Merge branch 'master' of http://111.33.136.149:3000/adc_pilot/modularization

include/ivchart.h

@@ -0,0 +1,30 @@
+#ifndef IVCHART_H
+#define IVCHART_H
+
+#include <QtCore/qglobal.h>
+
+#include <string>
+
+#if defined(IVCHART_LIBRARY)
+#  define IVCHART_EXPORT Q_DECL_EXPORT
+#else
+#  define IVCHART_EXPORT Q_DECL_IMPORT
+#endif
+
+namespace iv {
+
+
+class IVCHART_EXPORT Ivchart
+{
+public:
+    Ivchart();
+    ~Ivchart();
+public:
+    void chartvalue(std::string varname,const double fvalue,const double fvalue_RangeMin = 0.0,const double fvalue_RangeMax = 1.0);
+private:
+    void * mpimpl;
+};
+
+}
+
+#endif // IVCHART_H

sh/BaiDuMap.html

@@ -34,7 +34,7 @@
 
    
     // 百度地图API功能
-    var map = new BMap.Map("allmap");            // 创建Map实例
+    var map = new BMap.Map("allmap", {mapType:BMAP_SATELLITE_MAP});            // 创建Map实例
 
     //添加拖拽和缩放功能
     map.enableScrollWheelZoom(true);
@@ -49,7 +49,7 @@
 
 
     //添加地图类型
-    var mapType1 = new BMap.MapTypeControl({ mapTypes: [BMAP_NORMAL_MAP, BMAP_HYBRID_MAP] });
+    var mapType1 = new BMap.MapTypeControl({ mapTypes: [BMAP_HYBRID_MAP, BMAP_NORMAL_MAP] });
     var mapType2 = new BMap.MapTypeControl({ anchor: BMAP_ANCHOR_TOP_LEFT });
 
     //添加地图类型和缩略图
@@ -330,7 +330,7 @@ if(data.status === 0) {
 
     } catch (e) {
 
-        alert("地图加载失败，请检查网络！");
+        //alert("地图加载失败，请检查网络！");
 
     }
 

src/common/common/xodr/OpenDrive/OpenDrive.h

@@ -47,8 +47,8 @@ private:
 	/**
 	 * Copy constructor, makes the object non-copyable
 	 */
-	OpenDrive (const OpenDrive& openDrive){};
-	const OpenDrive& operator=(const OpenDrive& rhs){};
+    OpenDrive (const OpenDrive& openDrive){};
+    const OpenDrive& operator=(const OpenDrive& rhs){};
 
 public:
 	/**

src/common/common/xodr/OpenDrive/OpenDrive.pri

@@ -0,0 +1,21 @@
+HEADERS += \
+    $$PWD/Junction.h \
+    $$PWD/Lane.h \
+    $$PWD/ObjectSignal.h \
+    $$PWD/OpenDrive.h \
+    $$PWD/OpenDriveXmlParser.h \
+    $$PWD/OpenDriveXmlWriter.h \
+    $$PWD/OtherStructures.h \
+    $$PWD/Road.h \
+    $$PWD/RoadGeometry.h
+
+SOURCES += \
+    $$PWD/Junction.cpp \
+    $$PWD/Lane.cpp \
+    $$PWD/ObjectSignal.cpp \
+    $$PWD/OpenDrive.cpp \
+    $$PWD/OpenDriveXmlParser.cpp \
+    $$PWD/OpenDriveXmlWriter.cpp \
+    $$PWD/OtherStructures.cpp \
+    $$PWD/Road.cpp \
+    $$PWD/RoadGeometry.cpp

src/common/common/xodr/OpenDrive/OpenDriveXmlParser.cpp

@@ -656,6 +656,7 @@ bool OpenDriveXmlParser::ReadLane (LaneSection* laneSection, TiXmlElement *node,
 	TiXmlElement *subNode=node->FirstChildElement("link");
 	TiXmlElement *subSubNode;
 	if (subNode)
+    {
 		subSubNode=subNode->FirstChildElement("predecessor");
 			if (subSubNode)
 			{
@@ -663,7 +664,9 @@ bool OpenDriveXmlParser::ReadLane (LaneSection* laneSection, TiXmlElement *node,
 				if (checker==TIXML_SUCCESS)
 					lane->SetPredecessor(predecessor);
 			}
+    }
 	if (subNode)
+    {
 		subSubNode=subNode->FirstChildElement("successor");
 			if (subSubNode)
 			{
@@ -671,6 +674,7 @@ bool OpenDriveXmlParser::ReadLane (LaneSection* laneSection, TiXmlElement *node,
 				if (checker==TIXML_SUCCESS)
 					lane->SetSuccessor(successor);
 			}
+    }
 
 	//Proceed to the Road width
 	subNode=node->FirstChildElement("width");

src/common/common/xodr/OpenDrive/RoadGeometry.cpp

@@ -519,6 +519,27 @@ void GeometryPoly3::SetAll(double s, double x, double y, double hdg, double leng
 	ComputeVars();
 }
 
+//GetA to GetD, Added by Yuchuli
+double GeometryPoly3::GetA()
+{
+    return mA;
+}
+
+double GeometryPoly3::GetB()
+{
+    return mB;
+}
+
+double GeometryPoly3::GetC()
+{
+    return mC;
+}
+
+double GeometryPoly3::GetD()
+{
+    return mD;
+}
+
 
 //***********************************************************************************
 //Cubic Polynom geometry. Has to be implemented.  Added By Yuchuli
@@ -613,6 +634,10 @@ const GeometryBlock& GeometryBlock::operator=(const GeometryBlock& otherGeomBloc
 			{
 				delete poly;
 			}
+            else if(GeometryParamPoly3 * parampoly = dynamic_cast<GeometryParamPoly3 *>(*member) )
+            {
+                delete parampoly;
+            }
 		}
 		mGeometryBlockElement.clear();
 

src/common/common/xodr/OpenDrive/RoadGeometry.h

@@ -30,7 +30,7 @@ protected:
 	double mHdg;
 	double mLength;
 	double mS2;
-    short int mGeomType;	//0-line, 1-arc, 2-spiral 3-poly3 4-parampoly3
+    short int mGeomType;	//0-line, 2-arc, 1-spiral 3-poly3 4-parampoly3
 public:
 	/**
 	 * Constructor that initializes the base properties of teh record
@@ -294,6 +294,12 @@ public:
 	 */
 	void SetAll(double s, double x, double y, double hdg, double length, double a,double b,double c,double d);
 
+
+    double GetA();
+    double GetB();
+    double GetC();
+    double GetD();
+
 };
 
 //----------------------------------------------------------------------------------

src/common/common/xodr/TinyXML/TinyXML.pri

@@ -0,0 +1,9 @@
+HEADERS += \
+    $$PWD/tinystr.h \
+    $$PWD/tinyxml.h
+
+SOURCES += \
+    $$PWD/tinystr.cpp \
+    $$PWD/tinyxml.cpp \
+    $$PWD/tinyxmlerror.cpp \
+    $$PWD/tinyxmlparser.cpp

