modify station park

src/decition/decition_brain_sf/decition/adc_adapter/sightseeing_adapter.cpp

@@ -193,7 +193,7 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
 
     controlBrake=0;
 
-    float distance_to_end=DecideGps00::DistanceToEnd;
+    float distance_to_end=DecideGps00::DistanceToEnd+1.0;
  //   if(DecideGps00::PathPoint+1500>gpsMapLine.size())
 //    {
 //        distance_to_end=computeDistToEnd(gpsMapLine,PathPoint);
@@ -201,11 +201,18 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
 //                        distance_to_end);
 //    }
 
-    if(distance_to_end>0.3 && distance_to_end<=10){
+    if(distance_to_end>1.0 && distance_to_end<=20){
                 dSpeed=min((double)dSpeed, 2.0);
-    }else if(distance_to_end<=0.3){
+    }else if(distance_to_end<=1.0){
                 dSpeed=0;
-                controlBrake=200;
+                if(realSpeed>0.05){
+                    if(distance_to_end<=0.2){
+                        controlBrake=2300;
+                    }else{
+                        controlBrake=1500;
+                    }
+                }
+
     }
 
     if(obsDistance>5 && obsDistance<=15){
@@ -216,6 +223,7 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
 
     if((dSpeed==0)&&(realSpeed<0.1)){
             final_handbrake=true;
+            controlBrake=0;
     }else{
             final_handbrake=false;
     }