add guard

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp

@@ -355,10 +355,11 @@ class PlannerInterface
         longitudinal_info.limit_min_accel, std::numeric_limits<double>::max(), false};
       type_specified_param_list.emplace("default", default_param);
       for (const auto & [type_uint, type_str] : types_maps) {
-        if (node.declare_parameter<bool>(
-              param_prefix + "use_type_specified_params." + type_str)) {
+        if (node.declare_parameter<bool>(param_prefix + "use_type_specified_params." + type_str)) {
           const ObstacleSpecificParams param{
-            node.declare_parameter<double>(param_prefix + "limit_min_acc." + type_str),
+            std::min(
+              node.declare_parameter<double>(param_prefix + "limit_min_acc." + type_str),
+              longitudinal_info.min_accel),
             node.declare_parameter<double>(param_prefix + "limit_max_dist." + type_str),
             node.declare_parameter<bool>(param_prefix + "abandon_to_stop." + type_str)};
           type_specified_param_list.emplace(type_str, param);