src/common/common/xodr/xodrfunc.cpp

@@ -0,0 +1,1160 @@
+#include "xodrfunc.h"
+
+#include "limits"
+#include <iostream>
+
+#include <Eigen/Dense>
+#include <Eigen/Cholesky>
+#include <Eigen/LU>
+#include <Eigen/QR>
+#include <Eigen/SVD>
+
+#include <QDebug>
+#include <QPointF>
+
+xodrfunc::xodrfunc()
+{
+
+}
+
+
+inline double xodrfunc::calcpointdis(QPointF p1,QPointF p2)
+{
+    return sqrt(pow(p1.x()-p2.x(),2)+pow(p1.y()-p2.y(),2));
+}
+
+bool xodrfunc::pointinarc(GeometryArc * parc,QPointF poingarc,QPointF point1)
+{
+    double hdg = CalcHdg(poingarc,point1);
+    if(parc->GetCurvature() >0)hdg = hdg + M_PI/2.0;
+    else hdg = hdg - M_PI/2.0;
+    if(hdg >= 2.0*M_PI)hdg = hdg - 2.0*M_PI;
+    if(hdg < 0)hdg = hdg + 2.0*M_PI;
+
+    double hdgrange = parc->GetLength()/(1.0/parc->GetCurvature());
+
+    double hdgdiff = hdg - parc->GetHdg();
+
+    if(hdgrange >= 0 )
+    {
+        if(hdgdiff < 0)hdgdiff = hdgdiff + M_PI*2.0;
+    }
+    else
+    {
+        if(hdgdiff > 0)hdgdiff = hdgdiff - M_PI*2.0;
+    }
+
+    if(fabs(hdgdiff ) < fabs(hdgrange))return true;
+    return false;
+
+}
+
+/**
+  * @brief CalcHdg
+  * 计算点0到点1的航向
+  * @param p0        Point 0
+  * @param p1        Point 1
+**/
+double xodrfunc::CalcHdg(QPointF p0, QPointF p1)
+{
+    double x0,y0,x1,y1;
+    x0 = p0.x();
+    y0 = p0.y();
+    x1 = p1.x();
+    y1 = p1.y();
+    if(x0 == x1)
+    {
+        if(y0 < y1)
+        {
+            return M_PI/2.0;
+        }
+        else
+            return M_PI*3.0/2.0;
+    }
+
+    double ratio = (y1-y0)/(x1-x0);
+
+    double hdg = atan(ratio);
+
+    if(ratio > 0)
+    {
+        if(y1 > y0)
+        {
+
+        }
+        else
+        {
+            hdg = hdg + M_PI;
+        }
+    }
+    else
+    {
+        if(y1 > y0)
+        {
+            hdg = hdg + M_PI;
+        }
+        else
+        {
+            hdg = hdg + 2.0*M_PI;
+        }
+    }
+
+    return hdg;
+}
+
+/**
+ * @brief GetParamPoly3Dis 获得点到贝塞尔曲线的距离。
+ * @param parc
+ * @param xnow
+ * @param ynow
+ * @param nearx
+ * @param neary
+ * @param nearhead
+ * @return
+ */
+double xodrfunc::GetParamPoly3Dis(GeometryParamPoly3 * parc,double xnow,double ynow,double & nearx,
+                        double & neary,double & nearhead,double & frels)
+{
+
+    double s = 0.1;
+    double fdismin = 100000.0;
+    frels = 0;
+
+    double xold,yold;
+    xold = parc->GetX();
+    yold = parc->GetY();
+
+    double fdis = calcpointdis(QPointF(parc->GetX(),parc->GetY()),QPointF(xnow,ynow));
+    if(fdis<fdismin)
+    {
+        fdismin = fdis;
+        nearhead = parc->GetHdg();
+        nearx = parc->GetX();
+        neary = parc->GetY();
+    }
+
+    while(s < parc->GetLength())
+    {
+
+        double x, y,xtem,ytem;
+        xtem = parc->GetuA() + parc->GetuB() * s + parc->GetuC() * s*s + parc->GetuD() * s*s*s;
+        ytem = parc->GetvA() + parc->GetvB() * s + parc->GetvC() * s*s + parc->GetvD() * s*s*s;
+        x = xtem*cos(parc->GetHdg()) - ytem * sin(parc->GetHdg()) + parc->GetX();
+        y = xtem*sin(parc->GetHdg()) + ytem * cos(parc->GetHdg()) + parc->GetY();
+
+        double hdg = CalcHdg(QPointF(xold,yold),QPointF(x,y));
+        double fdis = calcpointdis(QPointF(x,y),QPointF(xnow,ynow));
+        if(fdis<fdismin)
+        {
+            fdismin = fdis;
+            nearhead = hdg;
+            nearx = x;
+            neary = y;
+            frels = s;
+        }
+
+        xold = x;
+        yold = y;
+        s = s+ 0.1;
+    }
+
+    return fdismin;
+
+}
+
+
+/**
+  * @brief GetArcDis
+  * 计算点到圆弧的最短距离，首先用点和圆弧中心点的直线与圆的交点，计算点到交点的距离，如果交点在圆弧上，则最短距离是交点之一，否则计算点到圆弧两个端点的距离。
+  * @param parc        pointer to a arc geomery
+  * @param x           current x
+  * @param y           current y
+  * @param nearx       near x
+  * @param neary       near y
+  * @param nearhead    nearhead
+**/
+
+double xodrfunc::GetArcDis(GeometryArc * parc,double x,double y,double & nearx,
+                        double & neary,double & nearhead,double & frels)
+{
+
+    if((parc->GetS()>370)&&(parc->GetS()<370.1))
+    {
+        int a = 1;
+    }
+
+    if(parc->GetCurvature() == 0.0)return 1000.0;
+
+    double R = fabs(1.0/parc->GetCurvature());
+
+    frels = 0.0;
+
+    //calculate arc center
+    double x_center,y_center;
+    if(parc->GetCurvature() > 0)
+    {
+        x_center = parc->GetX() + R * cos(parc->GetHdg() + M_PI/2.0);
+        y_center = parc->GetY() + R * sin(parc->GetHdg()+ M_PI/2.0);
+    }
+    else
+    {
+        x_center = parc->GetX() + R * cos(parc->GetHdg() - M_PI/2.0);
+        y_center = parc->GetY() + R * sin(parc->GetHdg() - M_PI/2.0);
+    }
+
+    double hdgltoa = CalcHdg(QPointF(x,y),QPointF(x_center,y_center));
+
+
+    QPointF arcpoint;
+    arcpoint.setX(x_center);arcpoint.setY(y_center);
+
+    QPointF pointnow;
+    pointnow.setX(x);pointnow.setY(y);
+    QPointF point1,point2;
+    point1.setX(x_center + (R * cos(hdgltoa)));
+    point1.setY(y_center + (R * sin(hdgltoa)));
+    point2.setX(x_center + (R * cos(hdgltoa + M_PI)));
+    point2.setY(y_center + (R * sin(hdgltoa + M_PI)));
+
+    //calculat dis
+    bool bp1inarc,bp2inarc;
+    bp1inarc =pointinarc(parc,arcpoint,point1);
+    bp2inarc =pointinarc(parc,arcpoint,point2);
+    double fdis[4];
+    fdis[0] = calcpointdis(pointnow,point1);
+    fdis[1] = calcpointdis(pointnow,point2);
+    fdis[2] = calcpointdis(pointnow,QPointF(parc->GetX(),parc->GetY()));
+    QPointF pointend;
+    double hdgrange = parc->GetLength()*parc->GetCurvature();
+    double hdgend = parc->GetHdg() + hdgrange;
+    while(hdgend <0.0)hdgend = hdgend + 2.0 *M_PI;
+    while(hdgend >= 2.0*M_PI) hdgend = hdgend -2.0*M_PI;
+
+    if(parc->GetCurvature() >0)
+    {
+        pointend.setX(arcpoint.x() + R*cos(hdgend -M_PI/2.0 ));
+        pointend.setY(arcpoint.y() + R*sin(hdgend -M_PI/2.0) );
+    }
+    else
+    {
+        pointend.setX(arcpoint.x() + R*cos(hdgend +M_PI/2.0 ));
+        pointend.setY(arcpoint.y() + R*sin(hdgend +M_PI/2.0) );
+    }
+
+    fdis[3] = calcpointdis(pointnow,pointend);
+    int indexmin = -1;
+    double fdismin = 1000000.0;
+    if(bp1inarc)
+    {
+        indexmin = 0;fdismin = fdis[0];
+    }
+    if(bp2inarc)
+    {
+        if(indexmin == -1)
+        {
+            indexmin = 1;fdismin = fdis[1];
+        }
+        else
+        {
+            if(fdis[1]<fdismin)
+            {
+                indexmin = 1;fdismin = fdis[1];
+            }
+        }
+    }
+    if(indexmin == -1)
+    {
+        indexmin = 2;fdismin = fdis[2];
+    }
+    else
+    {
+        if(fdis[2]<fdismin)
+        {
+            indexmin = 2;fdismin = fdis[2];
+        }
+    }
+    if(fdis[3]<fdismin)
+    {
+        indexmin = 3;fdismin = fdis[3];
+    }
+
+    double hdgdiff;
+    switch (indexmin) {
+    case 0:
+        nearx = point1.x();
+        neary = point1.y();
+        if(parc->GetCurvature()<0)
+        {
+            nearhead = CalcHdg(arcpoint,point1) - M_PI/2.0;
+
+        }
+        else
+        {
+            nearhead = CalcHdg(arcpoint,point1) + M_PI/2.0;
+        }
+        while(nearhead>2.0*M_PI)nearhead = nearhead -2.0*M_PI;
+        while(nearhead<0)nearhead = nearhead + 2.0*M_PI;
+        hdgdiff = (nearhead-parc->GetHdg())*(parc->GetCurvature()/abs(parc->GetCurvature()));
+        if(hdgdiff>=2.0*M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
+        if(hdgdiff<0)hdgdiff = hdgdiff + 2.0*M_PI;
+        frels = hdgdiff * R;
+        break;
+    case 1:
+        nearx = point2.x();
+        neary = point2.y();
+        if(parc->GetCurvature()<0)
+        {
+            nearhead = CalcHdg(arcpoint,point2) - M_PI/2.0;
+        }
+        else
+        {
+            nearhead = CalcHdg(arcpoint,point2) + M_PI/2.0;
+        }
+        while(nearhead>2.0*M_PI)nearhead = nearhead -2.0*M_PI;
+        while(nearhead<0)nearhead = nearhead + 2.0*M_PI;
+        hdgdiff = (nearhead-parc->GetHdg())*(parc->GetCurvature()/abs(parc->GetCurvature()));
+        if(hdgdiff>=2.0*M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
+        if(hdgdiff<0)hdgdiff = hdgdiff + 2.0*M_PI;
+        frels = hdgdiff * R;
+        break;
+    case 2:
+        nearx = parc->GetX();
+        neary = parc->GetY();
+        nearhead = parc->GetHdg();
+        frels = 0;
+        break;
+    case 3:
+        nearx = pointend.x();
+        neary = pointend.y();
+        nearhead = hdgend;
+        frels = parc->GetLength();
+        break;
+    default:
+        std::cout<<"error in arcdis "<<std::endl;
+        break;
+    }
+
+    while(nearhead>2.0*M_PI)nearhead = nearhead -2.0*M_PI;
+    while(nearhead<0)nearhead = nearhead + 2.0*M_PI;
+    return fdismin;
+}
+
+
+double xodrfunc::GetPoly3Dis(GeometryPoly3 * ppoly,double xnow,double ynow,double & nearx,
+                        double & neary,double & nearhead,double & frels)
+{
+    double x,y,hdg;
+//    double s = 0.0;
+    double fdismin = 100000.0;
+ //   double s0 = ppoly->GetS();
+
+    x = ppoly->GetX();
+    y = ppoly->GetY();
+    double A,B,C,D;
+    A = ppoly->GetA();
+    B = ppoly->GetB();
+    C = ppoly->GetC();
+    D = ppoly->GetD();
+    const double steplim = 0.3;
+    double du = steplim;
+    double u = 0;
+    double v = 0;
+    double oldx,oldy;
+    oldx = x;
+    oldy = y;
+    double xstart,ystart;
+    xstart = x;
+    ystart = y;
+
+    frels = 0;
+
+    double hdgstart = ppoly->GetHdg();
+    double flen = 0;
+    u = u+du;
+    while(flen < ppoly->GetLength())
+    {
+        double fdis = 0;
+        v = A + B*u + C*u*u + D*u*u*u;
+        x = xstart + u*cos(hdgstart) - v*sin(hdgstart);
+        y = ystart + u*sin(hdgstart) + v*cos(hdgstart);
+        fdis = sqrt(pow(x- oldx,2)+pow(y-oldy,2));
+
+        if(fdis>(steplim*2.0))du = du/2.0;
+        flen = flen + fdis;
+        u = u + du;
+        hdg = xodrfunc::CalcHdg(QPointF(oldx,oldy),QPointF(x,y));
+
+        double fdisnow = calcpointdis(QPointF(x,y),QPointF(xnow,ynow));
+        if(fdisnow<fdismin)
+        {
+            fdismin = fdisnow;
+            nearhead = hdg;
+            nearx = x;
+            neary = y;
+            frels = flen;
+        }
+
+        oldx = x;
+        oldy = y;
+    }
+
+    return fdismin;
+}
+
+double xodrfunc::GetSpiralDis(GeometrySpiral * pspiral,double xnow,double ynow,double & nearx,
+                        double & neary,double & nearhead,double & frels)
+{
+
+    double x,y,hdg;
+    double s = 0.0;
+    double fdismin = 100000.0;
+    double s0 = pspiral->GetS();
+
+    frels = 0;
+    while(s<pspiral->GetLength())
+    {
+        pspiral->GetCoords(s0+s,x,y,hdg);
+
+
+        double fdis = calcpointdis(QPointF(x,y),QPointF(xnow,ynow));
+        if(fdis<fdismin)
+        {
+            fdismin = fdis;
+            nearhead = hdg;
+            nearx = x;
+            neary = y;
+            frels = s;
+        }
+        s = s+0.1;
+    }
+
+    return fdismin;
+}
+
+/**
+ * @brief GetLineDis 获得点到直线Geometry的距离。
+ * @param pline
+ * @param x
+ * @param y
+ * @param nearx
+ * @param neary
+ * @param nearhead
+ * @return
+ */
+double xodrfunc::GetLineDis(GeometryLine * pline,const double x,const double y,double & nearx,
+                         double & neary,double & nearhead,double & frels)
+{
+    double fRtn = 1000.0;
+
+    double a1,a2,a3,a4,b1,b2;
+    double ratio = pline->GetHdg();
+    while(ratio >= 2.0* M_PI)ratio = ratio-2.0*M_PI;
+    while(ratio<0)ratio = ratio+2.0*M_PI;
+
+    double dis1,dis2,dis3;
+    double x1,x2,x3,y1,y2,y3;
+    x1 = pline->GetX();y1=pline->GetY();
+    if((ratio == 0)||(ratio == M_PI))
+    {
+        a1 = 0;a4=0;
+        a2 = 1;b1= pline->GetY();
+        a3 = 1;b2= x;
+    }
+    else
+    {
+        if((ratio == 0.5*M_PI)||(ratio == 1.5*M_PI))
+        {
+            a2=0;a3=0;
+            a1=1,b1=pline->GetX();
+            a4 = 1;b2 = y;
+        }
+        else
+        {
+            a1 = tan(ratio) *(-1.0);
+            a2 = 1;
+            a3 = tan(ratio+M_PI/2.0)*(-1.0);
+            a4 = 1;
+            b1 = a1*pline->GetX() + a2 * pline->GetY();
+            b2 = a3*x+a4*y;
+        }
+    }
+
+    y2 = y1 + pline->GetLength() * sin(ratio);
+    x2 = x1 + pline->GetLength() * cos(ratio);
+
+    Eigen::Matrix2d A;
+    A<<a1,a2,
+            a3,a4;
+    Eigen::Vector2d B(b1,b2);
+
+    Eigen::Vector2d opoint  = A.lu().solve(B);
+
+    x3 = opoint(0);
+    y3 = opoint(1);
+
+    dis1 = sqrt(pow(x1-x,2)+pow(y1-y,2));
+    dis2 = sqrt(pow(x2-x,2)+pow(y2-y,2));
+    dis3 = sqrt(pow(x3-x,2)+pow(y3-y,2));
+
+
+    if((dis1>pline->GetLength())||(dis2>pline->GetLength()))  //Outoff line
+    {
+ //       std::cout<<" out line"<<std::endl;
+        if(dis1<dis2)
+        {
+            fRtn = dis1;
+            nearx = x1;neary=y1;nearhead = pline->GetHdg();
+        }
+        else
+        {
+            fRtn = dis2;
+            nearx = x2;neary=y2;nearhead = pline->GetHdg();
+        }
+    }
+    else
+    {
+        fRtn = dis3;
+        nearx = x3;neary=y3;nearhead = pline->GetHdg();
+    }
+
+    frels = sqrt(pow(nearx - pline->GetX(),2)+pow(neary - pline->GetY(),2));
+
+    return fRtn;
+
+
+
+}
+
+
+namespace iv {
+struct nearoption
+{
+    Road * pRoad;
+    GeometryBlock * pgeob;
+    double fdis;
+    double nearx;
+    double neary;
+    double nearhead;
+    double fs;
+    int nlane;
+    double fgeodis;
+};
+}
+
+int xodrfunc::GetNearPoint(const double x, const double y, OpenDrive *pxodr, Road **pObjRoad, GeometryBlock **pgeo,
+                           double &fdis, double &nearx, double &neary, double &nearhead,
+                           const double nearthresh,double * pfs,int * pnlane,bool bnotuselane)
+{
+    double dismin = std::numeric_limits<double>::infinity();
+    fdis = dismin;
+    unsigned int i;
+    *pObjRoad = 0;
+    std::vector<iv::nearoption> xvectornearopt;
+    for(i=0;i<pxodr->GetRoadCount();i++)
+    {
+        unsigned int j;
+        Road * proad = pxodr->GetRoad(i);
+        double nx,ny,nh,frels;
+
+        for(j=0;j<proad->GetGeometryBlockCount();j++)
+        {
+            GeometryBlock * pgb = proad->GetGeometryBlock(j);
+            double dis;
+            RoadGeometry * pg;
+            int nlane = 1000;
+            pg = pgb->GetGeometryAt(0);
+
+            if((sqrt(pow(x-pg->GetX(),2)+pow(y- pg->GetY(),2))-pg->GetLength())>nearthresh)
+            {
+                continue;
+            }
+
+            switch (pg->GetGeomType()) {
+            case 0:   //line
+                dis = GetLineDis((GeometryLine *) pg,x,y,nx,ny,nh,frels);
+                break;
+            case 1:
+                dis = GetSpiralDis((GeometrySpiral *)pg,x,y,nx,ny,nh,frels);
+                break;
+            case 2:  //arc
+                dis = GetArcDis((GeometryArc *)pg,x,y,nx,ny,nh,frels);
+                break;
+
+            case 3:
+                dis = GetPoly3Dis((GeometryPoly3 *)pg,x,y,nx,ny,nh,frels);
+                break;
+            case 4:
+                dis = GetParamPoly3Dis((GeometryParamPoly3 *)pg,x,y,nx,ny,nh,frels);
+                break;
+            default:
+                dis = 100000.0;
+                break;
+            }
+
+            double fgeodis;
+
+            fgeodis = dis;
+            if((dis < 100)&&(bnotuselane == false))
+            {
+                double faccuratedis;
+                faccuratedis = GetAcurateDis(x,y,proad,frels+pg->GetS(),nx,ny,nh,&nlane);
+                if(faccuratedis < dis)dis = faccuratedis;
+
+            }
+
+            if(dis == 0)
+            {
+                iv::nearoption xopt;
+                xopt.fdis = dis;
+                xopt.fgeodis = fgeodis;
+                xopt.fs = frels +pg->GetS();
+                xopt.nearhead = nh;
+                xopt.nearx = nx;
+                xopt.neary = ny;
+                xopt.nlane = nlane;
+                xopt.pgeob = pgb;
+                xopt.pRoad = proad;
+                xvectornearopt.push_back(xopt);
+            }
+
+            if(dis < dismin)
+            {
+                dismin = dis;
+                nearx = nx;
+                neary = ny;
+                nearhead = nh;
+                fdis = dis;
+                *pObjRoad = proad;
+                *pgeo = pgb;
+                if(pfs != 0)*pfs = frels +pg->GetS();
+                if(pnlane != 0)*pnlane = nlane;
+            }
+        }
+    }
+
+    if(xvectornearopt.size() > 1)
+    {
+        double fgeodismin = 1000;
+        int nindex = 0;
+        for(i=0;i<xvectornearopt.size();i++)
+        {
+            if(xvectornearopt.at(i).fgeodis < fgeodismin)
+            {
+                fgeodismin = xvectornearopt.at(i).fgeodis;
+                nindex = i;
+            }
+        }
+        dismin = xvectornearopt.at(nindex).fdis;
+        nearx = xvectornearopt.at(nindex).nearx;
+        neary = xvectornearopt.at(nindex).neary;
+        nearhead = xvectornearopt.at(nindex).nearhead;
+        fdis = dismin;
+        *pObjRoad = xvectornearopt.at(nindex).pRoad;
+        *pgeo = xvectornearopt.at(nindex).pgeob;
+        if(pfs != 0)*pfs = xvectornearopt.at(nindex).fs;
+        if(pnlane != 0)*pnlane = xvectornearopt.at(nindex).nlane;
+
+    }
+
+
+    if(fdis > nearthresh)return -1;
+    return 0;
+}
+
+
+std::vector<iv::LanePoint> xodrfunc::GetAllLanePoint(Road *pRoad,  const double s,const double x, const double y,const double fhdg)
+{
+    int i;
+    int nLSCount = pRoad->GetLaneSectionCount();
+    double s_section = 0;
+
+
+    std::vector<iv::LanePoint> xvectorlanepoint;
+    for(i=0;i<nLSCount;i++)
+    {
+//        if((pRoad->GetRoadId() == "30012")&&(s>35))
+//        {
+//            int a= 1;
+//        }
+        LaneSection * pLS = pRoad->GetLaneSection(i);
+        if(i<(nLSCount -1))
+        {
+            if(pRoad->GetLaneSection(i+1)->GetS()<s)
+            {
+                continue;
+            }
+        }
+        s_section = pLS->GetS();
+        int nlanecount = pLS->GetLaneCount();
+        int j;
+        for(j=0;j<nlanecount;j++)
+        {
+            Lane * pLane = pLS->GetLane(j);
+
+            int nlanemarktype = -1; //default no lanetype
+            int nlanetype = 2; //driving
+            int nlanecolor = 0;
+            int k;
+            double s_lane = s-s_section;
+            for(k=0;k<pLane->GetLaneRoadMarkCount();k++)
+            {
+                 LaneRoadMark * plrm = pLane->GetLaneRoadMark(k);
+                 if(k<(pLane->GetLaneRoadMarkCount()-1))
+                 {
+                     if(pLane->GetLaneRoadMark(k+1)->GetS()<s_lane)
+                     {
+                         continue;
+                     }
+                 }
+                 else
+                 {
+                     if(s_lane<plrm->GetS())
+                     {
+                         continue;
+                     }
+                 }
+                 if(plrm->GetType() == "solid")
+                 {
+                     nlanemarktype = 0;
+                 }
+                 if(plrm->GetType() == "broken")
+                 {
+                     nlanemarktype = 1;
+                 }
+                 if(plrm->GetType() == "solid solid")
+                 {
+                     nlanemarktype = 2;
+                 }
+                 if(plrm->GetType() == "solid broken")
+                 {
+                     nlanemarktype = 3;
+                 }
+                 if(plrm->GetType() == "broken solid")
+                 {
+                     nlanemarktype = 4;
+                 }
+                 if(plrm->GetType() == "broken broken")
+                 {
+                     nlanemarktype = 5;
+                 }
+
+                 if(plrm->GetColor() == "standard")nlanecolor = 0;
+                 if(plrm->GetColor() == "blue")nlanecolor = 1;
+                 if(plrm->GetColor() == "green")nlanecolor = 2;
+                 if(plrm->GetColor() == "red")nlanecolor = 3;
+                 if(plrm->GetColor() == "white")nlanecolor = 4;
+                 if(plrm->GetColor() == "yellow")nlanecolor = 5;
+                 if(plrm->GetColor() == "orange")nlanecolor = 6;
+                 break;
+            }
+
+            if(pLane->GetType() == "shoulder")
+            {
+                nlanetype = 0;
+            }
+            if(pLane->GetType() == "border")
+            {
+                nlanetype = 1;
+            }
+            if(pLane->GetType() == "driving")
+            {
+                nlanetype = 2;
+            }
+            if(pLane->GetType() == "none")
+            {
+                nlanetype = 4;
+            }
+            if(pLane->GetType() == "biking")
+            {
+                nlanetype = 8;
+            }
+            if(pLane->GetType() == "sidewalk")
+            {
+                nlanetype = 9;
+            }
+
+
+            if(pLane->GetId() != 0)
+            {
+
+//                        if((pRoad->GetRoadId() == "10012")&&(pLane->GetId()==1))
+//                        {
+//                            int a= 1;
+//                        }
+
+//                int k;
+//                double s_lane = 0;
+                for(k=0;k<pLane->GetLaneWidthCount();k++)
+                {
+                    if(k<(pLane->GetLaneWidthCount()-1))
+                    {
+                        if((pLane->GetLaneWidth(k+1)->GetS()+s_section)<s)
+                        {
+                            continue;
+                        }
+                    }
+                    s_lane = pLane->GetLaneWidth(k)->GetS();
+                    break;
+                }
+                LaneWidth * pLW  = pLane->GetLaneWidth(k);
+                if(pLW == 0)
+                {
+                    std::cout<<"not find LaneWidth"<<std::endl;
+                    break;
+                }
+
+
+
+                iv::LanePoint lp;
+                lp.mnlanetype = nlanetype;
+                lp.mnlanemarktype = nlanemarktype;
+                lp.mnlanecolor = nlanecolor;
+                lp.mnlane = pLane->GetId();
+                lp.mnLaneSection = i;
+                double fds = s - s_lane - s_section;
+                lp.mflanewidth = pLW->GetA() + pLW->GetB() * fds
+                        +pLW->GetC() * pow(fds,2) + pLW->GetD() * pow(fds,3);
+                lp.mflanetocenter = 0;
+                lp.mnlanetype = nlanetype;
+                lp.mfhdg = fhdg;
+                lp.mS = s;
+                lp.mfGeoX = x;
+                lp.mfGeoY = y;
+                xvectorlanepoint.push_back(lp);
+
+            }
+            else
+            {
+                iv::LanePoint lp;
+                lp.mnlanetype = nlanetype;
+                lp.mnlanemarktype = nlanemarktype;
+                lp.mnlanecolor = nlanecolor;
+                lp.mnlane = 0;
+                lp.mnLaneSection = i;
+                lp.mflanewidth = 0;
+                lp.mflanetocenter = 0;
+                lp.mfhdg = fhdg;
+                lp.mS = s;
+                lp.mfGeoX = x;
+                lp.mfGeoY = y;
+                xvectorlanepoint.push_back(lp);
+            }
+        }
+
+        for(j=0;j<xvectorlanepoint.size();j++)
+        {
+            int k;
+            for(k=0;k<xvectorlanepoint.size();k++)
+            {
+                if(abs(xvectorlanepoint[k].mnlane)>abs((xvectorlanepoint[j].mnlane)))
+                {
+                    continue;
+                }
+                if(xvectorlanepoint[k].mnlane * xvectorlanepoint[j].mnlane <= 0)
+                {
+                    continue;
+                }
+                xvectorlanepoint[j].mflanetocenter = xvectorlanepoint[j].mflanetocenter + xvectorlanepoint[k].mflanewidth;
+            }
+        }
+
+        for(j=0;j<xvectorlanepoint.size();j++)
+        {
+            if(xvectorlanepoint[j].mnlane < 0)
+            {
+                xvectorlanepoint[j].mfX = x + xvectorlanepoint[j].mflanetocenter * cos(fhdg-M_PI/2.0);
+                xvectorlanepoint[j].mfY = y + xvectorlanepoint[j].mflanetocenter * sin(fhdg-M_PI/2.0);
+            }
+            else
+            {
+                xvectorlanepoint[j].mfX = x + xvectorlanepoint[j].mflanetocenter * cos(fhdg+M_PI/2.0);
+                xvectorlanepoint[j].mfY = y + xvectorlanepoint[j].mflanetocenter * sin(fhdg+M_PI/2.0);
+            }
+        }
+
+        break;
+
+    }
+
+    std::vector<iv::LanePoint> xvectorlanepointrtn;
+    bool bIsSort = true;
+    for(i=0;i<(xvectorlanepoint.size()-1);i++)
+    {
+        if(xvectorlanepoint[i].mnlane < xvectorlanepoint[i+1].mnlane)
+        {
+            bIsSort = false;
+            break;
+        }
+    }
+    if(bIsSort == false)
+    {
+        while(xvectorlanepoint.size() > 0)
+        {
+            int nlanemin;
+            nlanemin = 0;
+            int nlanenum = xvectorlanepoint[0].mnlane;
+            for(i=1;i<xvectorlanepoint.size();i++)
+            {
+                if(xvectorlanepoint[i].mnlane >= nlanenum)
+                {
+                    nlanenum = xvectorlanepoint[i].mnlane;
+                    nlanemin = i;
+                }
+            }
+            xvectorlanepointrtn.push_back(xvectorlanepoint[nlanemin]);
+            xvectorlanepoint.erase(xvectorlanepoint.begin() + nlanemin);
+        }
+    }
+    else
+    {
+        xvectorlanepointrtn = xvectorlanepoint;
+    }
+    return xvectorlanepointrtn;
+
+}
+
+double xodrfunc::GetAcurateDis(const double x, const double y, Road *pRoad,  const double s, const double nearx, const double neary, const double nearhead,int * pnlane)
+{
+    double fdismin = 1000;
+    if(pRoad->GetLaneSectionCount() < 1)return 1000;
+
+    std::vector<iv::LanePoint> xvectorlanepoint = GetAllLanePoint(pRoad,s,nearx,neary,nearhead);
+
+    double fdistoref = sqrt(pow(x-nearx,2)+pow(y-neary,2));
+
+    int i;
+    std::vector<double> xvectordis;
+    int nsize = xvectorlanepoint.size();
+    for(i=0;i<nsize;i++)
+    {
+        double fdis = sqrt(pow(x-xvectorlanepoint[i].mfX,2)+pow(y-xvectorlanepoint[i].mfY,2));
+        xvectordis.push_back(fdis);
+        if(fdismin>fdis)fdismin = fdis;
+
+    }
+    int nlane = -1000;
+    for(i=0;i<nsize;i++)
+    {
+        if((xvectordis[i]<=xvectorlanepoint[i].mflanewidth)&&(fdistoref <= xvectorlanepoint[i].mflanetocenter))
+        {
+            nlane = xvectorlanepoint[i].mnlane;
+            fdismin = 0; //On Lane, is very near.
+            break;
+        }
+    }
+
+    if(pnlane != 0)*pnlane = nlane;
+
+    return fdismin;
+
+
+}
+
+
+
+int xodrfunc::GetLineXY(GeometryLine *pline, double soff, double &x, double &y, double &hdg)
+{
+    if(soff<0)return -1;
+
+    hdg = pline->GetHdg();
+    x = pline->GetX() + soff*cos(hdg);
+    y = pline->GetY() + soff*sin(hdg);
+    return 0;
+}
+
+Road * xodrfunc::GetRoadByID(OpenDrive * pxodr,std::string strroadid)
+{
+    Road * pRoad = 0;
+    int nroadcount = pxodr->GetRoadCount();
+    int i;
+    for(i=0;i<nroadcount;i++)
+    {
+        if(pxodr->GetRoad(i)->GetRoadId() == strroadid)
+        {
+            pRoad = pxodr->GetRoad(i);
+            break;
+        }
+    }
+    return pRoad;
+}
+
+int xodrfunc::GetSpiralXY(GeometrySpiral *pspira, double soff, double &x, double &y, double &hdg)
+{
+    pspira->GetCoords(pspira->GetS() + soff,x,y,hdg);
+    return 0;
+}
+
+int xodrfunc::GetArcXY(GeometryArc *parc, double soff, double &x, double &y, double &hdg)
+{
+    if(parc->GetCurvature() == 0)return -1;
+    double R = fabs(1.0/parc->GetCurvature());
+
+    //calculate arc center
+    double x_center = parc->GetX() + (1.0/parc->GetCurvature()) * cos(parc->GetHdg() + M_PI/2.0);
+    double y_center = parc->GetY() + (1.0/parc->GetCurvature()) * sin(parc->GetHdg()+ M_PI/2.0);
+
+    double arcdiff = soff/R;
+
+    if(parc->GetCurvature() > 0)
+    {
+        x = x_center + R * cos(parc->GetHdg() + arcdiff - M_PI/2.0);
+        y = y_center + R * sin(parc->GetHdg() + arcdiff - M_PI/2.0);
+        hdg = parc->GetHdg() + arcdiff;
+    }
+    else
+    {
+        x = x_center + R * cos(parc->GetHdg() -arcdiff + M_PI/2.0);
+        y = y_center + R * sin(parc->GetHdg() -arcdiff + M_PI/2.0);
+        hdg = parc->GetHdg() - arcdiff;
+    }
+
+
+
+    return 0;
+}
+
+int xodrfunc::GetParamPoly3XY(GeometryParamPoly3 *pparam3d, double soff, double &x, double &y, double &hdg)
+{
+    double xtem,ytem;
+    double ua,ub,uc,ud,va,vb,vc,vd;
+    ua = pparam3d->GetuA();ub= pparam3d->GetuB();uc= pparam3d->GetuC();ud = pparam3d->GetuD();
+    va = pparam3d->GetvA();vb= pparam3d->GetvB();vc= pparam3d->GetvC();vd = pparam3d->GetvD();
+//        xtem = parc->GetuA() + parc->GetuB() * s * len + parc->GetuC() * s*s *pow(len,2) + parc->GetuD() * s*s*s *pow(len,3);
+//        ytem = parc->GetvA() + parc->GetvB() * s* len + parc->GetvC() * s*s *pow(len,2) + parc->GetvD() * s*s*s *pow(len,3);
+    xtem = ua + ub * soff  + uc * soff * soff  + ud * soff *soff*soff ;
+    ytem = va + vb * soff + vc * soff*soff  + vd * soff*soff*soff ;
+    x = xtem*cos(pparam3d->GetHdg()) - ytem * sin(pparam3d->GetHdg()) + pparam3d->GetX();
+    y = xtem*sin(pparam3d->GetHdg()) + ytem * cos(pparam3d->GetHdg()) + pparam3d->GetY();
+    if(soff<0.3)hdg = pparam3d->GetHdg();
+    else
+    {
+        double soff1 = soff - 0.1;
+        double x1,y1;
+        xtem = ua + ub * soff1  + uc * soff1 * soff1  + ud * soff1 *soff1*soff1 ;
+        ytem = va + vb * soff1 + vc * soff1*soff1  + vd * soff1*soff1*soff1 ;
+        x1 = xtem*cos(pparam3d->GetHdg()) - ytem * sin(pparam3d->GetHdg()) + pparam3d->GetX();
+        y1 = xtem*sin(pparam3d->GetHdg()) + ytem * cos(pparam3d->GetHdg()) + pparam3d->GetY();
+        hdg = CalcHdg(QPointF(x1,y1),QPointF(x,y));
+    }
+    return 0;
+}
+
+int xodrfunc::GetRoadXYByS(Road *pRoad, const double s, double &x, double &y, double &hdg)
+{
+    if(s<0)return -1;
+    if(s>(pRoad->GetRoadLength()+0.1))return -2;
+    if(pRoad == 0)return -3;
+    if(pRoad->GetGeometryBlockCount()<1)return -4;
+    int i;
+    int nroadgeosize = pRoad->GetGeometryBlockCount();
+    RoadGeometry * pgeosel = pRoad->GetGeometryBlock(nroadgeosize -1)->GetGeometryAt(0);
+    for(i=0;i<(nroadgeosize-1);i++)
+    {
+        if(s<pRoad->GetGeometryBlock(i+1)->GetGeometryAt(0)->GetS())
+        {
+
+            pgeosel = pRoad->GetGeometryBlock(0)->GetGeometryAt(0);
+            break;
+        }
+    }
+
+
+    switch (pgeosel->GetGeomType()) {
+    case 0:
+        return GetLineXY((GeometryLine *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
+        break;
+    case 1:
+        return GetSpiralXY((GeometrySpiral *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
+        break;
+    case 2:
+        return GetArcXY((GeometryArc *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
+
+        break;
+    case 3:
+        break;
+    case 4:
+        return GetParamPoly3XY((GeometryParamPoly3 *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
+        break;
+    default:
+        break;
+    }
+    return -5;
+}
+
+int xodrfunc::GetRoadIndex(OpenDrive * pxodr, Road *pRoad)
+{
+    int nroadcount = pxodr->GetRoadCount();
+    int i;
+    for(i=0;i<nroadcount;i++)
+    {
+        if(pxodr->GetRoad(i) == pRoad)
+        {
+            return i;
+        }
+    }
+    return -1;
+}
+
+int xodrfunc::GetDrivingLane(Road *pRoad, const int nLS, const int nsuggestlane)
+{
+    int nrtn = nsuggestlane;
+    int nLSCount = pRoad->GetLaneSectionCount();
+    if(nLS<0)
+    {
+        qDebug("xodrfunc::GetDrivingLane nLS=%d is Error.",nLS);
+        return nrtn;
+
+    }
+
+    if(nLS>=(nLSCount))
+    {
+        qDebug("xodrfunc::GetDrivingLane nLS=%d is Error. LaneSection Count is %d.",nLS,nLSCount);
+        return nrtn;;
+    }
+
+    LaneSection * pLS = pRoad->GetLaneSection(nLS);
+    int nLaneCount = pLS->GetLaneCount();
+    int i;
+    for(i=0;i<nLaneCount;i++)
+    {
+        if(pLS->GetLane(i)->GetId() == nsuggestlane)
+        {
+            if(pLS->GetLane(i)->GetType() == "driving")
+            {
+                return nsuggestlane;
+                break;
+            }
+        }
+    }
+
+    nrtn = 1000;
+    int ndiff;
+    for(i=0;i<nLaneCount;i++)
+    {
+        Lane * pLane = pLS->GetLane(i);
+        if((pLane->GetId()*nsuggestlane>0)&&(pLane->GetType() == "driving"))
+        {
+            ndiff = pLane->GetId() - nrtn;
+            int xdiff = pLane->GetId() - nsuggestlane;
+            if(abs(xdiff)<abs(ndiff))
+            {
+                nrtn = pLane->GetId();
+            }
+        }
+    }
+    return nrtn;
+}
+
+Lane * xodrfunc::GetLaneByID(LaneSection *pLS, int nlane)
+{
+    int nlanecount = pLS->GetLaneCount();
+    int i;
+    for(i=0;i<nlanecount;i++)
+    {
+        if(pLS->GetLane(i)->GetId() == nlane)
+        {
+            return pLS->GetLane(i);
+        }
+    }
+    return 0;
+}

