fix(avoidance): fix unexpected sudden deceleration for avoidance mane…

…uver (autowarefoundation#5805) fix(avoidance): fix sudden deceleration Signed-off-by: satoshi-ota <[email protected]>
Interplai · May 28, 2024 · dbd801f · dbd801f
1 parent b7ca100
commit dbd801f
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
@@ -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_);