diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 1f8c58f4facc8..9558579fd6ddc 100644
--- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1896,7 +1896,6 @@ static std::vector<utils::path_safety_checker::ExtendedPredictedObject> filterOb
       const auto object_bbox = tier4_autoware_utils::toPolygon2d(filtered_object);
       if (boost::geometry::within(object_bbox, lane_poly)) {
         within_filtered_objects.push_back(filtered_object);
-        break;
       }
     }
   }
@@ -1949,11 +1948,48 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath() const
       ego_predicted_path_params_, pull_over_path.points, current_pose, current_velocity,
       ego_seg_idx, is_object_front, limit_to_max_velocity);
 
+  // ==========================================================================================
+  // if ego is before the entry of pull_over_lanes, the beginning of the safety check area
+  // should be from the entry of pull_over_lanes
+  // ==========================================================================================
+  const Pose ego_pose_for_expand = std::invoke([&]() {
+    // get first road lane in pull over lanes segment
+    const auto fist_road_lane = std::invoke([&]() {
+      const auto first_pull_over_lane = pull_over_lanes.front();
+      if (!route_handler->isShoulderLanelet(first_pull_over_lane)) {
+        return first_pull_over_lane;
+      }
+      const auto road_lane_opt = left_side_parking_
+                                   ? route_handler->getRightLanelet(first_pull_over_lane)
+                                   : route_handler->getLeftLanelet(first_pull_over_lane);
+      if (road_lane_opt) {
+        return road_lane_opt.value();
+      }
+      return first_pull_over_lane;
+    });
+    // generate first road lane pose
+    Pose first_road_pose{};
+    const auto first_road_point =
+      lanelet::utils::conversion::toGeomMsgPt(fist_road_lane.centerline().front());
+    const double lane_yaw = lanelet::utils::getLaneletAngle(fist_road_lane, first_road_point);
+    first_road_pose.position = first_road_point;
+    first_road_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(lane_yaw);
+    // if current ego pose is before pull over lanes segment, use first road lanelet center pose
+    if (
+      calcSignedArcLength(pull_over_path.points, first_road_pose.position, current_pose.position) <
+      0.0) {
+      return first_road_pose;
+    }
+    // if current ego pose is in pull over lanes segment, use current ego pose
+    return current_pose;
+  });
+
   // filtering objects based on the current position's lane
   const auto expanded_pull_over_lanes_between_ego =
     goal_planner_utils::generateBetweenEgoAndExpandedPullOverLanes(
-      pull_over_lanes, left_side_parking_, current_pose, planner_data_->parameters.vehicle_info,
-      parameters_->outer_road_detection_offset, parameters_->inner_road_detection_offset);
+      pull_over_lanes, left_side_parking_, ego_pose_for_expand,
+      planner_data_->parameters.vehicle_info, parameters_->outer_road_detection_offset,
+      parameters_->inner_road_detection_offset);
   const auto merged_expanded_pull_over_lanes =
     lanelet::utils::combineLaneletsShape(expanded_pull_over_lanes_between_ego);
   debug_data_.expanded_pull_over_lane_between_ego = merged_expanded_pull_over_lanes;
@@ -2090,12 +2126,14 @@ void GoalPlannerModule::setDebugData()
     }
     debug_marker_.markers.push_back(marker);
 
-    tier4_autoware_utils::appendMarkerArray(
-      goal_planner_utils::createLaneletPolygonMarkerArray(
-        debug_data_.expanded_pull_over_lane_between_ego.polygon3d(), header,
-        "expanded_pull_over_lane_between_ego",
-        tier4_autoware_utils::createMarkerColor(1.0, 0.7, 0.0, 0.999)),
-      &debug_marker_);
+    if (parameters_->safety_check_params.enable_safety_check) {
+      tier4_autoware_utils::appendMarkerArray(
+        goal_planner_utils::createLaneletPolygonMarkerArray(
+          debug_data_.expanded_pull_over_lane_between_ego.polygon3d(), header,
+          "expanded_pull_over_lane_between_ego",
+          tier4_autoware_utils::createMarkerColor(1.0, 0.7, 0.0, 0.999)),
+        &debug_marker_);
+    }
 
     // Visualize debug poses
     const auto & debug_poses = thread_safe_data_.get_pull_over_path()->debug_poses;