src/common/common/xodr/xodrfunc.h

@@ -0,0 +1,71 @@
+#ifndef XODRFUNC_H
+#define XODRFUNC_H
+
+#include <OpenDrive/OpenDrive.h>
+
+#include <QPointF>
+
+
+namespace iv {
+struct LanePoint
+{
+    int mnlane;
+    int mnLaneSection;
+    double mS;
+    double mflanewidth;
+    double mflanetocenter;
+    double mfX;
+    double mfY;
+    double mfhdg;
+    int mnlanetype;  //0 driving 1 border 2 none 3 bike
+    int mnlanemarktype; // -1 no 0 solid 1 broken 2 solidsolid
+    int mnlanecolor;
+    double mfGeoX;
+    double mfGeoY;
+
+};
+
+}
+
+class xodrfunc
+{
+public:
+    xodrfunc();
+
+public:
+    static inline double calcpointdis(QPointF p1,QPointF p2);
+    static bool pointinarc(GeometryArc * parc,QPointF poingarc,QPointF point1);
+    static double CalcHdg(QPointF p0, QPointF p1);
+    static double GetParamPoly3Dis(GeometryParamPoly3 * parc,double xnow,double ynow,double & nearx,
+                            double & neary,double & nearhead,double & frels);
+    static double GetArcDis(GeometryArc * parc,double x,double y,double & nearx,
+                            double & neary,double & nearhead,double & frels);
+    static double GetPoly3Dis(GeometryPoly3 * ppoly,double xnow,double ynow,double & nearx,
+                            double & neary,double & nearhead,double & frels);
+    static double GetSpiralDis(GeometrySpiral * pspiral,double xnow,double ynow,double & nearx,
+                            double & neary,double & nearhead,double & frels);
+    static double GetLineDis(GeometryLine * pline,const double x,const double y,double & nearx,
+                             double & neary,double & nearhead,double & frels);
+    static int GetNearPoint(const double x,const double y,OpenDrive * pxodr,Road ** pObjRoad,GeometryBlock ** pgeo, double & fdis,double & nearx,
+                     double & neary,double & nearhead,const double nearthresh,double * pfs=0,int * pnlane= 0,bool bnotuselane = false);
+
+    static double GetAcurateDis(const double x,const double y,Road * pRoad,const  double  s,const double nearx,
+                                const double neary,const double nearhead,int * pnlane= 0);
+
+    static int GetDrivingLane(Road * pRoad,const int nLS,const int nsuggestlane);
+    static Lane * GetLaneByID(LaneSection * pLS,int nlane);
+    static std::vector<iv::LanePoint> GetAllLanePoint(Road * pRoad,const double s,const double x, const double y,const double fhdg);
+
+public:
+    static Road * GetRoadByID(OpenDrive * pxodr,std::string strroadid);
+    static int GetRoadXYByS(Road * pRoad,const double s,double &x, double & y, double & hdg);
+
+    static int GetLineXY(GeometryLine * pline,double soff,double &x, double & y, double & hdg);
+    static int GetSpiralXY(GeometrySpiral * pspira,double soff,double &x, double & y, double & hdg);
+    static int GetArcXY(GeometryArc * parc,double soff,double &x, double & y, double & hdg);
+    static int GetParamPoly3XY(GeometryParamPoly3 * pparam3d,double soff,double &x, double & y, double & hdg);
+
+    static int GetRoadIndex(OpenDrive * pxodr, Road * pRoad);
+};
+
+#endif // XODRFUNC_H

src/common/ivbacktrace/ivbacktrace.cpp

@@ -108,9 +108,10 @@ void savetofile(char * stroutput)
 
     if(file != nullptr)
     {
-        fwrite(stroutput,strnlen(stroutput,1024),1,file);
+        fwrite(stroutput,strnlen(stroutput,6000),1,file);
     }
 
+
     fclose(file);
 }
 
@@ -170,6 +171,30 @@ static void output_addrline(char addr[],char * strtem)
     pclose(file);
 }
 
+static void proc_addrline(int64_t xaddr,char * strtem)
+{
+    char cmd[256];
+    char line[256];
+    FILE* file;
+
+    snprintf(strtem,1000," ");
+    snprintf(cmd, sizeof(cmd), "addr2line -e /proc/%d/exe %x ", getpid(), xaddr);
+    qDebug("%s\n",cmd);
+
+    file = popen(cmd, "r");
+    if(NULL != fgets(line, 256, file))
+    {
+        printf("%s\n", line);
+        snprintf(strtem,1000,"%s\n",line);
+    }
+    if(strnlen(line,255) == 0)
+    {
+        printf("no addr.\n");
+    }
+    pclose(file);
+
+}
+
 void out_stack(char *sig)
 {
     void *array[32];
@@ -212,9 +237,19 @@ void out_stack(char *sig)
     {
 //        qDebug("i is %d",i);
         printf("%s\n",strings[i]);
-        snprintf(strtem,1000,"%s\n",strings[i]);
+//        snprintf(strtem,1000,"%s\n",strings[i]);
+//        strncat(stroutput,strtem,6000);
+//        output_addrline(strings[i],strtem);
+//        strncat(stroutput,strtem,6000);
+    }
+
+    for(i=0;i<size;i++)
+    {
+        int64_t xaddr = (int64_t)((int *)array[i]);
+        printf("addr is %x\n", xaddr);
+        snprintf(strtem,1000,"addr is %x\n", xaddr);
         strncat(stroutput,strtem,6000);
-        output_addrline(strings[i],strtem);
+        proc_addrline(xaddr,strtem);
         strncat(stroutput,strtem,6000);
     }
 
@@ -225,7 +260,7 @@ void out_stack(char *sig)
 
     QTime x;
     x.start();
-    while((unsigned int)(x.elapsed())<size)
+    while((unsigned int)(x.elapsed())<100)
     {
  //       qDebug("hello");
     }

src/common/ivchart/.gitignore

@@ -0,0 +1,73 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/common/ivchart/ivchart.cpp

@@ -0,0 +1,28 @@
+#include "ivchart.h"
+
+
+#include "ivchart_impl.h"
+
+namespace iv {
+
+Ivchart::Ivchart()
+{
+    ivchart_impl * p = new ivchart_impl();
+    p->start();
+    mpimpl = (void *)p;
+}
+
+Ivchart::~Ivchart()
+{
+    ivchart_impl * p = (ivchart_impl *)mpimpl;
+    delete p;
+}
+
+
+void Ivchart::chartvalue(std::string varname, const double fvalue,const double fvalue_RangeMin ,const double fvalue_RangeMax)
+{
+    ivchart_impl * p = (ivchart_impl *)mpimpl;
+    p->chartvalue(varname,fvalue,fvalue_RangeMin,fvalue_RangeMax);
+}
+
+}

src/common/ivchart/ivchart.h

@@ -0,0 +1,30 @@
+#ifndef IVCHART_H
+#define IVCHART_H
+
+#include <QtCore/qglobal.h>
+
+#include <string>
+
+#if defined(IVCHART_LIBRARY)
+#  define IVCHART_EXPORT Q_DECL_EXPORT
+#else
+#  define IVCHART_EXPORT Q_DECL_IMPORT
+#endif
+
+namespace iv {
+
+
+class IVCHART_EXPORT Ivchart
+{
+public:
+    Ivchart();
+    ~Ivchart();
+public:
+    void chartvalue(std::string varname,const double fvalue,const double fvalue_RangeMin = 0.0,const double fvalue_RangeMax = 1.0);
+private:
+    void * mpimpl;
+};
+
+}
+
+#endif // IVCHART_H

src/common/ivchart/ivchart.pro

@@ -0,0 +1,45 @@
+QT -= gui
+
+QT += dbus
+
+TEMPLATE = lib
+DEFINES += IVCHART_LIBRARY
+
+CONFIG += c++11
+
+CONFIG += plugin
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    ../../include/msgtype/ivchart.pb.cc \
+    ivchart.cpp \
+    ivchart_impl.cpp
+
+HEADERS += \
+    ../../include/msgtype/ivchart.pb.h \
+    ivchart.h \
+    ivchart_impl.h
+
+# Default rules for deployment.
+unix {
+    target.path = /usr/lib
+}
+!isEmpty(target.path): INSTALLS += target
+
+
+INCLUDEPATH += $$PWD/../../include/msgtype
+
+unix: LIBS += -lprotobuf
+
+win32: LIBS += $$PWD\..\..\..\thirdpartylib\protobuf\lib\libprotobuf.a
+win32: INCLUDEPATH+= $$PWD\..\..\..\thirdpartylib\protobuf\src

src/common/ivchart/ivchart_impl.cpp

@@ -0,0 +1,89 @@
+#include "ivchart_impl.h"
+
+
+namespace  iv {
+
+
+ivchart_impl::ivchart_impl()
+{
+
+    mmsg = QDBusMessage::createSignal("/catarc/adc",  "adciv.interface", "ivchart");
+    mmsg<<1;
+}
+
+ivchart_impl::~ivchart_impl()
+{
+    requestInterruption();
+    int i;
+    for(i=0;i<100;i++)
+    {
+        if(isFinished())
+            break;
+        msleep(1);
+    }
+}
+
+void ivchart_impl::chartvalue(std::string varname, const double fvalue, const double fvalue_RangeMin, const double fvalue_RangeMax)
+{
+    iv::ivchart::ivchartunit xivchartunit;
+    xivchartunit.set_strvarname(varname);
+    xivchartunit.set_timex(QDateTime::currentMSecsSinceEpoch());
+    xivchartunit.set_fvalue(fvalue);
+    xivchartunit.set_fvalue_rangemin(fvalue_RangeMin);
+    xivchartunit.set_fvalue_rangemax(fvalue_RangeMax);
+
+    if(mvectorchart.xivchartunit_size() > 10000)
+    {
+        qDebug("ivchart_impl::chartvalue ivchartunit is big value is %d ",mvectorchart.xivchartunit_size());
+        return;
+    }
+
+    mMutexVector.lock();
+    iv::ivchart::ivchartunit * p = mvectorchart.add_xivchartunit();
+    p->CopyFrom(xivchartunit);
+    mMutexVector.unlock();
+}
+
+int ivchart_impl::writechart(iv::ivchart::ivchartarray *pxvectorchart)
+{
+    char * str;
+    int ndatasize = pxvectorchart->ByteSize();
+    str = new char[ndatasize];
+    std::shared_ptr<char> pstr;
+    pstr.reset(str);
+    if(!pxvectorchart->SerializeToArray(str,ndatasize))
+    {
+        qDebug("ivchart_impl::writechart SerializeToArray error.");
+        return -1;
+    }
+    QByteArray ba;
+    ba.append(str,ndatasize);
+
+    QList<QVariant> x;
+    x<<ba;
+    mmsg.setArguments(x);
+    QDBusConnection::sessionBus().send(mmsg);
+    return 0;
+}
+
+void ivchart_impl::run()
+{
+    iv::ivchart::ivchartarray xvectorchart;
+    while(!QThread::isInterruptionRequested())
+    {
+        mWaitMutex.lock();
+        mwc.wait(&mWaitMutex,50);
+        mWaitMutex.unlock();
+        mMutexVector.lock();
+        xvectorchart.Clear();
+        xvectorchart.CopyFrom(mvectorchart);
+        mvectorchart.Clear();
+        mMutexVector.unlock();
+        if(xvectorchart.xivchartunit_size()>0)
+        {
+            writechart(&xvectorchart);
+        }
+    }
+}
+
+}

src/common/ivchart/ivchart_impl.h

@@ -0,0 +1,45 @@
+#ifndef IVCHART_IMPL_H
+#define IVCHART_IMPL_H
+
+#include <QDateTime>
+#include <QtDBus/qdbusmessage.h>
+#include <QtDBus/QDBusConnection>
+
+#include <QThread>
+#include <QWaitCondition>
+#include <QMutex>
+#include <vector>
+#include <memory>
+#include <iostream>
+
+#include <unistd.h>
+
+#include "ivchart.pb.h"
+
+
+namespace  iv {
+
+
+
+class ivchart_impl : public QThread
+{
+public:
+    ivchart_impl();
+    ~ivchart_impl();
+
+public:
+    void chartvalue(std::string varname,const double fvalue,const double fvalue_RangeMin = 0.0,const double fvalue_RangeMax = 1.0);
+
+private:
+    QDBusMessage mmsg;
+    void run();
+    QWaitCondition mwc;
+    QMutex mWaitMutex;
+    iv::ivchart::ivchartarray mvectorchart;
+    QMutex mMutexVector;
+    int writechart(iv::ivchart::ivchartarray * pxvectorchart);
+};
+
+}
+
+#endif // IVCHART_IMPL_H

src/decition/common/perception/impl_gps.cpp

@@ -1,5 +1,5 @@
 #include <perception/sensor_gps.h>
-#include <decition/gnss_coordinate_convert.h>
+#include <decision/gnss_coordinate_convert.h>
 #include <control/can.h>
 #include <QDebug>
 #include <QNetworkDatagram>

src/decition/decition_brain/decision/adc_adapter/base_adapter.cpp

@@ -0,0 +1,26 @@
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+
+
+
+
+iv::decition::BaseAdapter::BaseAdapter(){
+
+}
+iv::decition::BaseAdapter::~BaseAdapter(){
+
+}
+
+
+
+ iv::decition::Decition  iv::decition::BaseAdapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  path , float dSpeed, float obsDistacne ,
+                                                                      float  obsSpeed,float accAim,float accNow  , bool changingDangWei, Decition *decition){
+
+
+
+
+}

src/decition/decition_brain/decision/adc_adapter/base_adapter.h

@@ -0,0 +1,42 @@
+#ifndef BASE_ADAPTER_H
+#define BASE_ADAPTER_H
+
+
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+
+namespace iv {
+namespace decition {
+
+        class BaseAdapter {
+        public:
+
+            int adapter_id;
+            std::string adapter_name;
+
+            BaseAdapter();
+            ~BaseAdapter();
+
+
+
+        virtual  iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                          float  obsSpeed,float accAim,float accNow, bool changingDangWei,Decition *decition);
+
+
+        private:
+
+
+        };
+
+    }
+}
+
+
+
+
+
+#endif // BASE_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/bus_adapter.cpp

@@ -0,0 +1,325 @@
+#include <decision/adc_adapter/bus_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+
+using namespace std;
+
+
+iv::decition::BusAdapter::BusAdapter(){
+    adapter_id=4;
+    adapter_name="bus";
+}
+iv::decition::BusAdapter::~BusAdapter(){
+
+}
+
+
+
+iv::decition::Decition iv::decition::BusAdapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                        float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+    accAim=min(0.7f,accAim);
+
+    float controlSpeed=0;
+    float controlBrake=0;
+    float u = 0- accAim;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    bool turn_around=false;
+    if(now_gps_ins.roadMode==14||now_gps_ins.roadMode==15||now_gps_ins.roadMode==16||now_gps_ins.roadMode==17){
+        turn_around=true;
+    }
+
+    if(ttc<0){
+        ttc=15;
+    }
+    if (accAim < 0)
+    {
+        controlSpeed=0;
+        controlBrake=u; //102
+        if(obsDistance>0 && obsDistance<10){
+            controlBrake= u*1.5;
+        }
+         if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && turn_around
+                 && dSpeed>0 && lastBrake==0){
+            controlBrake=0;
+            controlSpeed=0;
+        }else if(abs(realSpeed)<15 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && turn_around){
+            controlBrake=min(controlBrake,0.5f);
+            controlSpeed=0;
+        }
+
+       else if(abs(dSpeed-realSpeed)>=5 &&abs(dSpeed-realSpeed)<10&&(obsDistance>40 || obsDistance<0)&&ttc>8
+                  && !turn_around ){
+            controlBrake=min(controlBrake,0.3f);
+            controlSpeed=0;
+        }
+        else if(abs(dSpeed-realSpeed)>=10 &&abs(dSpeed-realSpeed)<15&&(obsDistance>40 || obsDistance<0)&&ttc>8
+                && dSpeed>0 && !turn_around ){
+            controlBrake=min(controlBrake,0.5f);
+            controlSpeed=0;
+        }
+
+
+        //0110
+        if(changingDangWei){
+            controlBrake=max(0.5f,controlBrake);
+        }
+
+        //斜坡刹车加大 lsn 0217
+        if (abs(now_gps_ins.ins_pitch_angle)>2.5 &&(controlBrake>0||dSpeed==0)){
+            controlBrake=max(2.0f,controlBrake);
+        }
+        //斜坡刹车加大 end
+
+
+
+
+
+    }
+    else
+    {
+        controlBrake = 0;
+
+        if(ServiceCarStatus.torque_st==0){
+            controlSpeed = (u*(-16)+((0-u)-ServiceCarStatus.mfCalAcc)*10)*0.7; //*1.0
+            controlSpeed =min( controlSpeed,2.0f);
+
+        }else{
+            controlSpeed= ServiceCarStatus.torque_st+((0-u)-ServiceCarStatus.mfCalAcc)*20;//1115    *10
+        }
+
+        //        if(((gpsIns.ins_pitch_angle>-2.5 && ServiceCarStatus.daocheMode)||
+        //            (gpsIns.ins_pitch_angle<2.5 && !ServiceCarStatus.daocheMode))){
+        //            if(realSpeed<5  ){
+        //                controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
+        //            }else if(realSpeed<10){
+        //                controlSpeed=min((float)25.0,controlSpeed);  //40
+        //            }
+        //        }
+
+
+        //   controlSpeed = min((float)(ServiceCarStatus.torque_st+1.0),controlSpeed); //1115 5.0
+
+//        if(accAim>0 && ServiceCarStatus.mfCalAcc>0  && realSpeed>1 ){
+//            if(controlSpeed>0){
+//                controlSpeed = ServiceCarStatus.torque_st;
+//            }
+//        }else if(accAim<0 && ServiceCarStatus.mfCalAcc<0 && dSpeed>0){
+//            if(controlSpeed>0 ){
+//                controlSpeed = ServiceCarStatus.torque_st;
+//            }
+//        }
+
+
+        if(controlSpeed>ServiceCarStatus.torque_st){
+            controlSpeed = min(ServiceCarStatus.torque_st+1.0f,controlSpeed);
+        }else if(controlSpeed<ServiceCarStatus.torque_st){
+            controlSpeed = ServiceCarStatus.torque_st-1.0;
+        }
+
+
+
+
+        //Seizing
+        if((ServiceCarStatus.torque_st==controlSpeed-1)&&dSpeed>1){
+            seizingCount++;
+        }else{
+            seizingCount=0;
+        }
+        if(seizingCount>=10){
+            controlSpeed=ServiceCarStatus.torque_st+2;
+        }
+
+//        if(controlSpeed==2.0 && ServiceCarStatus.torque_st<2){
+//          controlSpeed=2.4;
+//        }
+        //seizing end
+
+
+
+
+
+
+        // 斜坡加大油门   0217 lsn
+
+        if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+            (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+                && abs(realSpeed)<1.0){
+            controlSpeed=max((float)20.0,controlSpeed);
+            controlSpeed=min((float)40.0,controlSpeed);
+        }
+        // 斜坡加大油门  end
+
+
+        else if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+                 (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+                && abs(realSpeed)<10.0){
+            controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
+        }
+
+    }
+
+    if(controlSpeed>0){
+        controlSpeed=max(controlSpeed,2.4f);
+    }
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<10 &&obsDistance>0){
+        controlSpeed=0;
+        controlBrake=max(controlBrake,0.8f);
+    }
+
+
+    if(DecideGps00::minDecelerate<0){
+        controlBrake = max((0-DecideGps00::minDecelerate),controlBrake);
+        controlSpeed=0;
+    }
+
+    controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
+
+    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+
+   // (*decition)->brake = controlBrake*10;
+      (*decition)->brake = controlBrake*9;
+
+    (*decition)->torque=controlSpeed;
+      lastBrake= (*decition)->brake;
+
+
+
+
+
+    lastTorque=(*decition)->torque;
+
+
+
+
+    (*decition)->grade=1;
+    (*decition)->mode=1;
+    (*decition)->speak=0;
+    (*decition)->handBrake=1;  // 0: laqi 1: shifang
+    (*decition)->bright=false;
+    (*decition)->engine=0;
+
+    (*decition)->dangweiEnable=true;
+    (*decition)->angleEnable=true;
+    (*decition)->speedEnable=true;
+    (*decition)-> brakeEnable=true;
+    (*decition)->driveMode=1;
+    (*decition)->brakeType=0;
+    (*decition)->angSpeed=60;
+    (*decition)->topLight=0;
+
+
+    if(ServiceCarStatus.bocheMode ||ServiceCarStatus.daocheMode){
+        (*decition)->dangWei=2;
+        (*decition)->backLight=1;
+    }
+    //1220
+    else{
+        (*decition)->dangWei=4;
+        (*decition)->backLight=0;
+    }
+
+
+
+    if((*decition)->brake>0){
+        (*decition)->brakeLight=1;
+    }else{
+        (*decition)->brakeLight=0;
+    }
+
+
+    if((*decition)->leftlamp){
+        (*decition)->directLight=1;
+    }else if((*decition)->rightlamp){
+         (*decition)->directLight=2;
+    }else{
+        (*decition)->directLight=0;
+    }
+
+    (*decition)->handBrake=false;
+    (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+    (*decition)->wheel_angle=max((float)-870.0,(*decition)->wheel_angle);
+     (*decition)->wheel_angle=min((float)870.0,(*decition)->wheel_angle);
+
+
+
+
+        //dangweiTrasfer
+//             if((decition_gps->dangWei!=ServiceCarStatus.dangwei_st && ServiceCarStatus.dangwei_st!=0)){
+//                 decition_gps->dangWei=2;
+//                 decition_gps->torque=0;
+//             }
+     lastDangWei= (*decition)->dangWei;
+
+            (*decition)->topLight=0; //1116
+            (*decition)->nearLight=0;
+             (*decition)->farLight=0;
+
+
+
+       //(*decition)->door=3;
+
+std::cout<<"==========================================="<<std::endl;
+     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim<<"  torque_st:"<<ServiceCarStatus.torque_st
+             <<"  decideTorque:"<<(*decition)->torque <<"  decideBrake:"<<(*decition)->brake
+    <<std::endl;
+std::cout<<"========================================="<<std::endl;
+
+
+   (*decition)->accelerator=  (*decition)->torque ;
+    return *decition;
+}
+
+
+
+float iv::decition::BusAdapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+
+    //刹车限制
+
+    //刹车限制
+
+    float vs =realSpeed*3.6;
+    int BrakeIntMax = 10;
+    if (vs < 10.0 / 3.6) BrakeIntMax = 4;
+    else if (vs < 20.0 / 3.6) BrakeIntMax = 6;
+
+    //`
+    if(ttc>10){
+        BrakeIntMax = 2;
+    }else if(ttc>6){
+        BrakeIntMax = 3;
+    }else if(ttc>3){
+        BrakeIntMax = 4;
+    }else {
+        BrakeIntMax = 5;
+    }
+    if(obsDistance>0 && obsDistance<10){
+        BrakeIntMax=max(BrakeIntMax,3);
+    }
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+
+
+
+    controlBrake=min(5.0f,controlBrake);
+    controlBrake=max(0.0f,controlBrake);
+    return controlBrake;
+
+}
+
+float iv::decition::BusAdapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+
+    controlSpeed=min((float)100.0,controlSpeed);
+    controlSpeed=max((float)0.0,controlSpeed);
+    return controlSpeed;
+}
+
+

