diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
index 9e42a02b95219..ab555063f1047 100644
--- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -1202,6 +1202,9 @@ bool StartPlannerModule::isSafePath() const
   // TODO(Sugahara): should safety check for backward path
 
   const auto pull_out_path = getCurrentPath();
+  if (pull_out_path.points.empty()) {
+    return false;
+  }
   const auto & current_pose = planner_data_->self_odometry->pose.pose;
   const double current_velocity = std::hypot(
     planner_data_->self_odometry->twist.twist.linear.x,