modify decision pro

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -1538,9 +1538,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     //shiyanbizhang 0929
     if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>1)//&& (avoid_speed_flag==true)        //
-            &&(vehState==normalRun||vehState==backOri || vehState==avoiding) &&(ObsTimeStart==-1)
-            && (gpsMapLine[PathPoint]->runMode==1)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
-        ObsTimeStart=GetTickCount();
+            &&(vehState==normalRun||vehState==backOri || vehState==avoiding) //&&(ObsTimeStart==-1)
+            && (gpsMapLine[PathPoint]->runMode==1)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
+//        ObsTimeStart=GetTickCount();
+        ObsTimeEnd+=1.0;
         //dSpeed = min(6.0,dSpeed);
         cout<<"\n====================preAvoid time count start==================\n"<<endl;
     }
@@ -1565,9 +1566,9 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
 
-    if((ObsTimeStart!=-1)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)){
-            ObsTimeEnd+=1.0;
-    }
+//    if((ObsTimeStart!=-1)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)){
+//            ObsTimeEnd+=1.0;
+//    }
 
     if(ObsTimeEnd>ObsTimeWidth &&(obsDistance>1.5||obsDistance<0) && (gpsMapLine[PathPoint]->runMode==1)){ //1026
         vehState=avoidObs;
@@ -1927,8 +1928,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     phaseSpeedDecition(gps_decition, secSpeed, obsDistance, obsSpeed,now_gps_ins);
 
 
-    givlog->debug("decition_brain","vehState: %d,PathPoint: %d,dSpeed: %f,obsDistance: %f,obsSpeed: %f,realspeed: %f,minDecelerate: %f,torque: %f,brake: %f,wheel_angle: %f,obs_speed_for_avoid: %f",
-            vehState,PathPoint,dSpeed,obsDistance,obsSpeed,realspeed,minDecelerate,gps_decition->torque,gps_decition->brake,gps_decition->wheel_angle,obs_speed_for_avoid);
+    givlog->debug("decition_brain","vehState: %d,PathPoint: %d,dSpeed: %f,obsDistance: %f,obsSpeed: %f,realspeed: %f,minDecelerate: %f,torque: %f,brake: %f,wheel_angle: %f,obs_speed_for_avoid: %f,mode2: %d",
+            vehState,PathPoint,dSpeed,obsDistance,obsSpeed,realspeed,minDecelerate,gps_decition->torque,gps_decition->brake,gps_decition->wheel_angle,obs_speed_for_avoid,gpsMapLine[PathPoint]->mode2);
 
     if(ServiceCarStatus.txt_log_on==true){
         QDateTime dt = QDateTime::currentDateTime();
@@ -3725,15 +3726,15 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
     static bool lock_flag=false;
 
     if(  gpsMapLine[PathPoint]->mode2==3000){
-        if(obsDistance>7){       //7   zj-5
+        if(obsDistance>4){       //7   zj-5
             obsDistance=200;
         }else{
             lock_flag=false;
         }
-        if((realspeed>5)&&(lock_flag==false)){
+        if((realspeed>3)&&(lock_flag==false)){
             minDecelerate=-0.5;
         }else{
-        dSpeed=min(dSpeed,5.0);
+        dSpeed=min(dSpeed,3.0);
         lock_flag=true;
         }
     }