modify zhongche adapter for xunluoche

src/decition/decition_brain_sf/decition/adc_adapter/zhongche_adapter.cpp

@@ -59,7 +59,7 @@ iv::decition::Decition iv::decition::ZhongcheAdapter::getAdapterDeciton(GPS_INS
     if(ttc>10 && (obsDistance>10||obsDistance<0)){
 
 
-
+    float controlSpeed=0;
 
 
         if(DecideGps00::minDecelerate<0){
@@ -67,7 +67,25 @@ iv::decition::Decition iv::decition::ZhongcheAdapter::getAdapterDeciton(GPS_INS
             (*decition)->brake = max((0-DecideGps00::minDecelerate)*90, (*decition)->brake);
              dSpeed=10.0;
         }else{
-            (*decition)->torque=90;
+
+            if(dSpeed-realSpeed>2){
+
+                if(lastTorque==0 ){
+                     controlSpeed=40;
+                }else{
+                    controlSpeed = lastTorque+(accAim-accNow)*500*0.1;
+                }
+                if(controlSpeed>lastTorque){
+                    controlSpeed=lastTorque+4;
+                }else if(controlSpeed>lastTorque){
+                     controlSpeed=lastTorque-4;
+                }
+                (*decition)->torque=controlSpeed;
+            }else{
+              (*decition)->torque=realSpeed*8+10;
+            }
+           (*decition)->torque=max( (*decition)->torque,40.0f);
+             (*decition)->torque=min( (*decition)->torque,90.0f);
             (*decition)->brake=0;
         }
 

src/decition/decition_brain_sf/decition/adc_controller/pid_controller.cpp

@@ -56,6 +56,10 @@ float iv::decition::PIDController::getPidAngle(float realSpeed, std::vector<Poin
     double EPos = 0, EAng = 0;
 
     double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0,IEpos=0,IEang=0;
+    if(ServiceCarStatus.msysparam.mvehtype=="zhongche"){
+        IEpos=1,IEang=0.5;
+    }
+
 
     bool turning=false;
     if(roadMode==14||roadMode==15||roadMode==16||roadMode==17){