feat(obstacle_cruise_planner): suppress sudden slow down (#3905)

* feat(obstacle_cruise_planner): suppress flickering to entry slow down Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * update config Signed-off-by: Takayuki Murooka <[email protected]> * feat(obstacle_cruise_planner): suppress sudden slow down Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jun 5, 2023 · dc9282d · dc9282d
1 parent 30253b1
commit dc9282d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp
@@ -607,7 +607,7 @@ PlannerInterface::calculateDistanceToSlowDownWithConstraints(
       if (prev_output) {
         return prev_output->target_vel;
       }
-      return slow_down_vel;
+      return std::max(planner_data.ego_vel, slow_down_vel);
     }
     if (planner_data.ego_vel < slow_down_vel) {
       return slow_down_vel;