diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
index 1951bdbfe73d7..b5c7ddff301bc 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -619,6 +619,14 @@ std::vector<Point> updateBoundary(
       0 < front_offset ? start_poly.bound_seg_idx + 1 : start_poly.bound_seg_idx;
     const size_t removed_end_idx = end_poly.bound_seg_idx;
 
+    if (removed_start_idx > removed_end_idx || removed_end_idx >= updated_bound.size()) {
+      auto clock{rclcpp::Clock{RCL_ROS_TIME}};
+      RCLCPP_ERROR_STREAM_THROTTLE(
+        rclcpp::get_logger("behavior_path_planner").get_child("utils"), clock, 1000,
+        "Invalid index for erase in updateBoundary. Skipping.");
+      continue;
+    }
+
     updated_bound.erase(
       updated_bound.begin() + removed_start_idx, updated_bound.begin() + removed_end_idx + 1);