diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
index c8dbba21c7094..3a7dd85a4d41d 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -942,6 +942,9 @@ bool NormalLaneChange::getLaneChangePaths(
 
   const auto target_neighbor_preferred_lane_poly_2d =
     utils::lane_change::getTargetNeighborLanesPolygon(route_handler, current_lanes, type_);
+  if (target_neighbor_preferred_lane_poly_2d.empty()) {
+    return false;
+  }
 
   const auto target_objects = getTargetObjects(current_lanes, target_lanes);
   debug_filtered_objects_ = target_objects;
diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
index a248d8aeb2063..8337cbee58583 100644
--- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -242,6 +242,9 @@ lanelet::BasicPolygon2d getTargetNeighborLanesPolygon(
 {
   const auto target_neighbor_lanelets =
     utils::lane_change::getTargetNeighborLanes(route_handler, current_lanes, type);
+  if (target_neighbor_lanelets.empty()) {
+    return {};
+  }
   const auto target_neighbor_preferred_lane_poly = lanelet::utils::getPolygonFromArcLength(
     target_neighbor_lanelets, 0, std::numeric_limits<double>::max());