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 a13344ee87e7c..4dc0d1cb05cc0 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
@@ -275,6 +275,10 @@ void GoalPlannerModule::onTimer()
 
 void GoalPlannerModule::onFreespaceParkingTimer()
 {
+  if (getCurrentStatus() == ModuleStatus::IDLE) {
+    return;
+  }
+
   if (!planner_data_) {
     return;
   }
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
index f5cecef60c6bd..37177d515c2ee 100644
--- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -87,6 +87,10 @@ StartPlannerModule::StartPlannerModule(
 
 void StartPlannerModule::onFreespacePlannerTimer()
 {
+  if (getCurrentStatus() == ModuleStatus::IDLE) {
+    return;
+  }
+
   if (!planner_data_) {
     return;
   }
@@ -97,7 +101,11 @@ void StartPlannerModule::onFreespacePlannerTimer()
 
   const bool is_new_costmap =
     (clock_->now() - planner_data_->costmap->header.stamp).seconds() < 1.0;
-  if (isStuck() && is_new_costmap) {
+  if (!is_new_costmap) {
+    return;
+  }
+
+  if (isStuck()) {
     planFreespacePath();
   }
 }