modify final brake

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -998,6 +998,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                         if(PathPoint+forecast_final_point>gpsMapLine.size())
                         {                           
                             distance_to_end=computeDistToEnd(gpsMapLine,PathPoint);
+                            givlog->debug("decition_brain","distoend: %f",
+                                            distance_to_end);
                             if((forecast_final>=distance_to_end)&&(realspeed>3)){
                                                         final_brake=true;
                                                         if(BrakePoint==-1)
@@ -1014,12 +1016,12 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                         }
                         if(final_brake==true){
                                 if((realspeed>3)&&(final_brake_lock==false)){
-                                            minDecelerate=-0.5;
+                                            minDecelerate=-0.7;
                                 }else{
                                             dSpeed=min(dSpeed, 3.0);
                                             final_brake_lock=true;                                            
-                                            if(distance_to_end<5){
-                                                            minDecelerate=-0.5;
+                                            if(distance_to_end<0.8){
+                                                            minDecelerate=-0.7;
                                             }
 
                                 }
@@ -1030,8 +1032,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     if(!ServiceCarStatus.inRoadAvoid){
         roadOri = gpsMapLine[PathPoint]->roadOri;
         roadSum = gpsMapLine[PathPoint]->roadSum;      
-        givlog->debug("decition_brain","roadOri: %d",
-                        roadOri);
+
     }else{
         roadOri=gpsMapLine[PathPoint]->roadOri*3+1;
         roadSum = gpsMapLine[PathPoint]->roadSum*3;