diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
index 9157079831ddc..5beaddcd9e279 100644
--- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
@@ -176,7 +176,8 @@ BehaviorModuleOutput PullOutModule::plan()
   if (!status_.is_safe) {
     RCLCPP_WARN_THROTTLE(
       getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
-    const PathWithLaneId stop_path = generateStopPath();
+    // the path of getCurrent() is generated by generateStopPath()
+    const PathWithLaneId stop_path = getCurrentPath();
     output.path = std::make_shared<PathWithLaneId>(stop_path);
     path_candidate_ = std::make_shared<PathWithLaneId>(stop_path);
     return output;
@@ -285,11 +286,20 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval()
   waitApproval();
 
   BehaviorModuleOutput output;
+  if (!status_.is_safe) {
+    RCLCPP_WARN_THROTTLE(
+      getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
+    // the path of getCurrent() is generated by generateStopPath()
+    const PathWithLaneId stop_path = getCurrentPath();
+    output.path = std::make_shared<PathWithLaneId>(stop_path);
+    path_candidate_ = std::make_shared<PathWithLaneId>(stop_path);
+    return output;
+  }
+
   const auto current_lanes = util::getExtendedCurrentLanes(planner_data_);
   const auto pull_out_lanes = pull_out_utils::getPullOutLanes(planner_data_);
   const auto drivable_lanes =
     util::generateDrivableLanesWithShoulderLanes(current_lanes, pull_out_lanes);
-
   const auto expanded_lanes = util::expandLanelets(
     drivable_lanes, parameters_.drivable_area_left_bound_offset,
     parameters_.drivable_area_right_bound_offset);
@@ -507,6 +517,7 @@ void PullOutModule::updatePullOutStatus()
     RCLCPP_WARN_THROTTLE(
       getLogger(), *clock_, 5000, "Not found safe pull out path, generate stop path");
     status_.back_finished = true;  // no need to drive backward
+    status_.pull_out_path.partial_paths.clear();
     status_.pull_out_path.partial_paths.push_back(generateStopPath());
     status_.pull_out_path.start_pose = current_pose;
     status_.pull_out_path.end_pose = current_pose;