diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index 4a5541508d65f..82ac5a483dfec 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -874,7 +874,6 @@ bool IntersectionModule::checkCollision(
   using lanelet::utils::getPolygonFromArcLength;
 
   const auto & objects_ptr = planner_data_->predicted_objects;
-
   // extract target objects
   autoware_auto_perception_msgs::msg::PredictedObjects target_objects;
   target_objects.header = objects_ptr->header;
@@ -990,8 +989,26 @@ bool IntersectionModule::checkCollision(
         const double end_arc_length = std::max(
           0.0, closest_arc_coords.length + (*end_time_distance_itr).second + base_link2front -
                  distance_until_intersection);
+
+        long double lanes_length = 0.0;
+        std::vector<lanelet::ConstLanelet> ego_lane_with_next_lanes;
+
+        const auto lanelets_on_path = planning_utils::getLaneletsOnPath(
+          path, planner_data_->route_handler_->getLaneletMapPtr(),
+          planner_data_->current_odometry->pose);
+        for (const auto & lane : lanelets_on_path) {
+          lanes_length += bg::length(lane.centerline());
+          ego_lane_with_next_lanes.push_back(lane);
+          if (lanes_length > start_arc_length && lanes_length < end_arc_length) {
+            break;
+          }
+        }
         const auto trimmed_ego_polygon =
-          getPolygonFromArcLength(ego_lane_with_next_lane, start_arc_length, end_arc_length);
+          getPolygonFromArcLength(ego_lane_with_next_lanes, start_arc_length, end_arc_length);
+
+        if (trimmed_ego_polygon.empty()) {
+          continue;
+        }
 
         Polygon2d polygon{};
         for (const auto & p : trimmed_ego_polygon) {