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@@ -1537,9 +1537,9 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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//shiyanbizhang 0929
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- if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)//&& (avoid_speed_flag==true) //
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+ if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>1)//&& (avoid_speed_flag==true) //
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&&(vehState==normalRun||vehState==backOri || vehState==avoiding) &&(ObsTimeStart==-1)
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- && (gpsMapLine[PathPoint]->runMode==1)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)){
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+ && (gpsMapLine[PathPoint]->runMode==1)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
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ObsTimeStart=GetTickCount();
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//dSpeed = min(6.0,dSpeed);
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cout<<"\n====================preAvoid time count start==================\n"<<endl;
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HAPO