Merge branch 'master' of http://47.96.250.93:3000/adc_pilot/modularization

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -1188,13 +1188,15 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
             //dSpeed = 15;//////////////////////////////
 
-            if (parkDistance < 15 && parkDistance >= 8.5 && parkDis<20)
+            if (parkDistance < 15 && parkDistance >= 12.5 && parkDis<20)
             {
                 dSpeed = min(dSpeed, 8.0);
-            }else if (parkDistance < 8.5 && parkDistance >= 5.5 && parkDis<9.0){
+            }else if (parkDistance < 12.5 && parkDistance >= 8.5 && parkDis<15.0){
                 dSpeed = min(dSpeed, 5.0);
-            }else if(parkDistance < 5.5 && parkDis<6.0){
+            }else if (parkDistance < 8.5 && parkDistance >= 5.5 && parkDis<9.0){
                 dSpeed = min(dSpeed, 3.0);
+            }else if(parkDistance < 5.5 && parkDis<6.0){
+                dSpeed = min(dSpeed, 1.0);
             }
 
 
@@ -1628,7 +1630,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     if (parkMode)
     {
-        minDecelerate=-1.0;
+        minDecelerate=-0.4;
 
         if(finishPointNum<0||finishPointNum>=gpsMapLine.size()){
             parkMode=false;