diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
index 65aa08d84f2a9..82e8e8da1f3f0 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -196,7 +196,9 @@ class SceneModuleInterface
 
   AvoidanceDebugMsgArray::SharedPtr getAvoidanceDebugMsgArray()
   {
-    debug_avoidance_msg_array_ptr_->header.stamp = clock_->now();
+    if (debug_avoidance_msg_array_ptr_) {
+      debug_avoidance_msg_array_ptr_->header.stamp = clock_->now();
+    }
     return debug_avoidance_msg_array_ptr_;
   }