src/decition/decition_brain/decision/adc_adapter/bus_adapter.h

@@ -0,0 +1,43 @@
+#ifndef BUS_ADAPTER_H
+#define BUS_ADAPTER_H
+
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+
+namespace iv {
+     namespace decition {
+         class BusAdapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+                        int lastDangWei=0;
+
+
+                        BusAdapter();
+                        ~BusAdapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+                        int seizingCount=0;
+
+            };
+
+    }
+}
+
+
+#endif // BUS_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/ge3_adapter.cpp

@@ -0,0 +1,193 @@
+#include <decision/adc_adapter/ge3_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+
+using namespace std;
+
+
+iv::decition::Ge3Adapter::Ge3Adapter(){
+    adapter_id=0;
+    adapter_name="ge3";
+}
+iv::decition::Ge3Adapter::~Ge3Adapter(){
+
+}
+
+
+
+iv::decition::Decition iv::decition::Ge3Adapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                   float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+
+
+    float controlSpeed=0;
+    float controlBrake=0;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    if(ttc<0){
+        ttc=15;
+    }
+    if (accAim < 0)
+    {
+        if(obsDistance<10 && obsDistance>0 ){
+            if(ttc>3){
+                controlBrake = (int)((0-accAim) * 40.0) + 1;  //(u * 14.0) + 1;
+            }else{
+                controlBrake = (int)((0-accAim) * 60.0) + 1;  //(u * 14.0) + 1;
+            }
+        } else{
+            if(ttc<5){
+                controlBrake = (int)((0-accAim) * 40.0) + 1;  //(u * 14.0) + 1;
+            }else {
+                controlBrake = (int)((0-accAim) * 20.0) + 1;  //(u * 14.0) + 1;
+            }
+        }
+        controlSpeed = 0;
+        if(obsDistance>50 && ttc>8 &&abs(realSpeed-dSpeed)<3){
+            controlBrake=0;
+            controlSpeed=max(lastTorque-10.0,0.0);
+        }
+    }
+    else
+    {
+        controlBrake = 0;
+        if(lastTorque==0){
+            controlSpeed=100;
+        }else{
+            controlSpeed = lastTorque+(accAim-accNow)*500*0.1;
+        }
+    }
+
+
+
+    if(ServiceCarStatus.bocheMode){
+        if(dSpeed<6){
+            controlSpeed=min(1.0f,controlSpeed);
+            controlBrake=min(5.0f,controlBrake);
+            if(abs(dSpeed-realSpeed)<2 && controlBrake>0){
+                controlBrake=0;
+            }
+        }
+    }
+
+
+    controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
+
+    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+
+    if(DecideGps00::minDecelerate<0){
+        controlBrake = max((0-DecideGps00::minDecelerate)*30,controlBrake);
+        controlSpeed=0;
+    }
+    controlBrake=min(controlBrake,100.0f);
+    controlBrake=max(controlBrake,0.0f);
+
+    (*decition)->brake = controlBrake;
+
+    (*decition)->torque= controlSpeed;
+
+
+
+
+
+
+    lastTorque=(*decition)->torque;
+
+
+    (*decition)->grade=1;
+    (*decition)->mode=1;
+    (*decition)->speak=0;
+    (*decition)->handBrake=0;
+    (*decition)->bright=false;
+    (*decition)->engine=0;
+
+    if(ServiceCarStatus.bocheMode){
+        (*decition)->dangWei=2;
+    }else{
+        (*decition)->dangWei=1;
+    }
+
+
+    (*decition)->wheel_angle=max((float)-500.0,float((*decition)->wheel_angle+ServiceCarStatus.mfEPSOff));
+    (*decition)->wheel_angle=min((float)500.0,(*decition)->wheel_angle);
+
+    (*decition)->air_enable=true;
+
+
+
+    return *decition;
+}
+
+
+
+float iv::decition::Ge3Adapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+
+    //刹车限制
+
+    int BrakeIntMax = 0;
+    if (realSpeed < 10.0 / 3.6) BrakeIntMax = 40;
+    else if (realSpeed < 20.0 / 3.6) BrakeIntMax = 60;
+    else BrakeIntMax = 100;
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+    if ((obsDistance>0 && obsDistance < 6) || dSpeed == 0)
+    {
+        controlBrake = max(30.0f, controlBrake);
+    }
+    if (obsDistance>0 && obsDistance<10&&obsDistance>0)
+    {
+        controlBrake = max(20.0f, controlBrake);
+    }
+    if (obsDistance<10&&obsDistance>0 &&ttc<8)
+    {
+        controlBrake = max(30.0f, controlBrake);
+    }
+    if (obsDistance<10&&obsDistance>0 &&ttc<5)
+    {
+        controlBrake = max(40.0f, controlBrake);
+    }
+    if (obsDistance<10&&obsDistance>0 &&ttc<1.6)
+    {
+        controlBrake = max(60.0f, controlBrake);
+    }
+    if(obsDistance<5 && obsDistance>0 ){
+        controlBrake = max(60.0f, controlBrake);
+    }
+    if(obsDistance<5 && obsDistance>0 &&ttc<8){
+        controlBrake = max(80.0f, controlBrake);
+    }
+    controlBrake=min(100.0f,controlBrake);
+    return controlBrake;
+
+}
+
+float iv::decition::Ge3Adapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+    if(controlBrake>0){
+        controlSpeed=0;
+    }
+
+    if(realSpeed<10){
+        controlSpeed=min((float)400.0,controlSpeed);
+    }else if(realSpeed<30){
+        controlSpeed =min((float)600.0,controlSpeed);
+    }
+    if(controlSpeed>0){
+        if(controlSpeed>lastTorque){
+            controlSpeed=min(float(lastTorque+5.0),controlSpeed);
+        }
+    }
+    if(dSpeed <= 3)
+    {
+        controlSpeed = min(controlSpeed,20.0f);
+    }
+
+    controlSpeed=min((float)1200.0,controlSpeed);
+    controlSpeed=max((float)0.0,controlSpeed);
+    return controlSpeed;
+}
+
+

src/decition/decition_brain/decision/adc_adapter/ge3_adapter.h

@@ -0,0 +1,60 @@
+#ifndef GE3_ADAPTER_H
+#define GE3_ADAPTER_H
+
+
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+
+namespace iv {
+     namespace decition {
+         class Ge3Adapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+
+                        Ge3Adapter();
+                        ~Ge3Adapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+
+            };
+
+    }
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#endif // GE3_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/hapo_adapter.cpp

@@ -0,0 +1,362 @@
+#include <decision/adc_adapter/hapo_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+#include <QTime>
+
+QTime doorOpenTime;
+
+using namespace std;
+
+iv::decition::HapoAdapter::HapoAdapter(){
+    adapter_id=5;
+    adapter_name="hapo";
+}
+iv::decition::HapoAdapter::~HapoAdapter(){
+
+}
+
+#include "ivlog.h"
+extern iv::Ivlog * givlog;
+
+iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                        float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+    accAim=min(0.7f,accAim);
+
+    float controlSpeed=0;
+    float controlBrake=0;
+    float u = 0- accAim;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    bool turn_around=false;
+    if(now_gps_ins.roadMode==14||now_gps_ins.roadMode==15||now_gps_ins.roadMode==16||now_gps_ins.roadMode==17){
+        turn_around=true;
+    }
+
+    if(ttc<0){
+        ttc=15;
+    }
+    if (accAim < 0)
+    {
+        controlSpeed=0;
+        controlBrake=u; //102
+        if(obsDistance>0 && obsDistance<6){
+            controlBrake= u*1.5;
+        }
+         if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>5 && dSpeed>0 && turn_around
+                 && dSpeed>0 && lastBrake==0){
+            controlBrake=0;
+            controlSpeed=0;
+        }else if(abs(realSpeed)<15 &&(obsDistance>40 || obsDistance<0)&&ttc>5 && dSpeed>0 && turn_around){
+            controlBrake=min(controlBrake,0.5f);
+            controlSpeed=0;
+        }
+
+       else if(abs(dSpeed-realSpeed)>=5 &&abs(dSpeed-realSpeed)<10&&(obsDistance>40 || obsDistance<0)&&ttc>5
+                  && !turn_around ){
+            controlBrake=min(controlBrake,0.3f);
+            controlSpeed=0;
+        }
+        else if(abs(dSpeed-realSpeed)>=10 &&abs(dSpeed-realSpeed)<15&&(obsDistance>40 || obsDistance<0)&&ttc>5
+                && dSpeed>0 && !turn_around ){
+            controlBrake=min(controlBrake,0.5f);
+            controlSpeed=0;
+        }
+         else if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>=15
+                 && dSpeed>0 && !turn_around ){
+             controlBrake=0;
+             controlSpeed= 2.0* (realSpeed/15.0);
+         }
+
+
+        //0110
+        if(changingDangWei){
+            controlBrake=max(0.5f,controlBrake);
+        }
+
+        //斜坡刹车加大 lsn 0217
+        if (abs(now_gps_ins.ins_pitch_angle)>2.5 &&(controlBrake>0||dSpeed==0)){
+            controlBrake=max(2.0f,controlBrake);
+        }
+        //斜坡刹车加大 end
+
+
+
+
+
+    }
+    else
+    {
+        controlBrake = 0;
+
+        if(ServiceCarStatus.torque_st==0){
+            controlSpeed = (u*(-16)+((0-u)-ServiceCarStatus.mfCalAcc)*10)*0.7; //*1.0
+            controlSpeed =min( controlSpeed,2.0f);
+             controlSpeed =max( controlSpeed,1.0f);
+
+        }else{
+            controlSpeed= ServiceCarStatus.torque_st+((0-u)-ServiceCarStatus.mfCalAcc)*20;//1115    *10
+        }
+
+        //        if(((gpsIns.ins_pitch_angle>-2.5 && ServiceCarStatus.daocheMode)||
+        //            (gpsIns.ins_pitch_angle<2.5 && !ServiceCarStatus.daocheMode))){
+        //            if(realSpeed<5  ){
+        //                controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
+        //            }else if(realSpeed<10){
+        //                controlSpeed=min((float)25.0,controlSpeed);  //40
+        //            }
+        //        }
+
+
+        //   controlSpeed = min((float)(ServiceCarStatus.torque_st+1.0),controlSpeed); //1115 5.0
+
+//        if(accAim>0 && ServiceCarStatus.mfCalAcc>0  && realSpeed>1 ){
+//            if(controlSpeed>0){
+//                controlSpeed = ServiceCarStatus.torque_st;
+//            }
+//        }else if(accAim<0 && ServiceCarStatus.mfCalAcc<0 && dSpeed>0){
+//            if(controlSpeed>0 ){
+//                controlSpeed = ServiceCarStatus.torque_st;
+//            }
+//        }
+
+
+        if(controlSpeed>ServiceCarStatus.torque_st){
+            controlSpeed = min(ServiceCarStatus.torque_st+2.0f,controlSpeed);
+        }else if(controlSpeed<ServiceCarStatus.torque_st){
+            controlSpeed = ServiceCarStatus.torque_st-1.0f;
+        }
+
+
+
+
+        //Seizing
+        if((ServiceCarStatus.torque_st==controlSpeed-1)&&dSpeed>1){
+            seizingCount++;
+        }else{
+            seizingCount=0;
+        }
+        if(seizingCount>=10){
+            controlSpeed=ServiceCarStatus.torque_st+2;
+        }
+
+       if(controlSpeed==2.0 && ServiceCarStatus.torque_st<2){
+          controlSpeed=2.4;
+        }
+        //seizing end
+
+
+
+
+
+
+        // 斜坡加大油门   0217 lsn
+
+//        if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+//            (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+//                && abs(realSpeed)<1.0){
+//            controlSpeed=max((float)20.0,controlSpeed);
+//            controlSpeed=min((float)40.0,controlSpeed);
+//        }
+        // 斜坡加大油门  end
+
+
+//        else if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+//                 (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+//                && abs(realSpeed)<10.0){
+//            controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
+//        }
+
+    }
+//0125
+    if(controlSpeed>0){
+        controlSpeed=max(controlSpeed,2.4f);
+    }
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<6 &&obsDistance>0){
+        controlSpeed=0;
+        controlBrake=max(controlBrake,0.8f);
+    }
+
+
+    if(DecideGps00::minDecelerate<0){
+        controlBrake = max((0-DecideGps00::minDecelerate),controlBrake);
+        controlSpeed=0;
+    }
+
+    controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
+
+    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+
+   // (*decition)->brake = controlBrake*10;
+      (*decition)->brake = controlBrake*6;
+
+    (*decition)->torque=controlSpeed;
+      lastBrake= (*decition)->brake;
+
+
+
+
+
+    lastTorque=(*decition)->torque;
+
+
+
+
+    (*decition)->grade=1;
+    (*decition)->mode=1;
+    (*decition)->speak=0;
+    (*decition)->handBrake=1;  // 0: laqi 1: shifang
+    (*decition)->bright=false;
+    (*decition)->engine=0;
+
+    (*decition)->dangweiEnable=true;
+    (*decition)->angleEnable=true;
+    (*decition)->speedEnable=true;
+    (*decition)-> brakeEnable=true;
+    (*decition)->air_enable=false;
+    (*decition)->driveMode=1;
+    (*decition)->brakeType=0;
+    (*decition)->angSpeed=60;
+    (*decition)->topLight=0;
+
+
+    if(ServiceCarStatus.bocheMode ||ServiceCarStatus.daocheMode){
+        (*decition)->dangWei=2;
+        (*decition)->backLight=1;
+    }
+    //1220
+    else{
+        (*decition)->dangWei=4;
+        (*decition)->backLight=0;
+    }
+
+
+
+    if((*decition)->brake>0){
+        (*decition)->brakeLight=1;
+    }else{
+        (*decition)->brakeLight=0;
+    }
+
+
+    if((*decition)->leftlamp){
+        (*decition)->directLight=1;
+    }else if((*decition)->rightlamp){
+         (*decition)->directLight=2;
+    }else{
+        (*decition)->directLight=0;
+    }
+
+    (*decition)->handBrake=false;
+    (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+    (*decition)->wheel_angle=max((float)-870.0,(*decition)->wheel_angle);
+     (*decition)->wheel_angle=min((float)870.0,(*decition)->wheel_angle);
+
+
+
+
+        //dangweiTrasfer
+//             if((decition_gps->dangWei!=ServiceCarStatus.dangwei_st && ServiceCarStatus.dangwei_st!=0)){
+//                 decition_gps->dangWei=2;
+//                 decition_gps->torque=0;
+//             }
+     lastDangWei= (*decition)->dangWei;
+
+            (*decition)->topLight=0; //1116
+            (*decition)->nearLight=0;
+             (*decition)->farLight=0;
+
+     if(ServiceCarStatus.stationCmd.mode_manual_drive==true)
+     {
+          (*decition)->mode=0;
+     }
+
+
+     if(ServiceCarStatus.station_control_door==0)
+     {
+         (*decition)->door=false;      //CLOSE
+         doorOpenTime.start();
+         givlog->debug("DOOR","STATUS is: %d",5);
+
+     }else if((ServiceCarStatus.station_control_door==1)&&(ServiceCarStatus.station_control_door_option==false))
+     {
+         (*decition)->door=true;       //OPEN
+         (*decition)->brake =6;
+         (*decition)->torque=0;
+         if(doorOpenTime.elapsed()>6000)
+         {
+             ServiceCarStatus.station_control_door_option=true;
+             givlog->debug("DOOR","STATUS is: %d",8);
+         }
+     }
+
+givlog->debug("DOOR","door is: %d",(*decition)->door);
+givlog->debug("DOOR","station_control_door is: %d",ServiceCarStatus.station_control_door);
+
+std::cout<<"==========================================="<<std::endl;
+     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim<<"  torque_st:"<<ServiceCarStatus.torque_st
+             <<"  decideTorque:"<<(*decition)->torque <<"  decideBrake:"<<(*decition)->brake
+    <<std::endl;
+std::cout<<"========================================="<<std::endl;
+
+
+   (*decition)->accelerator=  (*decition)->torque ;
+
+
+givlog->debug("obs_distance","dSpeed: %f, realSpeed: %f, brake: %f",
+              dSpeed, realSpeed,(*decition)->brake);
+
+    return *decition;
+}
+
+
+
+float iv::decition::HapoAdapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+
+    //刹车限制
+
+    //刹车限制
+
+    float vs =realSpeed*3.6;
+    int BrakeIntMax = 10;
+    if (vs < 10.0 / 3.6) BrakeIntMax = 4;
+    else if (vs < 20.0 / 3.6) BrakeIntMax = 6;
+
+    //`
+    if(ttc>10){
+        BrakeIntMax = 2;
+    }else if(ttc>6){
+        BrakeIntMax = 3;
+    }else if(ttc>3){
+        BrakeIntMax = 4;
+    }else {
+        BrakeIntMax = 5;
+    }
+    if(obsDistance>0 && obsDistance<10){
+        BrakeIntMax=max(BrakeIntMax,3);
+    }
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+
+
+
+    controlBrake=min(5.0f,controlBrake);
+    controlBrake=max(0.0f,controlBrake);
+    return controlBrake;
+
+}
+
+float iv::decition::HapoAdapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+
+    controlSpeed=min((float)100.0,controlSpeed);
+    controlSpeed=max((float)0.0,controlSpeed);
+    return controlSpeed;
+}
+
+

src/decition/decition_brain/decision/adc_adapter/hapo_adapter.h

@@ -0,0 +1,43 @@
+#ifndef HAPO_ADAPTER_H
+#define HAPO_ADAPTER_H
+
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+
+namespace iv {
+     namespace decition {
+         class HapoAdapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+                        int lastDangWei=0;
+
+
+                        HapoAdapter();
+                        ~HapoAdapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+                        int seizingCount=0;
+
+            };
+
+    }
+}
+
+
+#endif // HAPO_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/qingyuan_adapter.cpp

