diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 94664d5e13827..31e3dc89767be 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1479,6 +1479,11 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate(
 {
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 
+  // if pull over path candidates generation is not finished, use previous module output
+  if (context_data.lane_parking_response.pull_over_path_candidates.empty()) {
+    return getPreviousModuleOutput();
+  }
+
   BehaviorModuleOutput output{};
   const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data);
   output.modified_goal = pull_over_output.modified_goal;