fix(avoidance): fix sudden deceleration

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Dec 7, 2023 · 703905e · 703905e
1 parent dd0d6eb
commit 703905e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -1702,7 +1702,7 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const
   // insert slow down speed.
   const double current_target_velocity = PathShifter::calcFeasibleVelocityFromJerk(
     shift_length, helper_->getLateralMinJerkLimit(), distance_to_object);
-  if (current_target_velocity < getEgoSpeed() && decel_distance < remaining_distance) {
+  if (current_target_velocity < getEgoSpeed() + parameters_->buf_slow_down_speed) {
     utils::avoidance::insertDecelPoint(
       getEgoPosition(), decel_distance, parameters_->velocity_map.front(), shifted_path.path,
       slow_pose_);