Merge branch 'master' of http://192.168.14.36:3000/adc_pilot/modularization

src/decition/decition_brain_sf/decition/adc_adapter/hapo_adapter.cpp

@@ -45,9 +45,9 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
         if(obsDistance>0 && obsDistance<10){
             controlBrake= u*1.0;     //1.5    zj-1.2
         }
-        if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && !turn_around){
+        if(abs(dSpeed-realSpeed)<1 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && !turn_around){
             controlBrake=0;
-            controlSpeed=max(0.0,ServiceCarStatus.torque_st-10.0);
+            controlSpeed=max(0.0,ServiceCarStatus.torque_st-2.0);
         }else if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && turn_around
                  && dSpeed>0 && lastBrake==0){
             controlBrake=0;
@@ -192,13 +192,12 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
     lastTorque=(*decition)->torque;
 
 
-//    if((*decition)->brake>0)
-//    {
-
     givlog->debug("brain_decition","brake: %f,obsDistance: %f,obsSpeed: %f,reverse_speed: %f",
                             (*decition)->brake,obsDistance,obsSpeed,reverse_speed);
 
-//    }
+    givlog->debug("brain_decition","dSpeed: %f,realspeed: %f,brake: %f,torque: %f",
+                            dSpeed,realSpeed,(*decition)->brake,(*decition)->torque);
+
 
 
 

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -256,9 +256,9 @@ int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
                 {
                     if((doubledata[i][3]>-0.2)&&(doubledata[i][3]<0.2)){
                         MapTrace[i]->roadMode=0;
-                    }else if(((doubledata[i][3]>0.2)&&(doubledata[i][3]<0.4))||((doubledata[i][3]>-0.4)&&(doubledata[i][3]<-0.2))){
+                    }else if(((doubledata[i][3]>0.2)&&(doubledata[i][3]<0.3))||((doubledata[i][3]>-0.3)&&(doubledata[i][3]<-0.2))){
                         MapTrace[i]->roadMode=5;
-                    }else if(((doubledata[i][3]>0.4)&&(doubledata[i][3]<1.0))||((doubledata[i][3]>-1.0)&&(doubledata[i][3]<-0.4))){
+                    }else if(((doubledata[i][3]>0.3)&&(doubledata[i][3]<1.0))||((doubledata[i][3]>-1.0)&&(doubledata[i][3]<-0.3))){
                         MapTrace[i]->roadMode=18;
                     }else if(((doubledata[i][3]>1.0))||((doubledata[i][3]<-1.0))){
                         MapTrace[i]->roadMode=14;

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -987,8 +987,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         roadSum = gpsMapLine[PathPoint]->roadSum*3;
     }
 
-    roadOri =0;
-    roadSum =2;
+//    roadOri =0;
+//    roadSum =2;
 
     if(roadNowStart){
         roadNow=roadOri;