添加补全避障空白的曲线逻辑

src/decition/decition_brain_sf_jsguide/decition/decide_gps_00.cpp

@@ -1198,6 +1198,22 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         return gps_decition;
     }
 
+    /*==================add logic 20220627===============================*/
+#if 1
+   GPS_INS gpsxy;
+   gpsxy = Coordinate_UnTransfer(gpsTraceOri[0].x,gpsTraceOri[0].y,now_gps_ins);
+   if(GetDistance(gpsxy,now_gps_ins) > 0.5){  //there is distance between car ori_point and first point in trace
+       gpsTraceNow = frenetPlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,0,lidarGridPtr);
+   }
+   if(gpsTraceNow.empty()){
+       gps_decition->accelerator = 0;
+       gps_decition->brake=1.11;
+       gps_decition->wheel_angle = lastAngle;
+       gps_decition->speed = 0;
+       return gps_decition;
+   }
+#endif
+    /*===================================================================*/
 
 
     traceDevi=gpsTraceOri[0].x;