diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 4df404a3ccb27..f70a03f5ae7af 100644
--- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -226,12 +226,9 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
 
   // Calculate stop point with margin
   const auto p_stop_line = getStopPointWithMargin(*path, path_intersects);
-
-  std::optional<geometry_msgs::msg::Pose> default_stop_pose = std::nullopt;
-  if (p_stop_line.has_value()) {
-    default_stop_pose = toStdOptional(
-      calcLongitudinalOffsetPose(path->points, p_stop_line->first, p_stop_line->second));
-  }
+  // TODO(murooka) add a guard of p_stop_line
+  const auto default_stop_pose = toStdOptional(
+    calcLongitudinalOffsetPose(path->points, p_stop_line->first, p_stop_line->second));
 
   // Resample path sparsely for less computation cost
   constexpr double resample_interval = 4.0;
@@ -996,8 +993,6 @@ void CrosswalkModule::setDistanceToStop(
     const auto & ego_pos = planner_data_->current_odometry->pose.position;
     const double dist_ego2stop = calcSignedArcLength(ego_path.points, ego_pos, *stop_pos);
     setDistance(dist_ego2stop);
-  } else {
-    setDistance(std::numeric_limits<double>::lowest());
   }
 }