/utils/pose.cpp b/simulation/traffic_simulator/src/utils/pose.cpp
index b354ea0ea0f..6dd54fcf700 100644
--- a/simulation/traffic_simulator/src/utils/pose.cpp
+++ b/simulation/traffic_simulator/src/utils/pose.cpp
@@ -52,7 +52,11 @@ auto canonicalize(
   if (lanelet_pose == LaneletPose()) {
     return std::nullopt;
   } else {
-    return CanonicalizedLaneletPose(lanelet_pose, hdmap_utils_ptr);
+    try {
+      return CanonicalizedLaneletPose(lanelet_pose, hdmap_utils_ptr);
+    } catch (const common::SemanticError &) {
+      return std::nullopt;
+    }
   }
 }
 
diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp
index 78c4c107294..cde4cce5e8e 100644
--- a/simulation/traffic_simulator/test/src/utils/test_pose.cpp
+++ b/simulation/traffic_simulator/test/src/utils/test_pose.cpp
@@ -93,6 +93,8 @@ TEST_F(PoseTest, canonicalize_invalid)
     traffic_simulator::pose::canonicalize(
       traffic_simulator::pose::quietNaNLaneletPose(), hdmap_utils),
     std::runtime_error);
+  EXPECT_FALSE(traffic_simulator::pose::canonicalize(
+    traffic_simulator::helper::constructLaneletPose(203, 1000.0, 0.0), hdmap_utils));
 }
 
 /**