@@ -0,0 +1,312 @@
+#include <decision/adc_adapter/qingyuan_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+
+using namespace std;
+
+
+iv::decition::QingYuanAdapter::QingYuanAdapter(){
+    adapter_id=1;
+    adapter_name="qingyuan";
+}
+iv::decition::QingYuanAdapter::~QingYuanAdapter(){
+
+}
+
+
+
+iv::decition::Decition iv::decition::QingYuanAdapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                        float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+
+
+    float controlSpeed=0;
+    float controlBrake=0;
+    float u = 0- accAim;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    bool turn_around=false;
+    if(now_gps_ins.roadMode==14||now_gps_ins.roadMode==15||now_gps_ins.roadMode==16||now_gps_ins.roadMode==17){
+        turn_around=true;
+    }
+
+    if(ttc<0){
+        ttc=15;
+    }
+    if (accAim < 0)
+    {
+        controlSpeed=0;
+        controlBrake=u; //102
+        if(obsDistance>0 && obsDistance<10){
+            controlBrake= u*1.5;
+        }
+        if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && !turn_around){
+            controlBrake=0;
+            controlSpeed=max(0.0,ServiceCarStatus.torque_st-10.0);
+        }else if(abs(dSpeed-realSpeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && turn_around){
+            controlBrake=0;
+            controlSpeed=0;
+        }else if(abs(realSpeed)<15 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0 && turn_around){
+            controlBrake=min(controlBrake,0.5f);
+            controlSpeed=0;
+        }
+
+        else if(abs(dSpeed-realSpeed)>=3 &&abs(dSpeed-realSpeed)<5&&(obsDistance>40 || obsDistance<0)&&ttc>8
+                && dSpeed>0 && !turn_around ){
+            controlBrake=0;
+            controlSpeed=0;
+        }else if(abs(dSpeed-realSpeed)>=5 &&abs(dSpeed-realSpeed)<10&&(obsDistance>40 || obsDistance<0)&&ttc>8
+                 && dSpeed>0 && !turn_around ){
+            controlBrake=min(controlBrake,0.3f);
+            controlSpeed=0;
+        }
+        else if(abs(dSpeed-realSpeed)>=10 &&abs(dSpeed-realSpeed)<15&&(obsDistance>40 || obsDistance<0)&&ttc>8
+                && dSpeed>0 && !turn_around ){
+            controlBrake=min(controlBrake,0.5f);
+            controlSpeed=0;
+        }
+
+
+        //0110
+        if(changingDangWei){
+            controlBrake=max(0.5f,controlBrake);
+        }
+
+        //斜坡刹车加大 lsn 0217
+        if (abs(now_gps_ins.ins_pitch_angle)>2.5 &&(controlBrake>0||dSpeed==0)){
+            controlBrake=max(2.0f,controlBrake);
+        }
+        //斜坡刹车加大 end
+
+
+
+
+
+    }
+    else
+    {
+        controlBrake = 0;
+
+        if(ServiceCarStatus.torque_st==0){
+            controlSpeed = (u*(-16)+((0-u)-ServiceCarStatus.mfCalAcc)*10)*0.7; //*1.0
+            controlSpeed =min( controlSpeed,1.0f);
+
+        }else{
+            controlSpeed= ServiceCarStatus.torque_st+((0-u)-ServiceCarStatus.mfCalAcc)*10;//1115    *10
+        }
+
+        //        if(((gpsIns.ins_pitch_angle>-2.5 && ServiceCarStatus.daocheMode)||
+        //            (gpsIns.ins_pitch_angle<2.5 && !ServiceCarStatus.daocheMode))){
+        //            if(realSpeed<5  ){
+        //                controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
+        //            }else if(realSpeed<10){
+        //                controlSpeed=min((float)25.0,controlSpeed);  //40
+        //            }
+        //        }
+
+
+        //   controlSpeed = min((float)(ServiceCarStatus.torque_st+1.0),controlSpeed); //1115 5.0
+        if(controlSpeed>ServiceCarStatus.torque_st){
+            controlSpeed = ServiceCarStatus.torque_st+1.0;
+        }else if(controlSpeed<ServiceCarStatus.torque_st){
+            controlSpeed = ServiceCarStatus.torque_st-1.0;
+        }
+
+
+
+
+
+
+        //Seizing
+        if((ServiceCarStatus.torque_st==controlSpeed-1)&&dSpeed>1&&realSpeed<0.5){
+            seizingCount++;
+        }else{
+            seizingCount=0;
+        }
+        if(seizingCount>=10){
+            controlSpeed=ServiceCarStatus.torque_st+2;
+        }
+        //seizing end
+
+
+
+
+        // 斜坡加大油门   0217 lsn
+
+        if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+            (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+                && abs(realSpeed)<1.0){
+            controlSpeed=max((float)20.0,controlSpeed);
+            controlSpeed=min((float)40.0,controlSpeed);
+        }
+        // 斜坡加大油门  end
+
+
+        else if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+                 (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+                && abs(realSpeed)<10.0){
+            controlSpeed=min((float)25.0,controlSpeed); //youmenxianxiao  30
+        }
+
+    }
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<10 &&obsDistance>0){
+        controlSpeed=0;
+        controlBrake=max(controlBrake,0.8f);
+    }
+
+
+    if(DecideGps00::minDecelerate<0){
+        controlBrake = max((0-DecideGps00::minDecelerate),controlBrake);
+        controlSpeed=0;
+    }
+
+    controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
+
+    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+
+    (*decition)->brake = controlBrake;
+
+    (*decition)->torque=controlSpeed;
+
+
+
+
+
+
+    lastTorque=(*decition)->torque;
+
+
+
+
+    (*decition)->grade=1;
+    (*decition)->mode=1;
+    (*decition)->speak=0;
+    (*decition)->handBrake=1;  // 0: laqi 1: shifang
+    (*decition)->bright=false;
+    (*decition)->engine=0;
+
+    (*decition)->dangweiEnable=true;
+    (*decition)->angleEnable=true;
+    (*decition)->speedEnable=true;
+    (*decition)-> brakeEnable=true;
+    (*decition)->driveMode=1;
+    (*decition)->brakeType=0;
+    (*decition)->angSpeed=60;
+    (*decition)->topLight=0;
+
+
+    if(ServiceCarStatus.bocheMode ||ServiceCarStatus.daocheMode){
+        (*decition)->dangWei=3;
+        (*decition)->backLight=1;
+    }
+    //1220
+    else{
+        (*decition)->dangWei=4;
+        (*decition)->backLight=0;
+    }
+
+
+
+    if((*decition)->brake>0){
+        (*decition)->brakeLight=1;
+    }else{
+        (*decition)->brakeLight=0;
+    }
+
+
+    if((*decition)->leftlamp){
+        (*decition)->directLight=1;
+    }else if((*decition)->rightlamp){
+         (*decition)->directLight=2;
+    }else{
+        (*decition)->directLight=0;
+    }
+
+
+    (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+    (*decition)->wheel_angle=max((float)-570.0,(*decition)->wheel_angle);
+     (*decition)->wheel_angle=min((float)570.0,(*decition)->wheel_angle);
+
+
+
+
+        //dangweiTrasfer
+//             if((decition_gps->dangWei!=ServiceCarStatus.dangwei_st && ServiceCarStatus.dangwei_st!=0)){
+//                 decition_gps->dangWei=2;
+//                 decition_gps->torque=0;
+//             }
+     lastDangWei= (*decition)->dangWei;
+
+            (*decition)->topLight=0; //1116
+            (*decition)->nearLight=0;
+             (*decition)->farLight=0;
+
+
+
+       //(*decition)->door=3;
+
+std::cout<<"==========================================="<<std::endl;
+     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim<<"  torque_st:"<<ServiceCarStatus.torque_st
+             <<"  decideTorque:"<<(*decition)->torque
+    <<std::endl;
+std::cout<<"========================================="<<std::endl;
+
+    return *decition;
+}
+
+
+
+float iv::decition::QingYuanAdapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+
+    //刹车限制
+
+    //刹车限制
+
+    float vs =realSpeed*3.6;
+    int BrakeIntMax = 10;
+    if (vs < 10.0 / 3.6) BrakeIntMax = 4;
+    else if (vs < 20.0 / 3.6) BrakeIntMax = 6;
+
+    //`
+    if(ttc>10){
+        BrakeIntMax = 2;
+    }else if(ttc>6){
+        BrakeIntMax = 3;
+    }else if(ttc>3){
+        BrakeIntMax = 4;
+    }else if(ttc>1.6){
+        BrakeIntMax = 5;
+    }else if(ttc>0.8){
+        BrakeIntMax = 8;
+    }else{
+        BrakeIntMax = 10;
+    }
+    if(obsDistance>0 && obsDistance<10){
+        BrakeIntMax=max(BrakeIntMax,3);
+    }
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+
+
+
+    controlBrake=min(10.0f,controlBrake);
+    controlBrake=max(0.0f,controlBrake);
+    return controlBrake;
+
+}
+
+float iv::decition::QingYuanAdapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+
+    controlSpeed=min((float)100.0,controlSpeed);
+    controlSpeed=max((float)0.0,controlSpeed);
+    return controlSpeed;
+}
+
+

src/decition/decition_brain/decision/adc_adapter/qingyuan_adapter.h

@@ -0,0 +1,41 @@
+#ifndef QINGYUAN_ADAPTER_H
+#define QINGYUAN_ADAPTER_H
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+
+namespace iv {
+     namespace decition {
+         class QingYuanAdapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+                        int lastDangWei=0;
+                        int seizingCount=0;
+
+                        QingYuanAdapter();
+                        ~QingYuanAdapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+
+            };
+
+    }
+}
+
+
+#endif // QINGYUAN_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/vv7_adapter.cpp

@@ -0,0 +1,150 @@
+#include <decision/adc_adapter/vv7_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+
+using namespace std;
+
+
+iv::decition::VV7Adapter::VV7Adapter(){
+    adapter_id= 2;
+    adapter_name="vv7";
+}
+iv::decition::VV7Adapter::~VV7Adapter(){
+
+}
+
+
+
+iv::decition::Decition iv::decition::VV7Adapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                        float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+
+
+    float controlSpeed=accAim;
+    float controlBrake=0;
+    float u = 0- accAim;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    bool turn_around=false;
+    if(now_gps_ins.roadMode==14||now_gps_ins.roadMode==15||now_gps_ins.roadMode==16||now_gps_ins.roadMode==17){
+        turn_around=true;
+    }
+
+    if(ttc<0){
+        ttc=15;
+    }
+    if (accAim < 0)
+    {
+        //0110
+        if(changingDangWei){
+            controlSpeed=min(-0.5f,controlSpeed);
+        }
+//        else if((obsDistance<0 ||obsDistance>50)&&(abs(dSpeed-realSpeed)<3)){
+//             controlSpeed=max(-0.2f,controlSpeed);
+//        }
+    }
+    else
+    {
+        controlSpeed=min(1.0f,controlSpeed);
+
+    }
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<10 &&obsDistance>0){
+        controlSpeed=min(controlSpeed,-0.8f);
+    }
+
+
+    if(DecideGps00::minDecelerate<0){
+        controlSpeed = min(DecideGps00::minDecelerate, controlSpeed);
+    }
+    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+
+    (*decition)->accelerator=controlSpeed;
+
+    if((*decition)->leftlamp){
+        (*decition)->directLight=1;
+    }else if((*decition)->rightlamp){
+         (*decition)->directLight=2;
+    }else{
+        (*decition)->directLight=0;
+    }
+
+
+    (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+    (*decition)->wheel_angle=max((float)-500.0,(*decition)->wheel_angle);
+     (*decition)->wheel_angle=min((float)500.0,(*decition)->wheel_angle);
+
+    if((*decition)->accelerator>=0){
+        (*decition)->torque= (*decition)->accelerator;
+        (*decition)->brake=0;
+    }else{
+        (*decition)->torque=0;
+        (*decition)->brake=0-(*decition)->accelerator;
+    }
+
+
+
+
+std::cout<<"==========================================="<<std::endl;
+     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim
+    <<std::endl;
+std::cout<<"========================================="<<std::endl;
+
+    return *decition;
+}
+
+
+
+float iv::decition::VV7Adapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+
+    //刹车限制
+
+    //刹车限制
+
+    float vs =realSpeed*3.6;
+    int BrakeIntMax = 10;
+    if (vs < 10.0 / 3.6) BrakeIntMax = 4;
+    else if (vs < 20.0 / 3.6) BrakeIntMax = 6;
+
+    //`
+    if(ttc>10){
+        BrakeIntMax = 2;
+    }else if(ttc>6){
+        BrakeIntMax = 3;
+    }else if(ttc>3){
+        BrakeIntMax = 4;
+    }else if(ttc>1.6){
+        BrakeIntMax = 5;
+    }else if(ttc>0.8){
+        BrakeIntMax = 8;
+    }else{
+        BrakeIntMax = 10;
+    }
+    if(obsDistance>0 && obsDistance<10){
+        BrakeIntMax=max(BrakeIntMax,3);
+    }
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+
+
+
+    controlBrake=min(10.0f,controlBrake);
+    controlBrake=max(0.0f,controlBrake);
+    return controlBrake;
+
+}
+
+float iv::decition::VV7Adapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+
+    controlSpeed=min((float)5.0,controlSpeed);
+    controlSpeed=max((float)-7.0,controlSpeed);
+    return controlSpeed;
+}
+
+

src/decition/decition_brain/decision/adc_adapter/vv7_adapter.h

@@ -0,0 +1,44 @@
+#ifndef VV7_ADAPTER_H
+#define VV7_ADAPTER_H
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+
+namespace iv {
+     namespace decition {
+         class VV7Adapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+                        int lastDangWei=0;
+                        int seizingCount=0;
+
+                        VV7Adapter();
+                        ~VV7Adapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+
+            };
+
+    }
+}
+
+
+
+
+
+#endif // VV7_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/yuhesen_adapter.cpp

@@ -0,0 +1,153 @@
+#include <decision/adc_adapter/yuhesen_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+
+using namespace std;
+
+
+iv::decition::YuHeSenAdapter::YuHeSenAdapter(){
+    adapter_id= 7;
+    adapter_name="yuhesen";
+}
+iv::decition::YuHeSenAdapter::~YuHeSenAdapter(){
+
+}
+
+
+
+iv::decition::Decition iv::decition::YuHeSenAdapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                        float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+
+
+    float controlSpeed=accAim;
+    float controlBrake=0;
+    float u = 0- accAim;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    bool turn_around=false;
+    if(now_gps_ins.roadMode==14||now_gps_ins.roadMode==15||now_gps_ins.roadMode==16||now_gps_ins.roadMode==17){
+        turn_around=true;
+    }
+
+    if(ttc<0){
+        ttc=15;
+    }
+    if (accAim < 0)
+    {
+        //0110
+        if(changingDangWei){
+            controlSpeed=min(-0.5f,controlSpeed);
+        }
+//        else if((obsDistance<0 ||obsDistance>50)&&(abs(dSpeed-realSpeed)<3)){
+//             controlSpeed=max(-0.2f,controlSpeed);
+//        }
+    }
+    else
+    {
+        controlSpeed=min(1.0f,controlSpeed);
+
+    }
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<10 &&obsDistance>0){
+        controlSpeed=min(controlSpeed,-0.8f);
+    }
+
+
+    if(DecideGps00::minDecelerate<0){
+        controlSpeed = min(DecideGps00::minDecelerate, controlSpeed);
+    }
+    controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
+
+    (*decition)->accelerator=controlSpeed;
+
+    if((*decition)->leftlamp){
+        (*decition)->directLight=1;
+    }else if((*decition)->rightlamp){
+         (*decition)->directLight=2;
+    }else{
+        (*decition)->directLight=0;
+    }
+
+
+    (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+    (*decition)->wheel_angle=max((float)-40.0,(*decition)->wheel_angle);
+     (*decition)->wheel_angle=min((float)40.0,(*decition)->wheel_angle);
+
+
+        (*decition)->brake=0;
+
+
+
+
+std::cout<<"==========================================="<<std::endl;
+     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim
+    <<std::endl;
+std::cout<<"========================================="<<std::endl;
+(*decition)->speed = dSpeed/3.6;
+(*decition)->wheel_angle=(*decition)->wheel_angle*0.1;
+(*decition)->wheel_angle=max((float)-40.0,(*decition)->wheel_angle);
+(*decition)->wheel_angle=min((float)40.0,(*decition)->wheel_angle);
+(*decition)->mode=1;
+(*decition)->dangWei=1;
+if((*decition)->brake>0){
+    (*decition)->speed=0;
+}
+    return *decition;
+}
+
+
+
+float iv::decition::YuHeSenAdapter::limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc){
+
+    //刹车限制
+
+    //刹车限制
+
+    float vs =realSpeed*3.6;
+    int BrakeIntMax = 10;
+    if (vs < 10.0 / 3.6) BrakeIntMax = 4;
+    else if (vs < 20.0 / 3.6) BrakeIntMax = 6;
+
+    //`
+    if(ttc>10){
+        BrakeIntMax = 2;
+    }else if(ttc>6){
+        BrakeIntMax = 3;
+    }else if(ttc>3){
+        BrakeIntMax = 4;
+    }else if(ttc>1.6){
+        BrakeIntMax = 5;
+    }else if(ttc>0.8){
+        BrakeIntMax = 8;
+    }else{
+        BrakeIntMax = 10;
+    }
+    if(obsDistance>0 && obsDistance<10){
+        BrakeIntMax=max(BrakeIntMax,3);
+    }
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+
+
+
+    controlBrake=min(10.0f,controlBrake);
+    controlBrake=max(0.0f,controlBrake);
+    return controlBrake;
+
+}
+
+float iv::decition::YuHeSenAdapter::limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ){
+
+    controlSpeed=min((float)5.0,controlSpeed);
+    controlSpeed=max((float)-7.0,controlSpeed);
+    return controlSpeed;
+}
+
+

src/decition/decition_brain/decision/adc_adapter/yuhesen_adapter.h

@@ -0,0 +1,44 @@
+#ifndef YUHESEN_ADAPTER_H
+#define YUHESEN_ADAPTER_H
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+
+namespace iv {
+     namespace decition {
+         class YuHeSenAdapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+                        int lastDangWei=0;
+                        int seizingCount=0;
+
+                        YuHeSenAdapter();
+                        ~YuHeSenAdapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+
+            };
+
+    }
+}
+
+
+
+
+
+#endif // VV7_ADAPTER_H

src/decition/decition_brain/decision/adc_adapter/zhongche_adapter.cpp

@@ -0,0 +1,179 @@
+
+#include <decision/adc_adapter/zhongche_adapter.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+using namespace std;
+
+
+iv::decition::ZhongcheAdapter::ZhongcheAdapter(){
+    adapter_id= 3;
+    adapter_name="zhongche";
+}
+iv::decition::ZhongcheAdapter::~ZhongcheAdapter(){
+
+}
+
+
+iv::decition::Decition iv::decition::ZhongcheAdapter::getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistance ,
+                                                                        float  obsSpeed,float accAim,float accNow  ,bool changingDangWei,Decition *decition){
+
+
+    float controlSpeed=accAim;
+    float controlBrake=0;
+    float u = 0- accAim;
+    float realSpeed = now_gps_ins.speed;
+    float ttc = 0-(obsDistance/obsSpeed);
+    bool turn_around=false;
+    if(now_gps_ins.roadMode==14||now_gps_ins.roadMode==15||now_gps_ins.roadMode==16||now_gps_ins.roadMode==17){
+        turn_around=true;
+    }
+
+    if(ttc<0){
+        ttc=15;
+    }
+
+
+
+
+
+     (*decition)->grade=1;
+     (*decition)->mode=1;
+     (*decition)->speak=0;
+     (*decition)->handBrake=0;
+     (*decition)->bright=false;
+     (*decition)->engine=0;
+     (*decition)->brakeLight=0;
+
+    if(ServiceCarStatus.bocheMode){
+        (*decition)->dangWei=2;
+    }else{
+        (*decition)->dangWei=1;
+    }
+
+
+    if(ttc>10 && (obsDistance>10||obsDistance<0)){
+
+
+
+
+
+        if(DecideGps00::minDecelerate<0){
+            (*decition)->torque = 0;
+            (*decition)->brake = max((0-DecideGps00::minDecelerate)*90, (*decition)->brake);
+             dSpeed=10.0;
+        }else{
+            (*decition)->torque=90;
+            (*decition)->brake=0;
+        }
+
+
+        dSpeed=max(0.0f,dSpeed);
+        dSpeed=min(10.0f, dSpeed);
+        (*decition)->speed=(int)dSpeed*10+5;
+
+        (*decition)->torque=min((float)100.0,(*decition)->torque);
+        (*decition)->torque=max((float)0.0,(*decition)->torque);
+        (*decition)->brake=min((float)100.0,(*decition)->brake);
+        (*decition)->brake=max((float)0.0,(*decition)->brake);
+
+        lastTorque=(*decition)->torque;
+
+        (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+        (*decition)->wheel_angle=max((float)-550.0,(*decition)->wheel_angle);
+         (*decition)->wheel_angle=min((float)550.0,(*decition)->wheel_angle);
+        return *decition;
+    }
+
+
+
+    if (accAim < 0)
+    {
+        if(obsDistance<10 && obsDistance>0 &&ttc>3){
+            controlBrake = (int)(u * 40.0) + 1;  //(u * 14.0) + 1;
+        } else{
+            if(ttc<3){
+                controlBrake = (int)(u * 60.0) + 1;  //(u * 14.0) + 1;
+            }
+            else if(ttc<5){
+                controlBrake = (int)(u * 40.0) + 1;  //(u * 14.0) + 1;
+            }else {
+                controlBrake = (int)(u * 20.0) + 1;  //(u * 14.0) + 1;
+            }
+        }
+          (*decition)->brake = controlBrake;
+        (*decition)->torque=0;
+
+    }
+    else
+    {
+        controlBrake = 0;
+        (*decition)->brake=0;
+
+        if(lastTorque==0){
+             (*decition)->torque = u*(-30)+((0-u)-ServiceCarStatus.mfCalAcc)*1+
+                    now_gps_ins.ins_pitch_angle*10;
+        }else{
+             (*decition)->torque = lastTorque+((0-u)-ServiceCarStatus.mfCalAcc)*10;
+        }
+        if(realSpeed<10){
+             (*decition)->torque=min((float)40.0,(*decition)->torque);
+        }else if(realSpeed<30){
+             (*decition)->torque=min((float)60.0,(*decition)->torque);
+        }
+
+         (*decition)->torque=min((float)99.0,(*decition)->torque);
+         (*decition)->torque=max((float)0.0,(*decition)->torque);
+
+    }
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<10 &&obsDistance>0){
+        (*decition)->torque=0;
+        (*decition)->brake=max((float)30.0,(*decition)->brake);
+    }
+
+
+    if(DecideGps00::minDecelerate<0){
+        dSpeed=10;
+        (*decition)->torque = 0;
+        (*decition)->brake = min((0-DecideGps00::minDecelerate)*90, (*decition)->brake);
+    }
+
+
+    (*decition)->torque=min((float)100.0,(*decition)->torque);
+    (*decition)->torque=max((float)0.0,(*decition)->torque);
+    (*decition)->brake=min((float)100.0,(*decition)->brake);
+    (*decition)->brake=max((float)0.0,(*decition)->brake);
+
+    lastTorque=(*decition)->torque;
+
+    (*decition)->wheel_angle+=ServiceCarStatus.mfEPSOff;
+
+    (*decition)->wheel_angle=max((float)-550.0,(*decition)->wheel_angle);
+     (*decition)->wheel_angle=min((float)550.0,(*decition)->wheel_angle);
+
+
+
+    dSpeed=max(0.0f,dSpeed);
+    dSpeed=min(10.0f, dSpeed);
+    (*decition)->speed=(int)dSpeed*10+5;
+
+
+std::cout<<"==========================================="<<std::endl;
+     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim
+    <<std::endl;
+std::cout<<"========================================="<<std::endl;
+
+    return *decition;
+}
+
+
+
+
+
+

