ui界面规划路线变成红色，方便室外看清楚 控制改调速，感知改车辆的方向

src/decition/decition_brain_sf_jsrunlegs_new/decition/decide_gps_00.cpp

@@ -1582,14 +1582,14 @@ static int file_num;
 
     }
 #ifdef AVOID_NEW
-    if((vehState==avoiding)||(vehState==preAvoid))
-    {
-        //dSpeed = min(8.0,dSpeed);
-        dSpeed = min(4.0,dSpeed);
-    }else if((vehState==backOri)||(avoidXNew!=0)){
-        //dSpeed = min(12.0,dSpeed);
-        dSpeed = min(5.0,dSpeed);
-    }
+//    if((vehState==avoiding)||(vehState==preAvoid))
+//    {
+//        //dSpeed = min(8.0,dSpeed);
+//        dSpeed = min(5.0,dSpeed);
+//    }else if((vehState==backOri)||(avoidXNew!=0)){
+//        //dSpeed = min(12.0,dSpeed);
+//        dSpeed = min(5.0,dSpeed);
+//    }
 #else
     if((vehState==avoiding)||(vehState==backOri)||(roadNow != roadOri)||(vehState==preAvoid))
     {
@@ -1963,7 +1963,7 @@ static int file_num;
     if (vehState == avoidObs   || vehState==waitAvoid ) {
         if (obsDistance <ServiceCarStatus.aocfDis && obsDistance >0)
         {
-            dSpeed = min(4.0,dSpeed);
+//            dSpeed = min(4.0,dSpeed);
             avoidTimes++;
             //          if (avoidTimes>=6)
             if (avoidTimes>=ServiceCarStatus.aocfTimes)

src/detection/detection_lidar_PointPillars_MultiHead/detection_lidar_PointPillars_MultiHead.pro

@@ -25,7 +25,7 @@ SOURCES += main.cpp \
     Tracker/HungarianAlg.cpp \
     Tracker/Kalman.cpp \
     Tracker/track.cpp
-
+GetLidarObj
 DISTFILES += \
     nms.cu \
     postprocess.cu \

src/fusion/lidar_radar_fusion_cnn/fusion.hpp

@@ -138,7 +138,8 @@ void RLfusion(iv::lidar::objectarray& lidar_object_arr,iv::radar::radarobjectarr
 
         }else {
 //             std::cout<<"   fusion    is    ok  "<<std::endl;
-            fusion_object.set_yaw(radar_object_array.obj(match_idx.at(i).nradar).angle());
+//            fusion_object.set_yaw(lidar_object_arr.obj(match_idx.at(i).nlidar).tyaw());
+            fusion_object.set_yaw( 1.57 );
             fusion_object.set_lifetime(radar_object_array.obj(match_idx.at(i).nradar).has_bridge_object());
 
             iv::fusion::VelXY vel_relative;

src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp

@@ -1252,7 +1252,8 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
 #if 1
         // draw plan trace
-        penPoint.setColor(QColor(187, 255, 255, 100));
+        //penPoint.setColor(QColor(187, 255, 255, 100));
+        penPoint.setColor(QColor(255, 0, 0, 100));
         penPoint.setWidth(2);
         painter->setPen(penPoint);
         QPointF tracePoints[myplan.size()];
@@ -1269,7 +1270,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 #endif
 #if 1
 //        penPoint.setColor(Qt::gray);
-        penPoint.setColor(QColor(187, 255, 255, 100));
+        penPoint.setColor(QColor(255, 0, 0, 100));
         penPoint.setWidth(2);
         painter->setPen(penPoint);
         QPointF tracePoints_left[myplan_left.size()];