modify zhaji pro

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -963,23 +963,23 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                 else if(gpsMapLine[PathPoint+300]->mode2==23 && realspeed>15)
                                         minDecelerate=-0.5;
                 else if(gpsMapLine[PathPoint+100]->mode2==23)
-                                        minDecelerate=-0.5;
+                                        minDecelerate=-0.6;
             }
             else if(PathPoint+300<gpsMapLine.size()){
                 if(gpsMapLine[PathPoint+300]->mode2==23 && realspeed>15)
                                         minDecelerate=-0.5;
                 else if(gpsMapLine[PathPoint+100]->mode2==23)
-                                        minDecelerate=-0.5;
+                                        minDecelerate=-0.6;
             }
             else if(PathPoint+150<gpsMapLine.size()){
                 if(gpsMapLine[PathPoint+150]->mode2==23 && realspeed>10)
                                         minDecelerate=-0.5;
                 else if(gpsMapLine[PathPoint+100]->mode2==23)
-                                        minDecelerate=-0.5;
+                                        minDecelerate=-0.6;
             }
             else if(PathPoint+100<gpsMapLine.size()){
                     if(gpsMapLine[PathPoint+100]->mode2==23)
-                                        minDecelerate=-0.5;
+                                        minDecelerate=-0.6;
             }
     }
 
@@ -3707,10 +3707,14 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
     static int obstacle_disable=0;
 
     if(  gpsMapLine[PathPoint]->mode2==3000){
-        if(obsDistance>7){
+        if(obsDistance>7){       //7   zj-5
             obsDistance=200;
         }
+        if(realspeed>5){
+            minDecelerate=-0.5;
+        }else{
         dSpeed=min(dSpeed,5.0);
+        }
 //        givlog->debug("brain_decition","mode2: %d",
 //                      gpsMapLine[PathPoint]->mode2);