change park.

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 * 1.1,ServiceCarStatus.mfMaxWheel,45,ServiceCarStatus.mfParkLastStraightDis);
+    VerticalParkCalc xCalc(pt.y,pt.x*(-1),hdgrel,ServiceCarStatus.mfMinRadius ,ServiceCarStatus.mfMaxWheel,45,ServiceCarStatus.mfParkLastStraightDis);
     xCalc.CalcPark();
 
     std::vector<iv::VerticalParkPoint> xvectorverticalparkpoint;

src/decition/decition_brain_sf_changan_shenlan/decition/brain.cpp

@@ -531,7 +531,7 @@ void iv::decition::BrainDecition::run() {
                     decition_gps->brake = -2;//保证在进入自动驾驶的时候车辆能够泄压,否则进入自动驾驶车辆无法加速
                 }
 
-   //             decition_gps->brake = 0;
+//                decition_gps->brake = 0;
                 decition_gps->torque=0;
                 decition_gps->acc_active = 0;//ACC扭矩请求激活（为1激活，为0不激活），不激活后不执行扭矩请求，对于深蓝没什么用，因为控制模块直接给的1
                 decition_gps->brake_active = 0;//ACC减速激活（为1制动激活，为0制动不激活）
@@ -542,7 +542,7 @@ void iv::decition::BrainDecition::run() {
                // ServiceCarStatus.ang_debug=ServiceCarStatus.ang_debug*15.9;//如果xml中配置的是车轮转角
                 ServiceCarStatus.ang_debug=max((double)-430.0,ServiceCarStatus.ang_debug);
                 ServiceCarStatus.ang_debug=min((double)430.0,ServiceCarStatus.ang_debug);
-                decition_gps->wheel_angle = ServiceCarStatus.ang_debug;//= -430;// ServiceCarStatus.ang_debug;//0;
+                decition_gps->wheel_angle =ServiceCarStatus.ang_debug;//= -430;// ServiceCarStatus.ang_debug;//0;
 
 
                 double dSpeed=200;

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -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<3)||(angdis>357)))||(xx<(-0.3)))
+        if((((angdis<3)||(angdis>357)))||(xx<(-0.5)))
             //       if((((angdis<4)||(angdis>356)))&&(dis<2.0))
         {
             vehState = reverseDirect;
@@ -731,7 +731,8 @@ 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().dTpoint0.gps_x,Compute00().dTpoint0.gps_y, aim_gps_ins);
         double xx= (pt1.y-pt2.y);
-        if(xx < 0.1) //(dis<2.0)
+        double fsd = 0.6* secSpeed * secSpeed/(2*1.5);
+        if((xx < 0.01) ||(xx<fsd))//(dis<2.0)
         {
             vehState = dRever1;
             if(Compute00().mSideParkType == SideParkType::TwoStep)vehState = dRever4;