diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp
index fc9cb719f9af5..18a1710532e0c 100644
--- a/planning/route_handler/src/route_handler.cpp
+++ b/planning/route_handler/src/route_handler.cpp
@@ -449,6 +449,10 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequenceAfter(
     if (!getNextLaneletWithinRoute(current_lanelet, &next_lanelet)) {
       break;
     }
+    // loop check
+    if (lanelet.id() == next_lanelet.id()) {
+      break;
+    }
     lanelet_sequence_forward.push_back(next_lanelet);
     current_lanelet = next_lanelet;
     length +=
@@ -473,6 +477,12 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequenceUpTo(
     if (!getPreviousLaneletsWithinRoute(current_lanelet, &candidate_lanelets)) {
       break;
     }
+    // loop check
+    if (std::any_of(
+          candidate_lanelets.begin(), candidate_lanelets.end(),
+          [lanelet](auto & prev_llt) { return lanelet.id() == prev_llt.id(); })) {
+      break;
+    }
 
     // If lanelet_sequence_backward with input lanelet contains all candidate lanelets,
     // break the loop.