diff --git a/cfg/ModelCarControl.cfg b/cfg/ModelCarControl.cfg
index c7138b3fe1a4177e47829f0b6f86fbd096ceb2d9..74abfafe3c4905c04f6bd65344a775cb6c4349bf 100755
--- a/cfg/ModelCarControl.cfg
+++ b/cfg/ModelCarControl.cfg
@@ -43,6 +43,7 @@ gen.add("speed_Kp",         double_t,  0,           "Proportional constant of th
 gen.add("speed_Ki",         double_t,  0,           "Integral constant of the speed PID",         0.0,    0.0, 1000.0)
 gen.add("speed_Kd",         double_t,  0,           "Differential constant of the speed PID",     0.0,    0.0, 1000.0)
 gen.add("speed_i_max",      double_t,  0,           "Maximum integral value pf the speed PID",    10.0,   0.0, 1000.0)
+gen.add("speed_deadband",   double_t,  0,           "Minimum valid speed command",                0.1,    0.1, 1.0)
 gen.add("watchdog_time",    double_t,  0,           "Maximum time between two control commands",  0.5,    0.0, 1000.0)
 gen.add("axel_distance",    double_t,  0,           "Distance between the two axels in meters",   0.3662, 0.0, 10.0)
 gen.add("max_steer_angle",  double_t,  0,           "Maximum steering angle",                     0.4,    -1.0,1.0)
diff --git a/config/car1_params.yaml b/config/car1_params.yaml
index a97da440fcada61154ebef6aba730546a6e4c565..41b0554fe1521e4420c0995ae7b19aeaffb4e10c 100644
--- a/config/car1_params.yaml
+++ b/config/car1_params.yaml
@@ -3,6 +3,7 @@ speed_Kp: 20.0
 speed_Ki: 10.0
 speed_Kd: 0.05
 speed_i_max: 20.0
+speed_deadband: 0.1
 watchdog_time: 0.5
 axel_distance: 0.3662
 max_steer_angle: 0.4
diff --git a/config/car2_params.yaml b/config/car2_params.yaml
index a97da440fcada61154ebef6aba730546a6e4c565..41b0554fe1521e4420c0995ae7b19aeaffb4e10c 100644
--- a/config/car2_params.yaml
+++ b/config/car2_params.yaml
@@ -3,6 +3,7 @@ speed_Kp: 20.0
 speed_Ki: 10.0
 speed_Kd: 0.05
 speed_i_max: 20.0
+speed_deadband: 0.1
 watchdog_time: 0.5
 axel_distance: 0.3662
 max_steer_angle: 0.4
diff --git a/config/params.yaml b/config/params.yaml
index a97da440fcada61154ebef6aba730546a6e4c565..41b0554fe1521e4420c0995ae7b19aeaffb4e10c 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -3,6 +3,7 @@ speed_Kp: 20.0
 speed_Ki: 10.0
 speed_Kd: 0.05
 speed_i_max: 20.0
+speed_deadband: 0.1
 watchdog_time: 0.5
 axel_distance: 0.3662
 max_steer_angle: 0.4
diff --git a/src/model_car_control_alg_node.cpp b/src/model_car_control_alg_node.cpp
index 2441898e5129d55c3168a90f2e0e60c3f7e01112..28c23e3138e79ec2cd07327b0265dc6c19ae36d7 100644
--- a/src/model_car_control_alg_node.cpp
+++ b/src/model_car_control_alg_node.cpp
@@ -76,7 +76,7 @@ void ModelCarControlAlgNode::mainNodeThread(void)
       }
       else
       {
-        if(this->linear_speed_control==0.0)
+        if(fabs(this->linear_speed_control)<this->config_.speed_deadband)
         {
           this->control_AckermannDriveStamped_msg_.drive.speed=0.0;
           this->speed_pid.reset();