modify cross pro

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -916,7 +916,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     obsDistanceAvoid = -1;
     esrIndexAvoid = -1;
     roadPre = -1;
-    dSpeed = 80;
+    //dSpeed = ServiceCarStatus.mroadmode_vel.mfmode0;
 
     gpsTraceOri.clear();
     gpsTraceNow.clear();
@@ -1141,7 +1141,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
     //  dSpeed = getSpeed(gpsTraceNow);
-
+    dSpeed =80;
     planTrace.clear();//Add By YuChuli, 2020.11.26
     for(int i=0;i<gpsTraceNow.size();i++){
         TracePoint pt(gpsTraceNow[i].x,gpsTraceNow[i].y);
@@ -3755,7 +3755,8 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
     static int speed_slowdown_flag=0;
     static bool lock_flag=false;
     double forecast_distance=0;
-    int forecast_point_num;
+    int forecast_point_num=0;
+    bool cross=false;
 
     double secLowSpeed=ServiceCarStatus.mroadmode_vel.mfmode18/3.6;   //m/s
     if(secSpeed>secLowSpeed)
@@ -3765,6 +3766,17 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
         if((PathPoint+forecast_point_num+2)>gpsMapLine.size())
                                                 forecast_point_num=0;
     }
+    if((PathPoint+forecast_point_num-8>0)&&(PathPoint+forecast_point_num+8<gpsMapLine.size()))
+    {
+        for(int i=PathPoint+forecast_point_num-8;i<PathPoint+forecast_point_num+8;i++)
+        {
+            if(gpsMapLine[i]->mode2==5000)
+                cross=true;
+        }
+    }
+
+    givlog->debug("decition_brain","PATHFORE: %d,Forecast: %d,cross: %d",
+                PathPoint+forecast_point_num,forecast_point_num,cross);
 
     if(  gpsMapLine[PathPoint]->mode2==3000){
         if(obsDistance>4){       //7   zj-5
@@ -3785,7 +3797,7 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
              obstacle_disable=0;
     }else if(gpsMapLine[PathPoint]->mode2==4000){
         ServiceCarStatus.msysparam.vehWidth=5.6;
-    }else if((gpsMapLine[PathPoint+forecast_point_num]->mode2==5000)||(gpsMapLine[PathPoint+forecast_point_num+1]->mode2==5000)||(gpsMapLine[PathPoint+forecast_point_num-1]->mode2==5000)){
+    }else if(cross==true){
             speed_slowdown_flag=1;
             lock_flag=false;
     }else if(gpsMapLine[PathPoint]->mode2==5001){