change decition_brain.

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -2487,6 +2487,7 @@ else
         }
     }
 
+    if(obsDistance == 0)obsDistance = -1;
     phaseSpeedDecition(gps_decition, secSpeed, obsDistance, obsSpeed,now_gps_ins);
 
     Point2D now_s_d=iv::decition::cartesian_to_frenet1D(gpsMapLine,now_gps_ins.gps_x,now_gps_ins.gps_y);
@@ -3722,10 +3723,10 @@ void iv::decition::DecideGps00::computeObsOnRoadXY( iv::GPS_INS now_gps_ins,iv::
         obsFrenet.s=obsFrenetMid.s-now_s_d.s;
         lidarDistance = obsFrenet.s;//obsPoint.y + lidarXiuZheng;   //激光距离推到车头  gjw20191110 lidar
         //    lidarDistance=-1;
-        if(obsPoint.s < 0)
-        {
-           lidarDistance = -1;
-        }
+//        if(obsPoint.s < 0)
+//        {
+//           lidarDistance = -1;
+//        }
         if (lidarDistance<0)
         {
             lidarDistance = -1;