diff --git a/planning/behavior_velocity_run_out_module/src/debug.cpp b/planning/behavior_velocity_run_out_module/src/debug.cpp
index 76d5d25a43d9f..7fa17b0cea52a 100644
--- a/planning/behavior_velocity_run_out_module/src/debug.cpp
+++ b/planning/behavior_velocity_run_out_module/src/debug.cpp
@@ -184,6 +184,8 @@ motion_utils::VirtualWalls RunOutDebug::createVirtualWalls()
     wall.pose = p;
     virtual_walls.push_back(wall);
   }
+  stop_pose_.clear();
+
   return virtual_walls;
 }