modify sightseeing

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

@@ -190,6 +190,12 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
     if((obsDistance>8.0)&&(obsSpeed<reverse_speed)){
         controlBrake =0;
         controlSpeed =0;
+        accAim=0;
+    }
+    if(obsDistance>60){
+        if(accAim<-0.5){
+            accAim=max(accAim,-0.5f);
+        }
     }
 
 
@@ -199,6 +205,20 @@ iv::decition::Decition iv::decition::SightseeingAdapter::getAdapterDeciton(GPS_I
     lastTorque=(*decition)->torque;
 
 
+
+
+
+    if((ServiceCarStatus.table_look_up_on==true)&&(IsINterpolationOK()))
+    {
+        double ftorque,fbrake;
+        GetTorqueBrake(now_gps_ins.speed, accAim,ftorque,fbrake);
+        if(accAim>0){
+            ftorque=max(ftorque,3.2);
+        }
+        (*decition)->brake = fbrake;
+
+        (*decition)->torque= ftorque;
+    }
 //    givlog->debug("brain_decition","brake: %f,obsDistance: %f,obsSpeed: %f,reverse_speed: %f",
 //                            (*decition)->brake,obsDistance,obsSpeed,reverse_speed);