diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
index 7c26af75fbec6..feb65d3d65d47 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
@@ -352,9 +352,11 @@ bool TrafficLightModule::handleV2I(
 
   setSafe(!should_stop);
   if (isActivated()) {
+    is_prev_state_stop_ = false;
     return true;
   }
   insert_stop_pose();
+  is_prev_state_stop_ = true;
   return true;
 }
 }  // namespace autoware::behavior_velocity_planner