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Hi @Mackou,

I faced the same problem with CARLA. the main reasons are:

• Signal delay Delay between the simulator and the local planner
• Controller frequency

The speed profiler in the DecisionMaker.cpp is a closed loop profiler, which utilize time delta. and it is runnin 50 hz. so when there is no velocity signal update. no change happen into the local planner side.

The workaround, in the FOLLOW case in the DecisionMaker.cpp , set the target velocity to zero. and as you did, set the additional braking distance to 15+.

If you look at my repository "openplannet.1.13" branch, I added a special flag for CARLA. whenever you find this flag, you can find simulation related workarounds.

The correct solution:

1. Make sure the controller frequency >= local planning frequency
2. Make sure that the delay between the simulator and the planner is less than 50 ms
3. Change the speed profilter in the decision maker to work as open loop and ignore feedback from the vehicle state.

Hope this is helpful.