src/decition/decition_brain/decision/adc_adapter/zhongche_adapter.h

@@ -0,0 +1,42 @@
+#ifndef ZHONGCHE_ADAPTER_H
+#define ZHONGCHE_ADAPTER_H
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
+
+namespace iv {
+     namespace decition {
+         class ZhongcheAdapter: public BaseAdapter {
+                    public:
+
+                        float lastTorque;
+                        float lastBrake;
+                        int lastDangWei=0;
+                        int seizingCount=0;
+
+                        ZhongcheAdapter();
+                        ~ZhongcheAdapter();
+
+                        iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
+                                                                                 float  obsSpeed,float acc,float accNow  ,bool changingDangWei,Decition *decition);
+
+                        float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
+                        float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
+
+                    private:
+
+            };
+
+    }
+}
+
+
+
+
+#endif // ZHONGCHE_ADAPTER_H

src/decition/decition_brain/decision/adc_controller/base_controller.cpp

@@ -0,0 +1,39 @@
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_controller/base_controller.h>
+
+
+
+
+iv::decition::BaseController::BaseController(){
+
+}
+iv::decition::BaseController::~BaseController(){
+
+}
+
+/**
+  * @brief iv::decition::BaseController::getControlDecition
+  * 基类BaseController的抽象方法 用于计算横向控制的方向盘和纵向控制的加速度
+  *
+  * @param now_gps_ins          实时gps信息
+  * @param path                 目标路径
+  * @param dSpeed               决策速度
+  * @param obsDistacne          障碍物距离
+  * @param obsSpeed             障碍物速度
+  * @param computeAngle         是否要计算方向盘角度
+  * @param computeAcc           是否要计算纵向加速度
+  * @param decition             决策信息结构体的指针
+  * @return                     iv::decition::Decition
+  */
+
+ iv::decition::Decition  iv::decition::BaseController::getControlDecition(GPS_INS now_gps_ins, std::vector<Point2D> path, float dSpeed, float obsDistacne,
+                                                                          float obsSpeed,bool computeAngle, bool computeAcc,Decition *decition){
+
+}
+
+
+

src/decition/decition_brain/decision/adc_controller/base_controller.h

@@ -0,0 +1,67 @@
+#pragma once
+#ifndef _IV_DECITION__BASE_CONTROLLER_
+#define _IV_DECITION__BASE_CONTROLLER_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include<vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+
+namespace iv {
+namespace decition {
+//根据传感器传输来的信息作出决策
+class BaseController {
+public:
+
+    int controller_id;
+    std::string  controller_name;
+
+    BaseController();
+    ~BaseController();
+
+
+    /**
+      * @brief iv::decition::BaseController::getControlDecition
+      * 基类BaseController的抽象方法 用于计算横向控制的方向盘和纵向控制的加速度
+      *
+      * @param now_gps_ins          实时gps信息
+      * @param path                 目标路径
+      * @param dSpeed               决策速度
+      * @param obsDistacne          障碍物距离
+      * @param obsSpeed             障碍物速度
+      * @param computeAngle         是否要计算方向盘角度
+      * @param computeAcc           是否要计算纵向加速度
+      * @param decition             决策信息结构体的指针
+      * @return                     iv::decition::Decition
+      */
+    virtual  iv::decition::Decition getControlDecition(GPS_INS now_gps_ins, std::vector<Point2D>  path , float dSpeed, float obsDistacne , float  obsSpeed,
+                                                       bool computeAngle, bool computeAcc, Decition *decition);
+
+
+private:
+
+
+};
+
+}
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#endif // ADC_CONTROLLER_H

src/decition/decition_brain/decision/adc_controller/pid_controller.cpp

@@ -0,0 +1,352 @@
+#include <decision/adc_controller/pid_controller.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+
+
+using namespace std;
+
+
+iv::decition::PIDController::PIDController(){
+    controller_id = 0;
+    controller_name="pid";
+}
+iv::decition::PIDController::~PIDController(){
+
+}
+
+
+
+/**
+ * @brief getControlDecition
+ * pid方式计算横向方向盘和纵向加速度
+ *
+ * @param now_gps_ins          实时gps信息
+ * @param path                 目标路径
+ * @param dSpeed               决策速度
+ * @param ObsDistacne          障碍物距离
+ * @param ObsSpeed             障碍物速度
+ * @param computeAngle         是否要计算方向盘角度
+ * @param computeAcc           是否要计算纵向加速度
+ * @param decition             决策信息结构体的指针
+ * @return                     iv::decition::Decition
+ */
+
+iv::decition::Decition iv::decition::PIDController::getControlDecition(GPS_INS now_gps_ins, std::vector<Point2D> path, float dSpeed, float obsDistacne, float obsSpeed,
+                                                                       bool computeAngle, bool computeAcc, Decition *decition){
+
+    float realSpeed= now_gps_ins.speed;
+    int roadMode = now_gps_ins.roadMode;
+    if(computeAngle){
+        (*decition)->wheel_angle=getPidAngle( realSpeed,  path,roadMode);
+    }
+    if(computeAcc){
+        (*decition)->accelerator=getPidAcc( now_gps_ins, dSpeed,  obsDistacne,  obsSpeed);
+    }
+    return *decition;
+}
+
+
+
+
+float iv::decition::PIDController::getPidAngle(float realSpeed, std::vector<Point2D> trace, int roadMode){
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0,IEpos=0,IEang=0;
+
+    bool turning=false;
+    if(roadMode==14||roadMode==15||roadMode==16||roadMode==17){
+        turning=true;
+    }
+
+    double PreviewDistance;//预瞄距离
+
+    if(ServiceCarStatus.msysparam.mvehtype=="ge3" || ServiceCarStatus.msysparam.mvehtype=="vv7"){
+        realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(4.0, realSpeed *0.3);
+    }else if(ServiceCarStatus.msysparam.mvehtype=="hapo"){
+        if(turning){
+           realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(4.0, realSpeed *0.3);
+        }else{
+          realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+        }
+    } else{
+        realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+    }
+
+    //    if(ServiceCarStatus.msysparam.mvehtype=="bus"){
+    //        KEang = 14, KEPos = 7, DEang = 0, DEPos = 0,IEpos=0,IEang=0;
+    //        realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+
+    //    }
+    //   if(realSpeed <15){
+    //    PreviewDistance = max(4.0, realSpeed *0.4) ;
+    //   }
+    //    if(realSpeed <10){
+    //        PreviewDistance = max(3.0, realSpeed *0.3) ;
+    //    }
+    double sumdis = 0;
+    int gpsIndex = 0;
+    std::vector<Point2D> farTrace;
+
+    int nsize = trace.size();
+    for (int i = 1; i < nsize-1; i++)
+    {
+        sumdis += GetDistance(trace[i - 1], trace[i]);
+        if (sumdis > PreviewDistance)
+        {
+            gpsIndex = i;
+            break;
+        }
+    }
+
+    EPos = trace[gpsIndex].x;
+
+    for (unsigned int i = max(0, gpsIndex - 3); i < min((size_t)(gpsIndex + 3), trace.size()); i++) {
+        farTrace.push_back(trace[gpsIndex]);
+    }
+    if (farTrace.size() == 0) {
+        EAng = 0;
+    }
+    else {
+        EAng = getAveDef(farTrace);
+    }
+    if(abs(realSpeed)<3){
+        eAngSum=0;
+        ePosSum=0;
+    }else{
+        eAngSum=eAngSum*0.8+EAng;
+        ePosSum=ePosSum*0.8+EPos;
+    }
+
+    ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP)
+            +IEang*eAngSum + IEpos*ePosSum;
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    //    if (ang > angleLimit) {
+    //        ang = angleLimit;
+    //    }
+    //    else if (ang < -angleLimit) {
+    //        ang = -angleLimit;
+    //    }
+    if (lastAng >-3000&&lastAng<3000) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+    }
+    if(ang >-3000&&ang<3000){
+        lastAng = ang;
+    }else{
+        ang=lastAng;
+    }
+    return ang;
+
+}
+
+
+
+float iv::decition::PIDController::getAveDef(std::vector<Point2D> farTrace){
+    double sum_x = 0;
+    double sum_y = 0;
+    for (int i = 0; i < min(5, (int)farTrace.size()); i++)
+    {
+        sum_x += farTrace[i].x;
+        sum_y += abs(farTrace[i].y);
+    }
+    double average_y = sum_y / min(5, (int)farTrace.size());
+    double average_x = sum_x / min(5, (int)farTrace.size());
+    return atan(average_x / average_y) / M_PI * 180;
+}
+
+
+
+float iv::decition::PIDController::getPidAcc (GPS_INS gpsIns,float dSpeed, float obsDistance, float obsSpeed){
+
+    std::cout << "\n计算用obs速度:%f\n" << obsSpeed << std::endl;
+    std::cout << "\n计算用obs距离:%f\n" << obsDistance << std::endl;
+
+    if(ServiceCarStatus.msysparam.mvehtype=="hapo")
+    {
+            static int obs_line=0;
+            if(obsDistance<6 && obsDistance>0){
+                dSpeed=0;
+                obs_line=1;
+            }
+            if(obs_line==1)
+            {
+                if(obsDistance<8 && obsDistance>0){
+                    dSpeed=0;
+                }else{
+                    obs_line=0;
+                }
+            }
+    }else if(obsDistance<10 && obsDistance>0){
+        dSpeed=0;
+    }
+
+    float dSecSpeed = dSpeed / 3.6;
+    float realSpeed=gpsIns.speed;
+    float secSpeed =realSpeed/3.6;
+    double vt = dSecSpeed;
+    double vs = secSpeed;
+    if (abs(vs) < 0.05) vs = 0;
+    if (abs(obsSpeed) < 0.05) obsSpeed = 0;
+    double vl = vs + obsSpeed;
+    double vh = vs;
+    double dmax = 150;
+
+    //车距滤波
+    if (obsDistance < 0||obsDistance>100) {
+        obsDistance = 500;
+        obsSpeed=0;
+    }
+
+
+    if (obsDistance > 150) vl = 25; //25m/s
+
+
+    //TTC计算
+    double ds = 0.2566 * vl * vl + 5;
+    double ttcr = (vh - vl) / obsDistance;
+    double ttc = 15;
+    if (15 * (vh - vl) > obsDistance)
+        ttc = obsDistance / (vh - vl);
+
+
+    ServiceCarStatus.mfttc = ttc;
+
+
+    if (obsDistance <= dmax)
+    {
+        if (ttc > 10)
+        {
+            if (obsDistance > ds + 5)
+            {
+                double dds = min(30.0, obsDistance - (ds + 5));
+                vt = vt * dds / 30 + vl * (1 - dds / 30);
+            }
+            else
+            {
+                vt = min(vt, vl);
+            }
+        }
+        else
+        {
+            vt = min(vt, vl);
+        }
+    }else{
+        vt=dSecSpeed;
+    }
+
+    vt=min((float)vt,dSecSpeed);
+    std::cout << "\nvt:%f\n" << vt << std::endl;
+
+    //计算加速度
+    float u =computeU(obsDistance,ds,vs,vt,vh,vl,ttc,ttcr);
+
+    //u 限值
+    u=limiteU(u,ttc);
+
+    lastVt = vt;
+    lastU = u;
+    float acc=0-u;
+    return acc;
+}
+
+
+float iv::decition::PIDController::computeU(float obsDistance, float ds,float vs,float vt,float vh,float vl,float ttc,float ttcr){
+
+    double Id = 0;
+    double ed = ds - obsDistance;
+    if (obsDistance > 150) ed = 0;
+    double ev = vs - vt;
+    double u = 0;
+    if (ttc>10)
+    {
+        double kp = 0.5;        //double kp = 0.5;
+        double kd = 0.5;       //kd = 0.5
+        //      double k11 = 0.025;
+        //      double k12 = 0.000125;
+        double dev = (ev - lastEv) / 0.1;
+        Iv = 0.925 * Iv + ev;
+        Id = 0.85 * Id + ed;
+        if (abs(vh) < 2.0&& abs(vl) < 2.0)
+        {
+            Iv = 0.0; Id = 0.0;
+        }
+        //u = kp * ev + kd * dev + k11 * Iv + k12 * Id;
+        u = kp * ev + kd * dev;
+    }
+    else if (ttc < 1.6 || (ttc <= 10 && obsDistance <= 0.75 * ds))
+    {
+        //AEB控制
+        Id = 0; Iv = 0;
+        u = 0;
+        if (ttc < 0.8) u = 7;
+        else if (ttc < 1.6) u = 3 + 5 * (1.6 - ttc);
+        else
+        {
+            u = (10 - ttc) * (10 - ttc) / 23.52;
+        }
+    }
+    else
+    {
+        //制动控制
+        Id = 0; Iv = 0;
+        if (obsDistance > 1.25 * ds)
+        {
+            double rev_ed = 1 / ed;
+            u = -0.5 * obsDistance * obsDistance * rev_ed * ttcr * ttcr;
+        }
+        else
+        {
+            if (abs(vl) > 2.0)
+                u = 0;
+            else
+                u = max(lastU, 1.0f);
+        }
+    }
+    if (abs(vl) < 1.0 && abs(vh) < 1.0
+            && obsDistance < 2 * ds)
+    {
+        u = 0.5;
+    }
+    lastEv = ev;
+    return u;
+}
+
+
+float iv::decition::PIDController::limiteU(float u,float ttc){
+    if(ttc<3 && u<-0.2){
+        u=-0.2;
+    }
+    else
+    {
+        if (u < -1.5) u = -1.5;
+    }
+    if (u >= 0 && lastU <= 0)
+    {
+        if (u > 0.5) u = 0.5;
+    }
+    else if (u >= 0 && lastU >= 0)
+    {
+        if (u > lastU + 0.5) u = lastU + 0.5;
+    }
+    else if (u <= 0 && lastU >= 0)
+    {
+        if (u < -0.04) u = -0.04;
+    }
+    else if (u <= 0 && lastU <= 0)
+    {
+        if (u < lastU - 0.04) u = lastU - 0.04;
+    }
+    return u;
+}
+
+
+
+
+
+

src/decition/decition_brain/decision/adc_controller/pid_controller.h

@@ -0,0 +1,76 @@
+#ifndef _IV_DECITION__PID_CONTROLLER_
+#define _IV_DECITION__PID_CONTROLLER_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include<vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_controller/base_controller.h>
+#include <decision/adc_tools/transfer.h>
+
+namespace iv {
+        namespace decition {
+        //根据传感器传输来的信息作出决策
+                    class PIDController: public BaseController {
+                    public:
+
+                        float lastEA;
+                        float lastEP;
+                        float lastAng;
+                        float angleLimit=600;
+                        float lastU ;
+                        float lastEv ;
+                        float lastVt ;
+
+                        float Iv;
+                        float eAngSum=0;
+                        float ePosSum=0;
+
+                        PIDController();
+                        ~PIDController();
+
+                        /**
+                           * @brief getControlDecition
+                           * pid方式计算横向方向盘和纵向加速度
+                           *
+                           * @param now_gps_ins          实时gps信息
+                           * @param path                 目标路径
+                           * @param dSpeed               决策速度
+                           * @param obsDistacne          障碍物距离
+                           * @param obsSpeed             障碍物速度
+                           * @param computeAngle         是否要计算方向盘角度
+                           * @param computeAcc           是否要计算纵向加速度
+                           * @param decition             决策信息结构体的指针
+                           * @return                     iv::decition::Decition
+                           */
+
+
+                        iv::decition::Decition getControlDecition(GPS_INS now_gps_ins, std::vector<Point2D> path,float dSpeed, float obsDistacne,float  obsSpeed,
+                                                                  bool computeAngle, bool computeAcc, Decition *decition);
+                        float  getPidAngle (float realSpeed, std::vector<Point2D> trace,int roadMode);
+                        float  getAveDef (std::vector<Point2D> farTrace);
+                        float  getPidAcc (GPS_INS gpsIns,float dSpeed, float obsDistacne, float obsSpeed);
+                        float  computeU(float obsDistance, float ds,float vs,float vt,float vh,float vl,float ttc,float ttcr);
+                        float  limiteU(float u ,float ttc);
+
+
+                    private:
+
+                    };
+
+        }
+}
+
+
+
+
+
+
+
+
+
+
+
+
+#endif // PID_CONTROLLER_H

src/decition/decition_brain/decision/adc_planner/base_planner.cpp

@@ -0,0 +1,40 @@
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_tools/transfer.h>
+#include "perception/perceptionoutput.h"
+#include <decision/adc_planner/base_planner.h>
+
+
+
+
+
+
+iv::decition::BasePlanner::BasePlanner(){
+
+}
+iv::decition::BasePlanner::~BasePlanner(){
+
+}
+
+
+/**
+ * @brief iv::decition::BasePlanner::getPath
+ * 基类BasePlanner的抽象方法，用于计算车辆行驶的路径。路径都已转换成车辆坐标系下的路径。
+ *
+ * @param now_gps_ins          实时gps信息
+ * @param gpsMapLine           地图数据点
+ * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+ * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+ * @param lidarGridPtr         激光雷达信息网格
+ * @return                     返回一条车辆坐标系下的路径
+ */
+std::vector<iv::Point2D> iv::decition::BasePlanner::getPath(GPS_INS now_gps_ins,const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr){
+
+}
+
+//std::vector<iv::Point2D> iv::decition::BasePlanner::getPath (GPS_INS now_gps_ins,  std::vector<GPSData> gpsMapLine,  LidarGridPtr lidarGridPtr, std::vector<iv::Perception::PerceptionOutput> lidar_per){
+
+//}

src/decition/decition_brain/decision/adc_planner/base_planner.h

@@ -0,0 +1,48 @@
+#ifndef _IV_DECITION__BASE_PLANNER_
+#define _IV_DECITION__BASE_PLANNER_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include<vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include "perception/perceptionoutput.h"
+
+namespace iv {
+namespace decition {
+//根据传感器传输来的信息作出决策
+    class BasePlanner {
+    public:
+        int planner_id;
+        std::string  planner_name;
+
+        BasePlanner();
+        virtual ~BasePlanner();
+
+        /**
+         * @brief iv::decition::BasePlanner::getPath
+         * 基类BasePlanner的抽象方法，用于计算车辆行驶的路径。路径都已转换成车辆坐标系下的路径。
+         *
+         * @param now_gps_ins          实时gps信息
+         * @param gpsMapLine           地图数据点
+         * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+         * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+         * @param lidarGridPtr         激光雷达信息网格
+         * @return                     返回一条车辆坐标系下的路径
+         */
+        virtual  std::vector<iv::Point2D> getPath (GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr);
+//        virtual  std::vector<iv::Point2D> getPath (GPS_INS now_gps_ins,  std::vector<GPSData> gpsMapLine,  LidarGridPtr lidarGridPtr, std::vector<iv::Perception::PerceptionOutput> lidar_per);
+
+    private:
+
+    };
+
+}
+}
+
+
+#endif // ADC_PLANNER_H
+
+
+
+

src/decition/decition_brain/decision/adc_planner/dubins_planner.cpp

@@ -0,0 +1,57 @@
+#include <decision/adc_planner/dubins_planner.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/adc_tools/parameter_status.h>
+#include <common/constants.h>
+
+#include <math.h>
+
+std::vector<iv::GPSData> iv::decition::DubinsPlanner::gpsMap;
+
+iv::decition::DubinsPlanner::DubinsPlanner(){
+    this->planner_id = 2;
+    this->planner_name = "Dubins";
+}
+
+iv::decition::DubinsPlanner::~DubinsPlanner(){
+}
+
+/**
+ * @brief iv::decition::LaneChangePlanner::getPath
+ * 采用的车道变换的局部路径生成方法。计算原始地图路径偏移offset距离之后的路径。
+ *
+ * @param now_gps_ins          实时gps信息
+ * @param gpsMapLine           地图数据点
+ * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+ * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+ * @param lidarGridPtr         激光雷达信息网格
+ * @return                     返回一条车辆坐标系下的路径
+ */
+std::vector<iv::Point2D> iv::decition::DubinsPlanner::getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr){
+    std::vector<iv::Point2D> trace;
+
+    double L = 2.6;
+    double R = L/sin(10.0*M_PI/180.0);
+    std::cout<<" R = "<<R<<std::endl;
+//    return a.exec();
+//    double q0[] = { 0,0,1.57};
+//    double q1[] = { 4,4,3.142 };
+    gpsMap.clear();
+    double q0[] = { now_gps_ins.gps_x, now_gps_ins.gps_y, now_gps_ins.ins_heading_angle};
+    double q1[] = { gpsMapLine[PathPoint]->gps_x, gpsMapLine[PathPoint]->gps_y ,gpsMapLine[PathPoint]->ins_heading_angle };
+    double turning_radius = 10.0;
+    DubinsPath path;
+    dubins_shortest_path( &path, q0, q1, turning_radius);
+    dubins_path_sample_many( &path, 0.1,  printConfiguration, NULL);
+
+
+}
+
+int  iv::decition::DubinsPlanner::printConfiguration(double q[3], double x, void* user_data) {
+    GPSData gps;
+    gps->roadMode=5;
+    gps->gps_x=q[0];
+    gps->gps_y=q[1];
+    gps->ins_heading_angle=q[3];
+    gpsMap.push_back(gps);
+    return 0;
+}

src/decition/decition_brain/decision/adc_planner/dubins_planner.h

@@ -0,0 +1,44 @@
+#ifndef DUBINS_PLANNER_H
+#define DUBINS_PLANNER_H
+#include "base_planner.h"
+#include <decision/adc_tools/dubins.h>
+#include <QCoreApplication>
+
+#include <math.h>
+#include <iostream>
+
+
+
+#include <stdio.h>
+#include <string.h>
+
+namespace iv{
+namespace decition{
+    class DubinsPlanner : public BasePlanner{
+    public:
+        DubinsPlanner();
+        ~DubinsPlanner();
+
+         static std::vector<iv::GPSData>  gpsMap;
+
+        /**
+         * @brief iv::decition::LaneChangePlanner::getPath
+         * 采用的车道变换的局部路径生成方法。计算原始地图路径偏移offset距离之后的路径。
+         *
+         * @param now_gps_ins          实时gps信息
+         * @param gpsMapLine           地图数据点
+         * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+         * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+         * @param lidarGridPtr         激光雷达信息网格
+         * @return                     返回一条车辆坐标系下的路径
+         */
+        std::vector<iv::Point2D> getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr);
+
+        int  static printConfiguration(double q[3], double x, void* user_data);
+
+        };
+    }
+}
+
+
+#endif // DUBINS_PLANNER_H

