From b05ede14a75223f1b61de1626efc32e81259eae2 Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Thu, 7 Dec 2023 17:08:14 +0900
Subject: [PATCH] fix(avoidance): fix sudden deceleration

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 planning/behavior_path_avoidance_module/src/scene.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
index 46c3bbe55d69d..783877e9c753d 100644
--- a/planning/behavior_path_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -1700,7 +1700,7 @@ 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_);