From c9b21e0f5399957edf1cfa51d026142c1ef44bf1 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Mon, 22 Jan 2024 21:59:19 +0900
Subject: [PATCH 1/4] improve algorithm

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp  | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index cee6975df3155..85b2237017edf 100644
--- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -896,6 +896,8 @@ std::optional<StopFactor> CrosswalkModule::checkStopForStuckVehicles(
     }
   }
 
+  const auto & ego_pos = planner_data_->current_odometry->pose.position;
+
   for (const auto & object : objects) {
     if (!isVehicle(object)) {
       continue;

From 0a382bebf69bd414cdf13f0c737c4e94c1891c42 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Tue, 23 Jan 2024 15:13:45 +0900
Subject: [PATCH 2/4] refactor

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp  | 2 --
 1 file changed, 2 deletions(-)

diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 85b2237017edf..cee6975df3155 100644
--- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -896,8 +896,6 @@ std::optional<StopFactor> CrosswalkModule::checkStopForStuckVehicles(
     }
   }
 
-  const auto & ego_pos = planner_data_->current_odometry->pose.position;
-
   for (const auto & object : objects) {
     if (!isVehicle(object)) {
       continue;

From f9b5fbf811534558cfcdd0de86a57ff723e19fe1 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 25 Jan 2024 22:03:08 +0900
Subject: [PATCH 3/4] update docs

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../README.md                                 |   2 +-
 .../docs/stuck_vehicle_detection.svg          | 115 +++++++++---------
 2 files changed, 59 insertions(+), 58 deletions(-)

diff --git a/planning/behavior_velocity_crosswalk_module/README.md b/planning/behavior_velocity_crosswalk_module/README.md
index ce231659ccf78..c1ddc28e03426 100644
--- a/planning/behavior_velocity_crosswalk_module/README.md
+++ b/planning/behavior_velocity_crosswalk_module/README.md
@@ -196,7 +196,7 @@ In the `stuck_vehicle` namespace, the following parameters are defined.
 | ---------------------------------- | ------- | ------ | ----------------------------------------------------------------------- |
 | `stuck_vehicle_velocity`           | [m/s]   | double | maximum velocity threshold whether the target vehicle is stopped or not |
 | `max_stuck_vehicle_lateral_offset` | [m]     | double | maximum lateral offset of the target vehicle position                   |
-| `stuck_vehicle_attention_range`    | [m]     | double | detection area length ahead of the crosswalk                            |
+| `required_clearance`               | [m]     | double | clearance to be secured between the ego and the ahead vehicle           |
 | `min_acc`                          | [m/ss]  | double | minimum acceleration to stop                                            |
 | `min_jerk`                         | [m/sss] | double | minimum jerk to stop                                                    |
 | `max_jerk`                         | [m/sss] | double | maximum jerk to stop                                                    |
diff --git a/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg b/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg
index c517be5bb9967..6a027f725ba47 100644
--- a/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg
+++ b/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg
@@ -1,92 +1,93 @@
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-                stuck_vehicle_attention_range
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+                vehicle_length+required_clearance
               </div>
             </div>
           </div>
         </foreignObject>
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+        <text x="221" y="17" fill="rgb(240, 240, 240)" font-family="Helvetica" font-size="6px" text-anchor="middle">vehicle_length+required_clearance</text>
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       <switch>
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 94px; height: 1px; padding-top: 85px; margin-left: 205px;">
+            <div data-drawio-colors="color: rgb(240, 240, 240); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+              <div style="display: inline-block; font-size: 6px; font-family: Helvetica; color: rgb(240, 240, 240); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                 max_stuck_vehicle_lateral_offset
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="251" y="83" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="6px" text-anchor="middle">max_stuck_vehicle_l...</text>
+        <text x="252" y="87" fill="rgb(240, 240, 240)" font-family="Helvetica" font-size="6px" text-anchor="middle">max_stuck_vehicle_lateral_offset</text>
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+    <path d="M 214 80 L 224 53" fill="none" stroke="#000000" stroke-width="0.5" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 140 64 L 140 24" fill="none" stroke="#ff1100" stroke-opacity="0.6" stroke-width="2" stroke-miterlimit="10" pointer-events="stroke"/>
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   <switch>
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-    <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+    <a transform="translate(0,-5)" xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems" target="_blank">
       <text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text>
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From 4b702cc1d3121bfb463dfbf756f068dda58aa98c Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 25 Jan 2024 22:18:48 +0900
Subject: [PATCH 4/4] update a figure

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../docs/stuck_vehicle_detection.svg          | 110 +++++++++---------
 1 file changed, 55 insertions(+), 55 deletions(-)

diff --git a/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg b/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg
index 6a027f725ba47..773edf7989de9 100644
--- a/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg
+++ b/planning/behavior_velocity_crosswalk_module/docs/stuck_vehicle_detection.svg
@@ -6,84 +6,84 @@
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