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@@ -168,6 +168,7 @@ bool startingFlag = true; //起步标志，在起步时需要进行frenet规划
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bool useFrenet = false; //标志是否启用frenet算法避障
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bool useOldAvoid = true; //标志是否用老方法避障
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bool front_car_decide_avoid=true; //前后车距大于30米，后车允许根据自己障碍物情况避障，否则只能听从前车
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+bool road_permit_avoid=false; //true: 道路允许避障，false:道路不允许避障
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std::vector<std::vector<double>> doubledata;//大地坐标系下x,y,phi,delta，速度规划用变量
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@@ -1780,11 +1781,18 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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avoid_speed_flag=true;
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}*/
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+ road_permit_avoid=false;
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+ if(PathPoint+600<gpsMapLine.size()){
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+ for(int k=PathPoint;k<PathPoint+600;k++){
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+ if((gpsMapLine[k]->mbnoavoid==false)&&(gpsMapLine[k]->roadSum>1))
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+ road_permit_avoid=true;
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+ }
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+ }
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//shiyanbizhang 0929
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if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>1)//&& (avoid_speed_flag==true) //
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&&(vehState==normalRun||vehState==backOri || vehState==avoiding) //&&(ObsTimeStart==-1)
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- && (gpsMapLine[PathPoint]->runMode==1)&& (gpsMapLine[PathPoint]->mbnoavoid==false)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
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+ && (gpsMapLine[PathPoint]->runMode==1)&& (road_permit_avoid==true)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
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// ObsTimeStart=GetTickCount();
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ObsTimeEnd+=1.0;
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//dSpeed = min(6.0,dSpeed);
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@@ -1824,7 +1832,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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cout<<"\n====================preAvoid time count finish==================\n"<<endl;
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}
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- if((obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis)||(gpsMapLine[PathPoint]->mbnoavoid==true)||(front_car_decide_avoid==false)){
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+ if((obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis)||(road_permit_avoid==false)||(front_car_decide_avoid==false)){
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ObsTimeStart=-1;
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ObsTimeEnd=-1;
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ObsTimeSpan=-1;
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zhangjia