diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
index 739f5d21346bd..42f6cd02ad361 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
@@ -98,6 +98,7 @@ std::optional<double> calcDistanceToRedTrafficLight(
 
       const auto & ego_pos = planner_data->self_odometry->pose.pose.position;
       lanelet::ConstLineString3d stop_line = *(element->stopLine());
+      if (!stop_line.empty()) return std::nullopt;
       const auto x = 0.5 * (stop_line.front().x() + stop_line.back().x());
       const auto y = 0.5 * (stop_line.front().y() + stop_line.back().y());
       const auto z = 0.5 * (stop_line.front().z() + stop_line.back().z());