modify search pathpoint

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -512,9 +512,14 @@ int iv::decition::Compute00::getNearestPointIndex(GPS_INS rp, const std::vector<
     int preDistance=max(100,(int)(rp.speed*10));
         preDistance=min(500,preDistance);
 
-    int startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));     // startIndex = 0 则每一次都是遍历整条地图路线
-    int endIndex = min((int)(lastIndex + preDistance ),(int)(lastIndex+map_size));
-
+    //int startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = min((int)(lastIndex + preDistance ),(int)(map_size-1));
+    int startIndex=0;
+    if(lastIndex>100){
+        startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));
+    }else{
+        startIndex=0;
+    }
 
     for (int j = startIndex; j < endIndex; j++)
     {