diff --git a/FS25_ADSmartPickup/adSmartPickup.lua b/FS25_ADSmartPickup/adSmartPickup.lua
index 0ad5b78..a830ea2 100644
--- a/FS25_ADSmartPickup/adSmartPickup.lua
+++ b/FS25_ADSmartPickup/adSmartPickup.lua
@@ -1248,6 +1248,7 @@ function ADSmartPickup:update(dt)
             Logging.warning(ADSmartPickup.LOG_PREFIX .. "markarbejde fejlede: %s", tostring(errFields))
         end
     end
+    if ADStuckDiag ~= nil then pcall(ADStuckDiag.tick, dt) end
     local ok, err = pcall(restoreStoppedVehicles)
     if not ok then
         Logging.warning(ADSmartPickup.LOG_PREFIX .. "kunne ikke gendanne varevalg: %s", tostring(err))
diff --git a/FS25_ADSmartPickup/adStuckDiag.lua b/FS25_ADSmartPickup/adStuckDiag.lua
new file mode 100644
index 0000000..0e982cc
--- /dev/null
+++ b/FS25_ADSmartPickup/adStuckDiag.lua
@@ -0,0 +1,79 @@
+-- AD Stuck Diag
+-- Diagnose: et aktivt AutoDrive-køretøj der har holdt stille længe, logges med AutoDrives egen grund
+-- (forhindring, AD-trafik på ruten + hvem, pause, mål nået) og om Smart Pickup holder det (Wait/udkørsel).
+-- Kun læsning — ændrer intet. Logges én gang pr. ændret tilstand.
+
+ADStuckDiag = {}
+
+ADStuckDiag.CHECK_INTERVAL_MS = 10000
+ADStuckDiag.STILL_MS = 20000
+ADStuckDiag.STILL_SPEED = 0.00028 -- samme grænse som AD's egen stoppedTimer (m/ms)
+
+local stillMs = setmetatable({}, {__mode = "k"})
+local lastText = setmetatable({}, {__mode = "k"})
+local timerMs = 0
+
+local function name(vehicle)
+    if vehicle == nil then return "-" end
+    local ok, text = pcall(vehicle.getName, vehicle)
+    return ok and tostring(text) or "?"
+end
+
+local function taskName(vehicle)
+    local taskModule = vehicle.ad.taskModule
+    local task = taskModule ~= nil and taskModule.activeTask or nil
+    if task == nil then return "ingen" end
+    return tostring(task.taskType or "ukendt")
+end
+
+-- Tekst der beskriver hvorfor køretøjet står (nil hvis ukendt/ikke relevant).
+function ADStuckDiag.describe(vehicle)
+    local ad = vehicle.ad
+    local cdm, dpm, sdm = ad.collisionDetectionModule, ad.drivePathModule, ad.specialDrivingModule
+    local wayPoints, current = nil, nil
+    if dpm ~= nil and dpm.getWayPoints ~= nil then wayPoints, current = dpm:getWayPoints() end
+    local parts = {
+        string.format("opgave=%s", taskName(vehicle)),
+        string.format("mål=%s", tostring(ad.stateModule.getFirstMarkerId ~= nil and ad.stateModule:getFirstMarkerId() or "?")),
+        string.format("wp=%s/%s", tostring(current), tostring(wayPoints ~= nil and #wayPoints or nil)),
+        string.format("pause=%s", tostring(dpm ~= nil and dpm.isPaused)),
+        string.format("målNået=%s", tostring(dpm ~= nil and dpm.isTargetReached ~= nil and dpm:isTargetReached())),
+        string.format("forhindring=%s", tostring(cdm ~= nil and cdm.detectedObstable)),
+        string.format("trafik=%s", cdm ~= nil and cdm.trafficVehicle ~= nil and name(cdm.trafficVehicle) or "-"),
+        string.format("stopper=%s blokeret=%s", tostring(sdm ~= nil and sdm.isStoppingVehicle ~= nil and sdm:isStoppingVehicle()),
+            tostring(sdm ~= nil and sdm.isBlocked)),
+    }
+    local wait = ADUnloadWait ~= nil and ADUnloadWait.getWaitFor ~= nil and ADUnloadWait.getWaitFor(vehicle) or nil
+    local hold = ADOutbound ~= nil and ADOutbound.getHoldFor ~= nil and ADOutbound.getHoldFor(vehicle) or nil
+    local pickup = ADSmartPickup ~= nil and ADSmartPickup.getActivePickup ~= nil and ADSmartPickup.getActivePickup(vehicle) or nil
+    table.insert(parts, string.format("SP: wait=%s hold=%s pickup=%s",
+        wait ~= nil and tostring(wait.markerId or wait.wayPointId or "ja") or "-",
+        hold ~= nil and tostring(hold.markerId or "ja") or "-",
+        pickup ~= nil and tostring(pickup.wayPointId or pickup.markerId or "ja") or "-"))
+    return table.concat(parts, " ")
+end
+
+function ADStuckDiag.tick(dt)
+    timerMs = timerMs + (dt or 0)
+    if timerMs < ADStuckDiag.CHECK_INTERVAL_MS then return end
+    local elapsed = timerMs
+    timerMs = 0
+    local vehicles = g_currentMission ~= nil and g_currentMission.vehicleSystem ~= nil and g_currentMission.vehicleSystem.vehicles or {}
+    for _, vehicle in pairs(vehicles) do
+        local ad = vehicle.ad
+        local active = ad ~= nil and ad.stateModule ~= nil and ad.stateModule:isActive()
+        if active and (vehicle.lastSpeedReal or 0) < ADStuckDiag.STILL_SPEED then
+            stillMs[vehicle] = (stillMs[vehicle] or 0) + elapsed
+        else
+            stillMs[vehicle], lastText[vehicle] = nil, nil
+        end
+        if (stillMs[vehicle] or 0) >= ADStuckDiag.STILL_MS then
+            local ok, text = pcall(ADStuckDiag.describe, vehicle)
+            text = ok and text or ("diagnose fejlede: " .. tostring(text))
+            if text ~= lastText[vehicle] then
+                lastText[vehicle] = text
+                Logging.info("ADSmartPickup: STÅR STILLE %d s '%s': %s", math.floor(stillMs[vehicle] / 1000), name(vehicle), text)
+            end
+        end
+    end
+end
diff --git a/FS25_ADSmartPickup/modDesc.xml b/FS25_ADSmartPickup/modDesc.xml
index 5366744..f5bffb6 100644
--- a/FS25_ADSmartPickup/modDesc.xml
+++ b/FS25_ADSmartPickup/modDesc.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8" standalone="no"?>
 <modDesc descVersion="107">
     <author>masterdraco</author>
-    <version>1.35.1.0</version>
+    <version>1.35.2.0</version>
     <title>
         <en>AD Smart Pickup</en>
     </title>
@@ -13,6 +13,7 @@
     <l10n filenamePrefix="l10n/l10n"/>
     <extraSourceFiles>
         <sourceFile filename="adCache.lua"/>
+        <sourceFile filename="adStuckDiag.lua"/>
         <sourceFile filename="adSupplyPlanner.lua"/>
         <sourceFile filename="adRuns.lua"/>
         <sourceFile filename="adRunsStorage.lua"/>