modify speed control

src/decition/decition_brain/decition/adc_adapter/hapo_adapter.cpp

@@ -171,7 +171,7 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
     }
 
     //0227 10m nei xianzhi shache
-    if(obsDistance<10 &&obsDistance>0){
+    if(obsDistance<6 &&obsDistance>0){
         controlSpeed=0;
         controlBrake=max(controlBrake,0.8f);
     }

src/decition/decition_brain/decition/adc_tools/compute_00.cpp

@@ -107,11 +107,11 @@ int iv::decition::Compute00::getDesiredSpeed(std::vector<GPSData> gpsMap)
                                 {
                                 if(MarkingCount<150)
                                 {
-                                     if((BackAveFive-FrontAveFive)<4)
+                                     if((BackAveFive-FrontAveFive)<=4.0)
                                      {
                                            (*gpsMap[MarkingIndex]).roadMode=14;   //弯道，2米,14
                                      }
-                                     else if((BackAveFive-FrontAveFive)>4)
+                                     else if((BackAveFive-FrontAveFive)>4.0)
                                      {
                                            (*gpsMap[MarkingIndex]).roadMode=15;
                                      }

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -1239,6 +1239,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     }else if (gpsMapLine[PathPoint]->roadMode == 11)
     {
         dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode11,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
 
     }else if (gpsMapLine[PathPoint]->roadMode == 14)
     {
@@ -1258,18 +1260,21 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     {
         // dSpeed = min(10.0,dSpeed);
         dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode16,dSpeed);
-        gps_decition->leftlamp = true;
-        gps_decition->rightlamp = false;
+        //gps_decition->leftlamp = true;
+        //gps_decition->rightlamp = false;
     }else if (gpsMapLine[PathPoint]->roadMode == 17)
     {
         //  dSpeed = min(10.0,dSpeed);
         dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode17,dSpeed);
-        gps_decition->leftlamp = false;
-        gps_decition->rightlamp = true;
+        //gps_decition->leftlamp = false;
+        //gps_decition->rightlamp = true;
     }else if (gpsMapLine[PathPoint]->roadMode == 18)
     {
         // dSpeed = min(10.0,dSpeed);
         dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode18,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
+
         /*if(gpsMapLine[PathPoint]->light_left_or_right == 1)
         {
             gps_decition->leftlamp = true;