diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp
index f637911dae903..21e3ecb7bf758 100644
--- a/planning/obstacle_cruise_planner/src/node.cpp
+++ b/planning/obstacle_cruise_planner/src/node.cpp
@@ -1378,7 +1378,6 @@ void ObstacleCruisePlannerNode::checkConsistency(
   const auto current_closest_stop_obstacle =
     obstacle_cruise_utils::getClosestStopObstacle(stop_obstacles);
 
-  // If previous closest obstacle ptr is not set
   if (!prev_closest_stop_obstacle_ptr_) {
     if (current_closest_stop_obstacle) {
       prev_closest_stop_obstacle_ptr_ =
@@ -1387,44 +1386,23 @@ void ObstacleCruisePlannerNode::checkConsistency(
     return;
   }
 
-  // Put previous closest target obstacle if necessary
   const auto predicted_object_itr = std::find_if(
     predicted_objects.objects.begin(), predicted_objects.objects.end(),
     [&](PredictedObject predicted_object) {
       return tier4_autoware_utils::toHexString(predicted_object.object_id) ==
              prev_closest_stop_obstacle_ptr_->uuid;
     });
-
-  // If previous closest obstacle is not in the current perception lists
-  // just return the current target obstacles
+  // If previous closest obstacle disappear from the perception result, do nothing anymore.
   if (predicted_object_itr == predicted_objects.objects.end()) {
     return;
   }
 
-  // Previous closest obstacle is in the perception lists
-  const auto obstacle_itr = std::find_if(
+  const auto is_disappeared_from_stop_obstacle = std::none_of(
     stop_obstacles.begin(), stop_obstacles.end(),
     [&](const auto & obstacle) { return obstacle.uuid == prev_closest_stop_obstacle_ptr_->uuid; });
-
-  // Previous closest obstacle is both in the perception lists and target obstacles
-  if (obstacle_itr != stop_obstacles.end()) {
-    if (current_closest_stop_obstacle) {
-      if ((current_closest_stop_obstacle->uuid == prev_closest_stop_obstacle_ptr_->uuid)) {
-        // prev_closest_obstacle is current_closest_stop_obstacle just return the target
-        // obstacles(in target obstacles)
-        prev_closest_stop_obstacle_ptr_ =
-          std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
-      } else {
-        // New obstacle becomes new stop obstacle
-        prev_closest_stop_obstacle_ptr_ =
-          std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
-      }
-    } else {
-      // Previous closest stop obstacle becomes cruise obstacle
-      prev_closest_stop_obstacle_ptr_ = nullptr;
-    }
-  } else {
-    // prev obstacle is not in the target obstacles, but in the perception list
+  if (is_disappeared_from_stop_obstacle) {
+    // re-evaluate as a stop candidate, and overwrite the current decision if "maintain stop"
+    // condition is satisfied
     const double elapsed_time = (current_time - prev_closest_stop_obstacle_ptr_->stamp).seconds();
     if (
       predicted_object_itr->kinematics.initial_twist_with_covariance.twist.linear.x <
@@ -1433,13 +1411,13 @@ void ObstacleCruisePlannerNode::checkConsistency(
       stop_obstacles.push_back(*prev_closest_stop_obstacle_ptr_);
       return;
     }
+  }
 
-    if (current_closest_stop_obstacle) {
-      prev_closest_stop_obstacle_ptr_ =
-        std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
-    } else {
-      prev_closest_stop_obstacle_ptr_ = nullptr;
-    }
+  if (current_closest_stop_obstacle) {
+    prev_closest_stop_obstacle_ptr_ =
+      std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
+  } else {
+    prev_closest_stop_obstacle_ptr_ = nullptr;
   }
 }