change veticalpark.

src/decition/decition_brain_sf_changan_shenlan/decition/adc_tools/compute_00.cpp

@@ -2193,7 +2193,7 @@ double iv::decition::Compute00::bocheComputeNew(GPS_INS nowGps, GPS_INS aimGps)
 
     double hdgrel = hdgnow - hdgaim;
 
-    VerticalParkCalc xCalc(pt.y,pt.x*(-1),hdgrel,ServiceCarStatus.mfMinRadius,ServiceCarStatus.mfMaxWheel,45,ServiceCarStatus.mfParkLastStraightDis);
+    VerticalParkCalc xCalc(pt.y,pt.x*(-1),hdgrel,ServiceCarStatus.mfMinRadius * 1.1,ServiceCarStatus.mfMaxWheel,45,ServiceCarStatus.mfParkLastStraightDis);
     xCalc.CalcPark();
 
     std::vector<iv::VerticalParkPoint> xvectorverticalparkpoint;
@@ -2583,7 +2583,7 @@ int iv::decition::Compute00::bocheDirectComputeNew(GPS_INS nowGps, GPS_INS aimGp
 
     double hdgrel = hdgnow - hdgaim;
 
-    SideParkCalc xCalc(pt.y,pt.x*(-1),hdgrel,ServiceCarStatus.mfMinRadius,ServiceCarStatus.mfMaxWheel,45,ServiceCarStatus.mfParkLastStraightDis);
+    SideParkCalc xCalc(pt.y,pt.x*(-1),hdgrel,ServiceCarStatus.mfMinRadius ,ServiceCarStatus.mfMaxWheel,45,ServiceCarStatus.mfParkLastStraightDis);
     xCalc.CalcPark();
 
     std::vector<iv::SideParkPoint> xvectorsideparkpoint;

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -557,7 +557,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     // ChuiZhiTingChe
     if (vehState == reverseCar)
     {
-        Compute00().bocheCompute(now_gps_ins, aim_gps_ins);
+        Compute00().bocheComputeNew(now_gps_ins, aim_gps_ins);
         vehState = reversing;
         qiedianCount=true;
     }
@@ -597,7 +597,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         iv::Point2D pt = iv::decition::Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y,aim_gps_ins);
         iv::Point2D ptfar = iv::decition::Coordinate_Transfer(Compute00().farTpoint.gps_x,Compute00().farTpoint.gps_y,aim_gps_ins);
         double xx = pt.y - ptfar.y;
-        if((((angdis<2)||(angdis>358)))||(xx<(-0.3)))
+        if((((angdis<3)||(angdis>357)))||(xx<(-0.3)))
             //       if((((angdis<4)||(angdis>356)))&&(dis<2.0))
         {
             vehState = reverseDirect;
@@ -630,8 +630,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
             }
 
-            controlAng =  Compute00().mfWheelAngle[1];// Compute00().bocheAngle*16.5;
-            gps_decition->wheel_angle = 0 - controlAng*1.05;
+            controlAng =  Compute00().mfWheelAngle[1] * (-1);// Compute00().bocheAngle*16.5;
+            gps_decition->wheel_angle = 0 - controlAng*1.00;
 
             cout<<"farTpointDistance================"<<dis<<endl;
 
@@ -759,7 +759,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         Point2D pt1 = Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y, aim_gps_ins);
         Point2D pt2 = Coordinate_Transfer(Compute00().dTpoint1.gps_x,Compute00().dTpoint1.gps_y, aim_gps_ins);
         double xx= (pt1.y-pt2.y);
-        if(xx < 0.1) //(dis<2.0)
+        if(xx < 0.05) //(dis<2.0)
         {
             vehState = dRever2;
             qiedianCount = true;
@@ -803,7 +803,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         Point2D pt2 = Coordinate_Transfer(Compute00().dTpoint2.gps_x,Compute00().dTpoint2.gps_y, aim_gps_ins);
         double xx= (pt1.y-pt2.y);
         // if(xx>0)
-        if(xx<0.1)
+        if(xx<0.05)
         {
             GaussProjCal(aim_gps_ins.gps_lng, aim_gps_ins.gps_lat, &aim_gps_ins.gps_x, &aim_gps_ins.gps_y);
             Point2D ptt = Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y, aim_gps_ins);
@@ -851,7 +851,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         Point2D pt2 = Coordinate_Transfer(Compute00().dTpoint3.gps_x,Compute00().dTpoint3.gps_y, aim_gps_ins);
         double angdis =abs(now_gps_ins.ins_heading_angle - aim_gps_ins.ins_heading_angle);
         double xx = pt1.y - pt2.y;
-        if((((angdis<2)||(angdis>358))) || (xx < (-0.3)))
+        if((((angdis<3)||(angdis>357))) || (xx < (-0.3)))
             //       if((((angdis<4)||(angdis>356)))&&(dis<2.0))
         // if(xx>0)
   //      if(xx<0.1)