Regional Jet CL65; Undifferentiated or Other Model
Flight Crew Instrument; Flight Crew Multiengine; Flight Crew Air Transport Pilot (ATP)
Communication Breakdown; Situational Awareness
ATC Issue All Types; Conflict Ground Conflict; Less Severe; Deviation / Discrepancy - Procedural Published Material / Policy; Ground Incursion Runway
Flight Crew Returned To Clearance
Airport; Procedure
We were cleared for takeoff from the hold short line as Aircraft Y was exiting the runway downrange. I was the Pilot Flying and I lined up on the runway and initiated the takeoff roll. I then realized Aircraft Y had stopped on the perpendicular taxiway upon exiting. The tail of the aircraft seemed close to the runway safety area but it was impossible to know for sure from a distance whether it was encroaching in it. Since I convinced myself that the aircraft was close but clear of the runway; I elected to continue the takeoff. After liftoff and upon passing abeam the stopped Aircraft Y; it was noted that its tail cone was about 5-6 ft. on the runway side of the hold short line (more if you consider the vertical stabilizer/rudder angle).The main cause of this incident is the early takeoff clearance given to us by the Tower before the inbound aircraft was fully clear of the runway. A contributing factor was the inability of the flight crew to judge whether any part of the aircraft was encroaching the runway safety area and their decision to continue the takeoff roll regardless of their concern. 1) The Tower should not have cleared the outbound aircraft for takeoff until it was verified that the inbound aircraft was clear of the runway 2) The flight crew should have aborted the takeoff roll as a precaution when the concern surfaced.
CRJ Captain reported receiving clearance for takeoff while previous arrival was not clear of the runway safety area.