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..773edf7989de9 100644
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-    <path d="M 207 43 L 228 43" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="1 1" pointer-events="none"/>
+    <path d="M 240 23 L 242 17" fill="none" stroke="#000000" stroke-width="0.5" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 208.69 23 L 274.31 23" fill="none" stroke="#000000" stroke-width="0.8" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 204.89 23 L 208.69 21.73 L 208.69 24.27 Z" fill="#000000" stroke="#000000" stroke-width="0.8" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 278.11 23 L 274.31 24.27 L 274.31 21.73 Z" fill="#000000" stroke="#000000" stroke-width="0.8" stroke-miterlimit="10" pointer-events="all"/>
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+    <path d="M 225 40.89 L 226.27 44.69 L 223.73 44.69 Z" fill="#000000" stroke="#000000" stroke-width="0.8" stroke-miterlimit="10" pointer-events="all"/>
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+    <path d="M 221 52 L 237 52" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="1 1" pointer-events="stroke"/>
+    <path d="M 207 40 L 228 40" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="1 1" pointer-events="stroke"/>
+    <rect x="204" y="66" width="99" height="30" fill="none" stroke="none" pointer-events="all"/>
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       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 97px; height: 1px; padding-top: 81px; margin-left: 205px;">
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+              <div style="display: inline-block; font-size: 6px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                 max_stuck_vehicle_lateral_offset
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             </div>
           </div>
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+        <text x="254" y="83" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="6px" text-anchor="middle">max_stuck_vehicle_lateral_offset</text>
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+    <path d="M 140 60 L 140 20" fill="none" stroke="#ff1100" stroke-opacity="0.6" stroke-width="2" stroke-miterlimit="10" pointer-events="stroke"/>
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   <switch>
     <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
-    <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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