change some parameter comparison for xunluoche

src/decition/decition_brain_sf_midcar_xunluoche/decition/decide_gps_00.cpp

@@ -1907,10 +1907,12 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         cout<<"\n====================preAvoid time count finish==================\n"<<endl;
     }
 
-    if((obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis)||(road_permit_avoid==false)||(front_car_decide_avoid==false)){
+//    if((obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis)||(road_permit_avoid==false)||(front_car_decide_avoid==false)){  //xunluoche,20211203,cxw
+       if((obsDistance<0 ||obsDistance>ServiceCarStatus.socfDis+20)) {
         ObsTimeStart=-1;
         ObsTimeEnd=-1;
         ObsTimeSpan=-1;
+
         avoid_speed_flag=false;
     }
 
@@ -2292,7 +2294,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     transferGpsMode2(gpsMapLine);
     //巡逻车临时停车逻辑，begin，20211203，cxw
-    unsigned int parkpointnum=-1;
+    int parkpointnum=-1;
     double min_distoparkpoint =8;
     bool parktimeEN = false;
     QTime parktimer;
@@ -3618,7 +3620,8 @@ int iv::decition::DecideGps00::chooseBackRoad(iv::LidarGridPtr lidarGridPtr, GPS
         return -1;
     }
 
-    if ((GetDistance(now_gps_ins, startAvoidGpsInsVector[roadOri])>max(avoidMinDistanceVector[roadOri],40.0)) &&
+//    if ((GetDistance(now_gps_ins, startAvoidGpsInsVector[roadOri])>max(avoidMinDistanceVector[roadOri],40.0)) &&
+      if ((GetDistance(now_gps_ins, startAvoidGpsInsVector[roadOri])>max(avoidMinDistanceVector[roadOri],15.0)) &&   //cunluoche,20211203,cxw
             (checkReturnEnable(avoidX, lidarGridPtr, roadOri)))
     {
         roadPre = roadOri;
@@ -3630,7 +3633,8 @@ int iv::decition::DecideGps00::chooseBackRoad(iv::LidarGridPtr lidarGridPtr, GPS
         for (int i = roadOri + 1;i < roadNow;i++) {
             if (checkReturnEnable(avoidX, lidarGridPtr, i)&&
                     (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  avoidMinDistanceVector[i])&&
-                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])> 30.0))
+//                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])> 30.0))
+                      (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  15.0))  //20211203,cunluoche ,cxw
             {
                 roadPre = i;
                 return roadPre;
@@ -3643,7 +3647,8 @@ int iv::decition::DecideGps00::chooseBackRoad(iv::LidarGridPtr lidarGridPtr, GPS
         for (int i = roadOri - 1;i > roadNow;i--) {
             if (checkReturnEnable(avoidX, lidarGridPtr, i)&&
                     (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>avoidMinDistanceVector[i])&&
-                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  30.0))
+//                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  30.0))
+                      (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  15.0))  //20211203,cunluoche ,cxw
             {
                 roadPre = i;
                 return roadPre;