src/decition/decition_brain/decision/adc_planner/frenet_planner.cpp

@@ -0,0 +1,643 @@
+#include "frenet_planner.h"
+
+#include <decision/adc_tools/transfer.h>
+#include <common/car_status.h>
+#include <decision/adc_tools/parameter_status.h>
+#include <decision/decide_gps_00.h>
+#include <decision/adc_planner/lane_change_planner.h>
+
+#include<Eigen/Dense>
+
+using namespace std;
+using namespace Eigen;
+
+iv::decition::FrenetPlanner::FrenetPlanner(){
+    this->planner_id = 1;
+    this->planner_name = "Frenet";
+    this->lidarGridPtr = NULL;
+}
+
+iv::decition::FrenetPlanner::~FrenetPlanner(){
+    free(this->lidarGridPtr);
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::getPath
+ * 采用的基于frenet坐标系的最优局部路径生成方法，可实现从当前车道变换到另一车道之间的路径生成。还可实现车辆在路线旁起步的“有迹可循”。
+ * 计算的是，在车辆到达 原始地图路径偏移offset距离的车道 之前，frenet下规划的路径。
+ *
+ * @param now_gps_ins          实时gps信息
+ * @param gpsMapLine           地图数据点
+ * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+ * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。offset = -(roadNow - roadOri)*roadWidth
+ * @param lidarGridPtr         激光雷达信息网格
+ * @return                     返回一条车辆坐标系下的路径
+ */
+std::vector<iv::Point2D> iv::decition::FrenetPlanner::getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr){
+    this->roadNow = -1;
+    this->now_gps_ins = now_gps_ins;
+    this->gpsMapLine = gpsMapLine;
+    this->PathPoint = PathPoint;
+    this->lidarGridPtr = lidarGridPtr;
+    LaneChangePlanner *lcp = new LaneChangePlanner();
+    std::vector<iv::Point2D> gpsTrace = lcp->getPath(now_gps_ins,gpsMapLine,PathPoint,0,lidarGridPtr);
+    delete lcp;
+    double realSecSpeed = now_gps_ins.speed / 3.6;
+    leftWidth = offset;
+    rightWidth = offset;
+    std::vector<iv::Point2D> trace = getGpsTrace_AfterCalcFrenetTrace(gpsTrace,realSecSpeed);
+    return trace;
+}
+
+/**
+ * @brief iv::decition::FrenetPlanner::chooseRoadByFrenet
+ * 用frenet的方法对每条道路考察，选择一个最优的道路
+ * @param now_gps_ins          实时gps信息
+ * @param gpsMapLine           地图数据点
+ * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+ * @param offsetL              在选择道路中，地图源路线左边的最大宽度。可以为负值。offsetL = -(roadSum - 1)*roadWidth
+ * @param offsetR              在选择道路中，地图源路线右边的最大宽度。可以为非负值。offsetR = (roadOri - 0)*roadWidth
+ * @param lidarGridPtr         激光雷达信息网格
+ * @return
+ */
+int iv::decition::FrenetPlanner::chooseRoadByFrenet(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offsetL, double offsetR, iv::LidarGridPtr lidarGridPtr,int roadNow){
+    this->roadNow = roadNow;
+    this->aimRoadByFrenet = -1;
+    this->now_gps_ins = now_gps_ins;
+    this->gpsMapLine = gpsMapLine;
+    this->PathPoint = PathPoint;
+    this->lidarGridPtr = lidarGridPtr;
+
+    LaneChangePlanner *lcp = new LaneChangePlanner();
+    std::vector<iv::Point2D> gpsTrace = lcp->getPath(now_gps_ins,gpsMapLine,PathPoint,0,lidarGridPtr);
+    delete lcp;
+    double realSecSpeed = now_gps_ins.speed / 3.6;
+    leftWidth = offsetL;
+    rightWidth = offsetR;
+    std::vector<iv::Point2D> trace = getGpsTrace_AfterCalcFrenetTrace(gpsTrace,realSecSpeed);
+    return aimRoadByFrenet;
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::getGpsTrace_AfterCalcFrenetTrace
+ * 进行frenet规划的总函数，还包括了规划前的一些准备工作，比如frenet坐标系建立、车辆起始状态等。
+ * @param gpsTrace             地图路线上从PathPoint开始的600个点
+ * @param realsecSpeed         实时车速 [m/s]
+ * @return                     返回一条frenet规划后并转换到车辆坐标系下的路径
+ */
+std::vector<iv::Point2D> iv::decition::FrenetPlanner::getGpsTrace_AfterCalcFrenetTrace(const std::vector<iv::Point2D>& gpsTrace,double realsecSpeed){
+    vector<Point2D> trace;
+    vector<FrenetPoint> frenet_s;
+    double stp=0.0;
+    //把gpsTrace里的点全部转为frenet坐标系下的点，存储在frenet_s中。相当于frenet坐标系的S轴。
+    FrenetPoint tmp={.x=gpsTrace[0].x,.y=gpsTrace[0].y,.s=0.0,.d=0.0};
+    frenet_s.push_back(tmp);
+    for(int i=1; i<gpsTrace.size(); ++i){
+        stp+=iv::decition::GetDistance(gpsTrace[i-1],gpsTrace[i]);
+        tmp={.x=gpsTrace[i].x,.y=gpsTrace[i].y,.s=stp,.d=0.0};
+        frenet_s.push_back(tmp);
+    }
+
+    //求出车辆当前位置在frenet坐标系下的坐标
+//    FrenetPoint car_now_at_frenet = XY2Frenet(0,0,gpsTrace);
+    FrenetPoint car_now_at_frenet = getFrenetfromXY(0,0,gpsTrace,this->gpsMapLine,this->PathPoint,this->now_gps_ins);
+
+    double c_s_speed = realsecSpeed * cos(car_now_at_frenet.tangent_Ang-M_PI/2);
+    double c_d_speed = realsecSpeed * sin(car_now_at_frenet.tangent_Ang-M_PI/2);
+    double realAcc = ServiceCarStatus.mfCalAcc;
+    double c_s_dd = realAcc * cos(car_now_at_frenet.tangent_Ang-M_PI/2);
+    double c_d_dd = realAcc * sin(car_now_at_frenet.tangent_Ang-M_PI/2);
+
+    vector<Point2D> path=frenet_optimal_planning(car_now_at_frenet,frenet_s,c_s_speed,c_d_speed,c_d_dd);
+
+    return path;
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::frenet_optimal_planning
+ * 对frenet规划出的路径进行后续操作，并选出损失最小的一条路径作为最优路径
+ * @param car_now_frenet_point 车辆当前位置在frenet坐标系下的坐标
+ * @param frenet_s             frenet坐标系的s轴
+ * @param c_speed              车辆的纵向速度。沿s轴方向的速度。
+ * @param c_d_d                车辆沿d方向的速度。
+ * @param c_d_dd               车辆沿d方向的加速度。
+ * @return                     返回一条frenet规划的最优路径
+ */
+vector<iv::Point2D> iv::decition::FrenetPlanner::frenet_optimal_planning(iv::decition::FrenetPoint car_now_frenet_point,
+                                                          const std::vector<FrenetPoint>& frenet_s, double c_speed, double c_d_d, double c_d_dd){
+    double s0 = car_now_frenet_point.s;
+    double c_d = car_now_frenet_point.d;
+    vector<iv::Point2D> gpsTrace;
+    vector<Frenet_path> fplist=calc_frenet_paths(c_speed, c_d, c_d_d, c_d_dd, s0);  //frenet规划
+
+    sort(fplist.begin(),fplist.end(),comp); //按损失度由小到大进行排序
+    for(int i=0; i<fplist.size(); ++i){
+        calc_global_single_path(fplist[i],frenet_s);
+        if(check_single_path(fplist[i])){
+            gpsTrace = frenet_path_to_gpsTrace(fplist[i]);
+            aimRoadByFrenet = fplist[i].roadflag;
+            return gpsTrace;
+        }
+    }
+    return gpsTrace;
+
+/*
+//    calc_global_paths(fplist, frenet_s);    //生成frenet路径中每个点在车辆坐标系下的坐标
+//    fplist = check_paths(fplist);  //检验计算出的每条路径
+//    //找到损失最小的轨迹
+//    double min_cost = (numeric_limits<double>::max)();
+//    Frenet_path bestpath;
+//    for(int i=0; i<fplist.size(); ++i){
+//        if(min_cost > fplist[i].cf){
+//            min_cost = fplist[i].cf;
+//            bestpath = fplist[i];
+//        }
+//    }
+//    gpsTrace = frenet_path_to_gpsTrace(bestpath);
+//    aimRoadByFrenet = bestpath.roadflag;
+//    return gpsTrace;
+*/
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::calc_frenet_paths
+ * 正式规划出不同的frenet路径，并统计相应的损失度。单从车辆行驶的平滑性计算而得，后续需检测是否有障碍物。
+ * @param c_speed              车辆的纵向速度。沿s轴方向的速度
+ * @param c_d                  车辆的横向（d方向）偏移距离
+ * @param c_d_d                车辆沿d方向的速度
+ * @param c_d_dd               车辆沿d方向的加速度
+ * @param s0                   车辆沿s方向的坐标
+ * @return                     返回多条frenet路径
+ */
+vector<iv::decition::Frenet_path> iv::decition::FrenetPlanner::calc_frenet_paths(double c_speed, double c_d, double c_d_d, double c_d_dd, double s0){
+    vector<iv::decition::Frenet_path> frenet_paths;
+    int roadNum = round(abs((leftWidth-rightWidth)/ServiceParameterStatus.D_ROAD_W));   //roadNum为frenet算法的起始道路序号
+    //采样，并对每一个目标配置生成轨迹
+    for(double di=leftWidth; di<=rightWidth; di+=ServiceParameterStatus.D_ROAD_W,roadNum--){
+        if(roadNum == this->roadNow)
+            continue;
+        //横向动作规划
+        for(double Ti=ServiceParameterStatus.MINT; Ti<ServiceParameterStatus.MAXT; Ti+=ServiceParameterStatus.DT){
+            Frenet_path fp;
+            fp.roadflag = roadNum;
+            //计算出关于目标配置di，Ti的横向多项式
+            Quintic_polynomial lat_qp = Quintic_polynomial(c_d, c_d_d, c_d_dd, di, 0.0, 0.0, Ti);
+
+            for(double i=0; i<Ti; i+=ServiceParameterStatus.D_POINT_T)
+                fp.t.push_back(i);
+
+            for(int i=0; i<fp.t.size(); ++i){
+                fp.d.push_back(lat_qp.calc_point(fp.t[i]));
+                fp.d_d.push_back(lat_qp.calc_first_derivative(fp.t[i]));
+                fp.d_dd.push_back(lat_qp.calc_second_derivative(fp.t[i]));
+                fp.d_ddd.push_back(lat_qp.calc_third_derivative(fp.t[i]));
+            }
+
+            //纵向速度规划 (速度保持)
+            for(double tv=ServiceParameterStatus.TARGET_SPEED - ServiceParameterStatus.D_T_S * ServiceParameterStatus.N_S_SAMPLE;
+                tv<(ServiceParameterStatus.TARGET_SPEED + ServiceParameterStatus.D_T_S * ServiceParameterStatus.N_S_SAMPLE);
+                tv+=ServiceParameterStatus.D_T_S){
+                Frenet_path tfp = fp;
+                Quartic_polynomial lon_qp = Quartic_polynomial(s0, c_speed, 0.0, tv, 0.0, Ti);
+
+                for(int i=0; i<fp.t.size(); ++i){
+                    tfp.s.push_back(lon_qp.calc_point(fp.t[i]));
+                    tfp.s_d.push_back(lon_qp.calc_first_derivative(fp.t[i]));
+                    tfp.s_dd.push_back(lon_qp.calc_second_derivative(fp.t[i]));
+                    tfp.s_ddd.push_back(lon_qp.calc_third_derivative(fp.t[i]));
+                }
+
+                //square of jerk
+                double Jp = inner_product(tfp.d_ddd.begin(), tfp.d_ddd.end(), tfp.d_ddd.begin(), 0);
+                //square of jerk
+                double Js = inner_product(tfp.s_ddd.begin(), tfp.s_ddd.end(), tfp.s_ddd.begin(), 0);
+
+                //square of diff from target speed
+                double ds = pow((ServiceParameterStatus.TARGET_SPEED - tfp.s_d.back()),2);
+                //横向的损失函数
+                tfp.cd = ServiceParameterStatus.KJ * Jp + ServiceParameterStatus.KT * Ti + ServiceParameterStatus.KD * tfp.d.back() * tfp.d.back();
+                //纵向的损失函数
+                tfp.cv = ServiceParameterStatus.KJ * Js + ServiceParameterStatus.KT * Ti + ServiceParameterStatus.KD * ds;
+                //总的损失函数为d 和 s方向的损失函数乘对应的系数相加
+                tfp.cf = ServiceParameterStatus.KLAT * tfp.cd + ServiceParameterStatus.KLON * tfp.cv;
+
+                frenet_paths.push_back(tfp);
+            }
+        }
+    }
+    return frenet_paths;
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::calc_global_paths
+ * 计算出每条frenet路径中轨迹点的x，y坐标。x，y坐标是轨迹点在车辆坐标系下的横纵坐标。
+ * 部分函数参数在第一种计算XY坐标的方法中没有使用，但在第二种方法中会用到。
+ * @param fplist               多条frenet路径
+ * @param frenet_s             frenet坐标系的s轴
+ * @return                     通过引用传递返回带有x，y值的多条frenet路径
+ */
+void iv::decition::FrenetPlanner::calc_global_paths(vector<Frenet_path>& fplist,const std::vector<FrenetPoint>& frenet_s){
+
+    for(auto& fp:fplist){
+        for(int i=0; i<fp.s.size(); ++i){
+            double ix,iy;
+//            Frenet2XY(&ix,&iy,fp.s[i],fp.d[i],frenet_s);  //第一种方法
+            getXYfromFrenet(&ix,&iy,fp.s[i],fp.d[i],frenet_s,this->gpsMapLine,this->PathPoint,this->now_gps_ins);   //第二种方法
+
+            fp.x.push_back(ix);
+            fp.y.push_back(iy);
+        }
+
+        for(int i=0; i<(fp.x.size()-1); ++i){
+            double dx = fp.x[i+1] - fp.x[i];
+            double dy = fp.y[i+1] - fp.y[i];
+            fp.yaw.push_back(atan2(dy,dx));
+            fp.ds.push_back(sqrt(dx*dx + dy*dy));
+        }
+
+        fp.ds.push_back(fp.ds.back());
+        fp.yaw.push_back(fp.yaw.back());
+
+        for(int i = 0; i < (fp.yaw.size() - 1); ++i){
+            fp.c.push_back((fp.yaw[i + 1] - fp.yaw[i]) / fp.ds[i]);
+        }
+    }
+}
+
+void iv::decition::FrenetPlanner::calc_global_single_path(Frenet_path &fp, const std::vector<FrenetPoint> &frenet_s){
+    for(int i=0; i<fp.s.size(); ++i){
+        double ix,iy;
+        //            Frenet2XY(&ix,&iy,fp.s[i],fp.d[i],frenet_s);  //第一种方法
+        getXYfromFrenet(&ix,&iy,fp.s[i],fp.d[i],frenet_s,this->gpsMapLine,this->PathPoint,this->now_gps_ins);   //第二种方法
+
+        fp.x.push_back(ix);
+        fp.y.push_back(iy);
+    }
+
+    for(int i=0; i<(fp.x.size()-1); ++i){
+        double dx = fp.x[i+1] - fp.x[i];
+        double dy = fp.y[i+1] - fp.y[i];
+        fp.yaw.push_back(atan2(dy,dx));
+        fp.ds.push_back(sqrt(dx*dx + dy*dy));
+    }
+
+    fp.ds.push_back(fp.ds.back());
+    fp.yaw.push_back(fp.yaw.back());
+
+    for(int i = 0; i < (fp.yaw.size() - 1); ++i){
+        fp.c.push_back((fp.yaw[i + 1] - fp.yaw[i]) / fp.ds[i]);
+    }
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::check_paths
+ * 对多条frenet路径进行检验，排除不符合要求的路径。
+ * @param fplist               多条frenet路径
+ * @return                     排除部分路径后的多条frenet路径
+ */
+vector<iv::decition::Frenet_path> iv::decition::FrenetPlanner::check_paths(const vector<Frenet_path>& fplist){
+    vector<Frenet_path> okind;
+    int i=0;
+    int j=0;
+
+    for(i=0; i<fplist.size(); ++i){
+        cout<<"&&&&&&&&&&fplist[i].roadflag: "<<fplist[i].roadflag<<endl;
+        for(j=0; j<fplist[i].s_d.size(); ++j){
+            if(fplist[i].s_d[j]>ServiceParameterStatus.MAX_SPEED)       //最大速度检查
+                goto ContinueFlag;
+        }
+        for(j=0; j<fplist[i].s_dd.size(); ++j){
+            if(abs(fplist[i].s_dd[j])>ServiceParameterStatus.MAX_ACCEL) //最大加速度检查
+                goto ContinueFlag;
+        }
+        for(j=30; j<fplist[i].c.size()-30; ++j){
+            if(abs(fplist[i].c[j])>ServiceParameterStatus.MAX_CURVATURE)//最大曲率检查
+                goto ContinueFlag;
+        }
+        if(!check_collision(fplist[i]))
+            continue;
+        okind.push_back(fplist[i]);
+        ContinueFlag:continue;
+    }
+    return okind;
+}
+
+
+bool iv::decition::FrenetPlanner::check_single_path(const iv::decition::Frenet_path &fp){
+    int j=0;
+
+    cout<<"&&&&&&&&&&fp.roadflag: "<<fp.roadflag<<endl;
+    for(j=0; j<fp.s_d.size(); ++j){
+        if(fp.s_d[j]>ServiceParameterStatus.MAX_SPEED)       //最大速度检查
+            return false;
+    }
+    for(j=0; j<fp.s_dd.size(); ++j){
+        if(abs(fp.s_dd[j])>ServiceParameterStatus.MAX_ACCEL) //最大加速度检查
+            return false;
+    }
+    for(j=30; j<fp.c.size()-30; ++j){
+        if(abs(fp.c[j])>ServiceParameterStatus.MAX_CURVATURE)//最大曲率检查
+            return false;
+    }
+    if(!check_collision(fp))
+        return false;
+
+    return true;
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::check_collision
+ * 检验frenet路径上是否有障碍物，调用的是改进的函数computeObsOnRoadByFrenet。
+ * @param frenet_path          一条frenet路径
+ * @param car_now_frenet_point 车辆当前位置在frenet坐标系下的坐标
+ * @return                     在路径上有障碍物返回false，否则返回true。
+ */
+bool iv::decition::FrenetPlanner::check_collision(const iv::decition::Frenet_path &frenet_path){
+    std::vector<Point2D> gpsTrace = frenet_path_to_gpsTrace(frenet_path);
+    double obs=-1;
+    iv::decition::DecideGps00().computeObsOnRoadByFrenet(this->lidarGridPtr,gpsTrace,obs,this->gpsMapLine,this->PathPoint,this->now_gps_ins);
+    if(obs > 0 && obs < 30)
+        return false;
+    else
+        return true;
+}
+
+
+/**
+ * @brief iv::decition::FrenetPlanner::frenet_path_to_gpsTrace
+ * 将frenet路径转换到车辆坐标系下。
+ * @param frenet_path          一条frenet路径
+ * @return                     一条车辆坐标系下的路径
+ */
+vector<iv::Point2D> iv::decition::FrenetPlanner::frenet_path_to_gpsTrace(const Frenet_path& frenet_path){
+    vector<iv::Point2D> gpsTrace;
+    for (int i=0; i<frenet_path.x.size(); ++i) {
+        gpsTrace.push_back(Point2D(frenet_path.x[i],frenet_path.y[i]));
+        gpsTrace[i].speed = sqrt(frenet_path.d_d[i]*frenet_path.d_d[i]+frenet_path.s_d[i]*frenet_path.s_d[i])*3.6;
+    }
+    return gpsTrace;
+}
+
+
+double iv::decition::FrenetPlanner::distance(double x1, double y1, double x2, double y2)
+{
+    return sqrt((x2-x1)*(x2-x1)+(y2-y1)*(y2-y1));
+}
+
+
+//找出gpsTrace中距离（x，y）最近的一个点
+int iv::decition::FrenetPlanner::ClosestWaypoint(double x, double y, const std::vector<Point2D>& gpsTrace)
+{
+
+    double closestLen = 100000; //large number
+    int closestWaypoint = 0;
+
+    for(int i = 1; i < gpsTrace.size(); i++)
+    {
+        double map_x = gpsTrace[i].x;
+        double map_y = gpsTrace[i].y;
+        double dist = distance(x,y,map_x,map_y);
+        if(dist < closestLen)
+        {
+            closestLen = dist;
+            closestWaypoint = i;
+        }
+
+    }
+    return closestWaypoint;
+}
+
+
+ /* |==========================================================|
+  * |         车辆坐标系与 frenet 坐标系互转的第一种方法。           |
+  * |==========================================================| */
+ // 车体坐标转frenet坐标。frenet坐标原点是 gpsTrace 中序号为0的点。
+ // Transform from Cartesian x,y coordinates to Frenet s,d coordinates
+iv::decition::FrenetPoint iv::decition::FrenetPlanner::XY2Frenet(double x, double y, const std::vector<iv::Point2D>& gpsTrace){
+    int next_wp=ClosestWaypoint( x,  y,  gpsTrace);
+    int prev_wp = next_wp-1;  //prev_wp代表在next_wp的前一个点计算坐标，能够保证frenet_s都是依次相加的。避免在next_wp计算frenet_s的话，可能出现减的情况。
+//    if(next_wp == 0){
+//        prev_wp  = gpsTrace.size()-1;
+//    }
+
+    double n_x = gpsTrace[next_wp].x-gpsTrace[prev_wp].x;
+    double n_y = gpsTrace[next_wp].y-gpsTrace[prev_wp].y;
+    double x_x = x - gpsTrace[prev_wp].x;
+    double x_y = y - gpsTrace[prev_wp].y;
+
+    // find the projection of x onto n
+    double proj_norm = (x_x*n_x+x_y*n_y)/(n_x*n_x+n_y*n_y);
+    double proj_x = proj_norm*n_x;
+    double proj_y = proj_norm*n_y;  //proj_x、proj_y应该为垂足的坐标
+
+    double frenet_d = sqrt((x_x - proj_x) * (x_x - proj_x) + (x_y - proj_y) * (x_y - proj_y));
+    //经手动推算frenet_d = abs(n_x * x_y - n_y * x_x) / sqrt(n_x * n_x + n_y * n_y)。
+    //即frenet_d，等于点(x,y)到 过prev_wp、next_wp两点的直线 的垂直距离。
+
+    //see if d value is positive or negative by comparing it to a center point
+    double center_x = 1000-gpsTrace[prev_wp].x;
+    double center_y = 2000-gpsTrace[prev_wp].y;
+    double centerToPos = distance(center_x,center_y,x_x,x_y);
+    double centerToRef = distance(center_x,center_y,proj_x,proj_y);
+    if(centerToPos <= centerToRef){
+        frenet_d *= -1;
+    }
+
+    // calculate s value
+    double frenet_s = 0;
+    for(int i = 0; i < prev_wp; i++){
+        frenet_s += distance(gpsTrace[i].x,gpsTrace[i].y,gpsTrace[i+1].x,gpsTrace[i+1].y);
+    }
+    if(prev_wp<=0){
+        frenet_s -= distance(0,0,proj_x,proj_y);
+    }else{
+        frenet_s += distance(0,0,proj_x,proj_y);
+    }
+
+    double tmp_Angle = atan2(n_y,n_x);
+
+    return {x:x,y:y,s:frenet_s,d:frenet_d,tangent_Ang:tmp_Angle};
+}
+
+ // frenet坐标转车体坐标。
+ // Transform from Frenet s,d coordinates to Cartesian x,y
+void iv::decition::FrenetPlanner::Frenet2XY(double *res_x, double *res_y, double s, double d, const vector<iv::decition::FrenetPoint>& frenetTrace){
+    int prev_wp = 0;
+    //退出循环时，prev_wp 最大是等于 frenetTrace.size()-2。
+    while(s > frenetTrace[prev_wp+1].s && (prev_wp < (int)(frenetTrace.size()-2) )){
+        prev_wp++;
+    }
+    int wp2 = prev_wp+1;
+    double heading = atan2((frenetTrace[wp2].y-frenetTrace[prev_wp].y),(frenetTrace[wp2].x-frenetTrace[prev_wp].x));
+
+    double seg_s = (s-frenetTrace[prev_wp].s);
+    double seg_x = frenetTrace[prev_wp].x+seg_s*cos(heading);
+    double seg_y = frenetTrace[prev_wp].y+seg_s*sin(heading);
+
+    double perp_heading = heading-M_PI*0.5;
+    *res_x = seg_x + d*cos(perp_heading);
+    *res_y = seg_y + d*sin(perp_heading);
+}
+
+/* |==========================================================|
+ * |         车辆坐标系与 frenet 坐标系互转的第二种方法。           |
+ * |==========================================================| */
+// 车体坐标转frenet坐标。frenet坐标原点是 gpsTrace 中序号为0的点。
+iv::decition::FrenetPoint iv::decition::FrenetPlanner::getFrenetfromXY(double x, double y, const std::vector<iv::Point2D>& gpsTrace,const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps){
+    int next_wp=ClosestWaypoint( x,  y,  gpsTrace);
+    int prev_wp = next_wp-1;  //prev_wp代表在next_wp的前一个点计算坐标，能够保证frenet_s都是依次相加的。避免在next_wp计算frenet_s的话，可能出现减的情况。
+    //    if(next_wp == 0){
+    //        prev_wp  = gpsTrace.size()-1;
+    //    }
+
+    GPS_INS gps = Coordinate_UnTransfer(x,y,nowGps);
+    Point2D pt = Coordinate_Transfer(gps.gps_x,gps.gps_y, *gpsMap[(pathpoint+prev_wp)%gpsMap.size()]);
+
+    // calculate s value
+    double frenet_s = 0;
+    for(int i = 0; i < prev_wp; i++){
+        frenet_s += distance(gpsTrace[i].x,gpsTrace[i].y,gpsTrace[i+1].x,gpsTrace[i+1].y);
+    }
+    frenet_s += pt.y;
+
+    //theta为prev_wp处车的航向角 与 nowGps处的车辆坐标系下x轴之间的夹角，逆时针为正。
+    double theta = (nowGps.ins_heading_angle - gpsMap[(pathpoint+prev_wp)%gpsMap.size()]->ins_heading_angle+90);
+    double tmp_Angle = theta * M_PI / 180;
+
+    return {x:x,y:y,s:frenet_s,d:pt.x,tangent_Ang:tmp_Angle};
+}
+
+void iv::decition::FrenetPlanner::getXYfromFrenet(double *res_x, double *res_y, double s, double d, const vector<iv::decition::FrenetPoint>& frenetTrace,const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps)
+{
+    int prev_wp = -1;
+
+    while((prev_wp < (int)(frenetTrace.size()-1) ) && s > frenetTrace[prev_wp+1].s)
+    {
+        prev_wp++;
+    }
+    if(prev_wp < 0){
+        prev_wp = 0;
+    }
+//    int wp2 =prev_wp+1;
+    GPS_INS gps=  Coordinate_UnTransfer( d, s-frenetTrace[prev_wp].s , *gpsMap[(pathpoint+prev_wp)%gpsMap.size()]);
+    Point2D pt =  Coordinate_Transfer( gps.gps_x, gps.gps_y, nowGps);
+
+    *res_x = pt.x;
+    *res_y = pt.y;
+}
+
+
+iv::decition::Quintic_polynomial::Quintic_polynomial(double xs, double vxs, double axs, double xe, double vxe, double axe, double T){
+    //计算五次多项式系数
+    this->xs = xs;
+    this->vxs = vxs;
+    this->axs = axs;
+    this->xe = xe;
+    this->vxe = vxe;
+    this->axe = axe;
+
+    this->a0 = xs;
+    this->a1 = vxs;
+    this->a2 = axs/ 2.0;
+
+    MatrixXd A(3, 3);
+    MatrixXd b(3, 1);
+    MatrixXd x(3, 1);
+
+    A << pow(T, 3),   pow(T, 4),   pow(T, 5),
+         3*pow(T, 2), 4*pow(T, 3), 5*pow(T, 4),
+         6*T,         12*T*T,      20*pow(T, 3);
+    b << xe - a0 - a1*T - a2*T*T,
+         vxe - a1 - 2*a2*T,
+         axe - 2*a2;
+    x=A.colPivHouseholderQr().solve(b);
+
+    this->a3 = x(0,0);
+    this->a4 = x(1,0);
+    this->a5 = x(2,0);
+}
+
+iv::decition::Quintic_polynomial::~Quintic_polynomial(){
+}
+
+double iv::decition::Quintic_polynomial::calc_point(double t){
+    double xt = this->a0 + this->a1 * t + this->a2 * t*t + this->a3 * t*t*t + this->a4 * t*t*t*t + this->a5 * t*t*t*t*t;
+    return xt;
+}
+
+double iv::decition::Quintic_polynomial::calc_first_derivative(double t){
+    double xt = this->a1 + 2*this->a2 * t + 3*this->a3 * t*t + 4*this->a4 * t*t*t + 5*this->a5 * t*t*t*t;
+    return xt;
+}
+
+double iv::decition::Quintic_polynomial::calc_second_derivative(double t){
+    double xt = 2*this->a2 + 6*this->a3 * t + 12*this->a4 * t*t + 20*this->a5 * t*t*t;
+    return xt;
+}
+
+double iv::decition::Quintic_polynomial::calc_third_derivative(double t){
+    double xt = 6*this->a3 + 24*this->a4 * t + 60*this->a5 * t*t;
+    return xt;
+}
+
+
+
+iv::decition::Quartic_polynomial::Quartic_polynomial(double xs, double vxs, double axs, double vxe, double axe, double T){
+    //计算四次多项式系数
+    this->xs = xs;
+    this->vxs = vxs;
+    this->axs = axs;
+    this->vxe = vxe;
+    this->axe = axe;
+
+    this->a0 = xs;
+    this->a1 = vxs;
+    this->a2 = axs / 2.0;
+
+    MatrixXd A(2, 2);
+    MatrixXd b(2, 1);
+    MatrixXd x(2, 1);
+
+    A << 3*pow(T, 2), 4*pow(T, 3),
+         6*T,         12*T*T ;
+    b << vxe - a1 - 2*a2*T,
+         axe - 2*a2;
+    x=A.colPivHouseholderQr().solve(b);
+
+    this->a3 = x(0,0);
+    this->a4 = x(1,0);
+}
+
+iv::decition::Quartic_polynomial::~Quartic_polynomial(){
+}
+
+double iv::decition::Quartic_polynomial::calc_point(double t){
+    double xt = this->a0 + this->a1*t + this->a2*t*t + this->a3*t*t*t + this->a4*t*t*t*t;
+    return xt;
+}
+
+double iv::decition::Quartic_polynomial::calc_first_derivative(double t){
+    double xt = this->a1 + 2*this->a2*t + 3*this->a3*t*t + 4*this->a4*t*t*t;
+    return xt;
+}
+
+double iv::decition::Quartic_polynomial::calc_second_derivative(double t){
+    double xt = 2*this->a2 + 6*this->a3*t + 12*this->a4*t*t;
+    return xt;
+}
+
+double iv::decition::Quartic_polynomial::calc_third_derivative(double t){
+    double xt = 6*this->a3 + 24*this->a4*t;
+    return xt;
+}
+
+bool iv::decition::FrenetPlanner::comp(const iv::decition::Frenet_path &a, const iv::decition::Frenet_path &b){
+    return a.cf < b.cf;
+}

