change decition_brain_sf_Jeely_xingyueL.

src/decition/decition_brain_sf_Jeely_xingyueL/decition/groupspeedctrl.cpp

@@ -211,23 +211,41 @@ double GroupSpeedCtrl::Getmindec_front(iv::group::groupinfo & xgroupinfo,
 
     const double fVehMinDis = mfDis_MaxDec_Front;
 
+
+
    //前车车速大于当前车，并且距离>30米， 不制动
-    if((fdistocur > (fVehMinDis*1.5)) &&(pvehbefore->mgpsimu().speed() >= fsecspeednow ))
+//    if((fdistocur > (fVehMinDis*1.5)) &&(pvehbefore->mgpsimu().speed() >= fsecspeednow ))
+//    {
+//        return 0.0;
+//    }
+
+    if(fdistocur>50)
     {
         return 0.0;
     }
 
     double fspeeddiff = fsecspeednow - pvehbefore->mgpsimu().speed();
 
-    if(fspeeddiff > 0)
+    if(fspeeddiff > 0.1)
     {
         if(((fspeeddiff*fspeeddiff/(2*1.0))+fVehMinDis) < fdistocur)
         {
-            assert((fdistocur-fVehMinDis)>0);
+//            assert((fdistocur-fVehMinDis)>0);
             double fdec = (-1.0) * fspeeddiff*fspeeddiff/(2*(fdistocur - fVehMinDis));
             return fdec;
         }
     }
+    else
+    {
+        if(fabs(pvehbefore->mgpsimu().speed())<0.1)
+        {
+            return -1.0;
+        }
+        else
+            return 0.0;
+    }
+
+    return 0.0;
 
     if((fdistocur < (fVehMinDis*1.5)) && (fabs(pvehbefore->mgpsimu().speed()) < 0.3))
     {