diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index d5615a76e14b0..5ff1a23aa4cea 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -746,7 +746,7 @@ void GoalPlannerModule::updateData()
     }
   }
 
-  if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) {
+  if (getCurrentStatus() == ModuleStatus::IDLE) {
     return;
   }