diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
index f724b19d9b464..5011b602599f6 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
@@ -206,6 +206,10 @@ class SceneModuleManagerInterface
 
   bool isSimultaneousExecutableAsApprovedModule() const
   {
+    if (registered_modules_.empty()) {
+      return enable_simultaneous_execution_as_approved_module_;
+    }
+
     return std::all_of(
       registered_modules_.begin(), registered_modules_.end(), [](const SceneModulePtr & module) {
         return module->isSimultaneousExecutableAsApprovedModule();
@@ -214,6 +218,10 @@ class SceneModuleManagerInterface
 
   bool isSimultaneousExecutableAsCandidateModule() const
   {
+    if (registered_modules_.empty()) {
+      return enable_simultaneous_execution_as_candidate_module_;
+    }
+
     return std::all_of(
       registered_modules_.begin(), registered_modules_.end(), [](const SceneModulePtr & module) {
         return module->isSimultaneousExecutableAsCandidateModule();