diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index a906fc3a91b75..52dad680ecc63 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -302,6 +302,9 @@ void BehaviorVelocityPlannerNode::onVehicleVelocity(
       break;
     }
 
+    if (planner_data_.velocity_buffer.empty()) {
+      break;
+    }
     // Remove old data
     planner_data_.velocity_buffer.pop_back();
   }