modify final brake

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

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