diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index ebaa7c4c8acf9..1acdaf30016c1 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -306,7 +306,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
       RCLCPP_DEBUG(logger_, "===== plan end =====");
       return true;
     }
-    if (before_creep_state_machine_.getState() == StateMachine::State::GO) {
+    if (before_creep_state_machine_.getState() == StateMachine::State::GO && has_collision) {
       occlusion_stop_required = true;
       occlusion_peeking_line_idx = occlusion_peeking_line_idx_opt;