diff --git a/op_planner/include/op_planner/RoadNetwork.h b/op_planner/include/op_planner/RoadNetwork.h
index 831ca5f..e6ebefa 100755
--- a/op_planner/include/op_planner/RoadNetwork.h
+++ b/op_planner/include/op_planner/RoadNetwork.h
@@ -1273,6 +1273,7 @@ class PlanningParams
 	bool 	enableTrafficLightBehavior;
 	bool 	enableStopSignBehavior;
 	bool 	enableTimeOutAvoidance;
+	bool 	enableFinalLocalPathUpdate;
 	double 	avoidanceTimeOut;
 
 	bool 	enabTrajectoryVelocities;
@@ -1319,6 +1320,7 @@ class PlanningParams
 		enableLaneChange = false;
 		enableStopSignBehavior = false;
 		enabTrajectoryVelocities = false;
+		enableFinalLocalPathUpdate = true;
 		minIndicationDistance = 15;
 
 		enableTimeOutAvoidance = false;
diff --git a/op_planner/src/DecisionMaker.cpp b/op_planner/src/DecisionMaker.cpp
index e75bdc2..7e64aaa 100755
--- a/op_planner/src/DecisionMaker.cpp
+++ b/op_planner/src/DecisionMaker.cpp
@@ -536,7 +536,7 @@ void DecisionMaker::InitBehaviorStates()
 
 	if((currIndex > index_limit
 			|| preCalcPrams->bRePlan
-			|| preCalcPrams->bNewGlobalPath) && !preCalcPrams->bFinalLocalTrajectory && m_iSinceLastReplan > m_params.nReliableCount)
+			|| preCalcPrams->bNewGlobalPath) && (!preCalcPrams->bFinalLocalTrajectory || m_params.enableFinalLocalPathUpdate) && m_iSinceLastReplan > m_params.nReliableCount)
 	{
 		m_iSinceLastReplan = 0;
 		return true;
@@ -558,7 +558,7 @@ void DecisionMaker::InitBehaviorStates()
 
 	if((currIndex > index_limit
 			|| preCalcPrams->bRePlan
-			|| preCalcPrams->bNewGlobalPath) && !preCalcPrams->bFinalLocalTrajectory && m_iSinceLastReplan > m_params.nReliableCount)
+			|| preCalcPrams->bNewGlobalPath) && (!preCalcPrams->bFinalLocalTrajectory || m_params.enableFinalLocalPathUpdate) && m_iSinceLastReplan > m_params.nReliableCount)
 	{
 		//Debug
 		//std::cout << "New Local Plan !! " << currIndex << ", "<< preCalcPrams->bRePlan << ", " << preCalcPrams->bNewGlobalPath  << ", " <<  m_TotalPath.at(0).size() << ", PrevLocal: " << m_Path.size();