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@@ -1043,14 +1043,14 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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}
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if(!circleMode && distoend<50){
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double nowspeed = realspeed/3.6;
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- if((distoend<10)||(distoend<(nowspeed*nowspeed)))
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+ if((distoend<10)||(distoend<(nowspeed*nowspeed)+2))
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{
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if(distoend == 0.0)distoend = 0.09;
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acc_end = (-1.0)*nowspeed*nowspeed/(2.0*distoend);
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if(acc_end<(-3.0))acc_end = -3.0;
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}
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- if((distoend < 0.1)||(PathPoint>=gpsMapLine.size()-2))acc_end = -0.5;
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+ if((distoend < 2.1)||(PathPoint>=gpsMapLine.size()-2))acc_end = -0.5;
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}
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}else{
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// if(!circleMode && PathPoint>gpsMapLine.size()-brake_distance){
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zhangjia