src/decition/decition_brain/decision/adc_planner/frenet_planner.h

@@ -0,0 +1,159 @@
+#ifndef FRENET_PLANNER_H
+#define FRENET_PLANNER_H
+
+#include "base_planner.h"
+
+namespace iv{
+namespace decition{
+
+    //x，y分别为frenet轨迹点相对于车辆的x，y轴坐标
+    //s，d分别为frenet轨迹点相对于frenet坐标系的s，d轴坐标值
+    //tangent_Ang为轨迹点在frenet坐标系的s轴的投影处的 切线 与车辆坐标系x轴之间的夹角。
+    //tangent_Ang用于分解计算车辆分别在s轴、d轴方向上的运动速度、加速度等。
+    struct FrenetPoint{
+        double x;
+        double y;
+        double s;
+        double d;
+        double tangent_Ang;
+    };
+
+
+
+    class Quintic_polynomial
+    {
+    public:
+        Quintic_polynomial(double xs, double vxs, double axs, double xe, double vxe, double axe, double T);
+        ~Quintic_polynomial();
+    private:
+        // 计算五次多项式系数
+        double xs;    //d0
+        double vxs;   //d.0
+        double axs;   //d..0
+        double xe;    //d1
+        double vxe;   //d.1
+        double axe;   //d..1
+
+        double a0;
+        double a1;
+        double a2;
+        double a3;
+        double a4;
+        double a5;
+
+    public:
+        double calc_point(double t);
+        double calc_first_derivative(double t);
+        double calc_second_derivative(double t);
+        double calc_third_derivative(double t);
+    };
+
+
+    class Quartic_polynomial
+    {
+    public:
+        Quartic_polynomial(double xs, double vxs, double axs, double vxe, double axe, double T);
+        ~Quartic_polynomial();
+
+    private:
+        //计算四次多项式系数
+        double xs;
+        double vxs;
+        double axs;
+        double vxe;
+        double axe;
+
+        double a0;
+        double a1;
+        double a2;
+        double a3;
+        double a4;
+
+    public:
+        double calc_point(double t);
+        double calc_first_derivative(double t);
+        double calc_second_derivative(double t);
+        double calc_third_derivative(double t);
+    };
+
+
+    class Frenet_path
+    {
+    public:
+        std::vector<double> t;
+        std::vector<double> d;
+        std::vector<double> d_d;
+        std::vector<double> d_dd;
+        std::vector<double> d_ddd;
+        std::vector<double> s;
+        std::vector<double> s_d;
+        std::vector<double> s_dd;
+        std::vector<double> s_ddd;
+        int roadflag = -1;  //标记每一条frenet路径，是以哪一条道路为目标道路的
+        double cd = 0.0;
+        double cv = 0.0;
+        double cf = 0.0;
+
+        std::vector<double> x;
+        std::vector<double> y;
+        std::vector<double> yaw;
+        std::vector<double> ds;
+        std::vector<double> c;
+    };
+
+    class FrenetPlanner : public BasePlanner{
+    public:
+        int aimRoadByFrenet = -1;          //记录由frenet规划选择出来的道路序号
+        int roadNow = -1;                  //记录避障时车辆当前道路序号,规划路径时，避开此条道路
+        double leftWidth = 0.0;            //中心线左边偏移距离，为负值
+        double rightWidth = 0.0;           //中心线右边偏移距离，为正值
+        GPS_INS now_gps_ins;               //实时gps信息
+        std::vector<GPSData> gpsMapLine;   //地图数据点
+        int PathPoint = 0;                 //地图路线中距离车辆位置最近的一个点的序号
+        iv::LidarGridPtr lidarGridPtr;     //激光雷达信息网格
+
+    public:
+        FrenetPlanner();
+        ~FrenetPlanner();
+
+        /**
+         * @brief iv::decition::FrenetPlanner::getPath
+         * 采用的基于frenet坐标系的最优局部路径生成方法，可实现从当前车道变换到另一车道之间的路径生成。还可实现车辆在路线旁起步的“有迹可循”。
+         * 计算的是，在车辆到达 原始地图路径偏移offset距离的车道 之前，frenet下规划的路径。
+         *
+         * @param now_gps_ins          实时gps信息
+         * @param gpsMapLine           地图数据点
+         * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+         * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+         * @param lidarGridPtr         激光雷达信息网格
+         * @return                     返回一条车辆坐标系下的路径
+         */
+        std::vector<iv::Point2D> getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr);
+        int chooseRoadByFrenet(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offsetL, double offsetR, iv::LidarGridPtr lidarGridPtr,int roadNow);
+        static iv::decition::FrenetPoint XY2Frenet(double x, double y, const std::vector<Point2D>& gpsTracet);
+        static void Frenet2XY(double *x, double *y, double s, double d, const std::vector<iv::decition::FrenetPoint>& frenetTrace);
+        static double distance(double x1, double y1, double x2, double y2);
+        static int ClosestWaypoint(double x, double y, const std::vector<Point2D>& gpsTrace);
+        static FrenetPoint getFrenetfromXY(double x, double y, const std::vector<iv::Point2D>& gpsTrace,const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps);
+        static void getXYfromFrenet(double *res_x, double *res_y, double s, double d, const std::vector<iv::decition::FrenetPoint>& frenetTrace,const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps);
+        static bool comp(const iv::decition::Frenet_path &a,const iv::decition::Frenet_path &b);
+
+    private:
+        std::vector<iv::Point2D> getGpsTrace_AfterCalcFrenetTrace(const std::vector<iv::Point2D>& gpsTrace,double realsecSpeed);
+        std::vector<iv::Point2D> frenet_optimal_planning(FrenetPoint car_now_frenet_point,
+                                                         const std::vector<FrenetPoint>& frenet_s,
+                                                         double c_speed, double c_d_d, double c_d_dd);
+        std::vector<Frenet_path> calc_frenet_paths(double c_speed, double c_d, double c_d_d, double c_d_dd, double s0);
+        void calc_global_paths(std::vector<Frenet_path>& fplist,const std::vector<FrenetPoint>& frenet_s);
+        void calc_global_single_path(Frenet_path& fp,const std::vector<FrenetPoint>& frenet_s);
+        std::vector<Frenet_path> check_paths(const std::vector<Frenet_path>& fplist);
+        bool check_single_path(const Frenet_path &fp);
+        bool check_collision(const Frenet_path &frenet_path);
+
+        std::vector<Point2D> frenet_path_to_gpsTrace(const Frenet_path& frenet_path);
+    };
+
+}
+}
+
+#endif // FRENET_PLANNER_H

src/decition/decition_brain/decision/adc_planner/lane_change_planner.cpp

@@ -0,0 +1,196 @@
+#include <decision/adc_planner/lane_change_planner.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/adc_tools/parameter_status.h>
+#include <common/constants.h>
+
+#include <math.h>
+
+iv::decition::LaneChangePlanner::LaneChangePlanner(){
+    this->planner_id = 0;
+    this->planner_name = "LaneChange";
+}
+
+iv::decition::LaneChangePlanner::~LaneChangePlanner(){
+}
+
+/**
+ * @brief iv::decition::LaneChangePlanner::getPath
+ * 采用的车道变换的局部路径生成方法。计算原始地图路径偏移offset距离之后的路径。
+ *
+ * @param now_gps_ins          实时gps信息
+ * @param gpsMapLine           地图数据点
+ * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+ * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+ * @param lidarGridPtr         激光雷达信息网格
+ * @return                     返回一条车辆坐标系下的路径
+ */
+std::vector<iv::Point2D> iv::decition::LaneChangePlanner::getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr){
+    std::vector<iv::Point2D> trace;
+    trace = this->getGpsTrace(now_gps_ins,gpsMapLine,PathPoint);
+    if(offset!=0){
+        trace = this->getGpsTraceOffset(trace,offset);
+    }
+    return trace;
+}
+
+bool iv::decition::LaneChangePlanner::checkAvoidEnable(const std::vector<double>& obsDisVector, int roadAim){
+    int roadNow = ServiceParameterStatus.now_road_num;
+    if ((obsDisVector[roadAim]>0 && obsDisVector[roadAim]<obsDisVector[roadNow]+ServiceCarStatus.msysparam.vehLenth)||
+            (obsDisVector[roadAim]>0 && obsDisVector[roadAim]<15))
+    {
+        return false;
+    }
+
+    if (roadAim-roadNow>1)
+    {
+        for (int i = roadNow+1; i < roadAim; i++)
+        {
+            if (obsDisVector[i] < 8 + (i-roadNow) * 2 && obsDisVector[i]>0) {
+                return false;
+            }
+        }
+
+    }
+
+    else if (roadNow-roadAim>1)
+    {
+        for (int i = roadNow-1; i >roadAim; i--)
+        {
+            if (obsDisVector[i] < 8 + (roadNow-i) * 2 && obsDisVector[i]>0) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
+std::vector<iv::Point2D> iv::decition::LaneChangePlanner::getGpsTrace(iv::GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint){
+    std::vector<iv::Point2D> trace;
+
+    if (gpsMapLine.size() > 400 && PathPoint >= 0) {
+        for (int i = PathPoint; i < PathPoint + 600; i++)
+        {
+            int index = i % gpsMapLine.size();
+            Point2D pt = Coordinate_Transfer((*gpsMapLine[index]).gps_x, (*gpsMapLine[index]).gps_y, now_gps_ins);
+//            pt.x += offset_real * 0.032;
+            pt.v1 = (*gpsMapLine[index]).speed_mode;
+            pt.v2 = (*gpsMapLine[index]).mode2;
+            pt.roadMode=(*gpsMapLine[index]).roadMode;
+
+//            if (gpsMapLine[index]->roadMode==3 && !hasZhuched)
+//            {
+//                readyZhucheMode = true;
+//                DecideGps00::zhuchePointNum = index;
+//            }
+
+
+
+//            if (gpsMapLine[index]->roadMode==3 && !hasZhuched)
+//            {
+//                readyZhucheMode = true;
+//                DecideGps00::zhuchePointNum = index;
+//            }
+
+//            //csvv7
+//            if (gpsMapLine[index]->speed_mode==22 || gpsMapLine[index]->speed_mode==23)
+//            {
+//                readyParkMode = true;
+//                DecideGps00::finishPointNum = index;
+//            }
+
+
+            switch (pt.v1)
+            {
+            case 0:
+                pt.speed = 36;
+                break;
+            case 1:
+                pt.speed = 25;
+                break;
+            case 2:
+                pt.speed =25;
+                break;
+            case 3:
+                pt.speed = 20;
+                break;
+            case 4:
+                pt.speed =18;
+                break;
+            case 5:
+                pt.speed = 18;
+                break;
+            case 7:
+                pt.speed = 10;
+                break;
+            case 22:
+                pt.speed = 5;
+                break;
+            case 23:
+                pt.speed = 5;
+                break;
+            default:
+                break;
+            }
+            trace.push_back(pt);
+        }
+    }
+    return trace;
+}
+
+std::vector<iv::Point2D> iv::decition::LaneChangePlanner::getGpsTraceOffset(const std::vector<Point2D>& gpsTrace, double offset){
+    if (offset==0)
+    {
+        return gpsTrace;
+    }
+
+    std::vector<iv::Point2D> trace;
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = std::max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (int k = j; k <= std::min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        double avoidLenth = abs(offset);
+        if (offset<0)
+        {
+            Point2D ptLeft(carFrontx + avoidLenth * cos(anglevalue + M_PI / 2),
+                           carFronty + avoidLenth  * sin(anglevalue + M_PI / 2));
+            ptLeft.speed = gpsTrace[j].speed;
+            ptLeft.v1 = gpsTrace[j].v1;
+            ptLeft.v2 = gpsTrace[j].v2;
+            ptLeft.roadMode = gpsTrace[j].roadMode;
+            trace.push_back(ptLeft);
+        }
+        else
+        {
+            Point2D ptRight(carFrontx + avoidLenth  * cos(anglevalue - M_PI / 2),
+                            carFronty + avoidLenth  * sin(anglevalue - M_PI / 2));
+            ptRight.speed = gpsTrace[j].speed;
+            ptRight.v1 = gpsTrace[j].v1;
+            ptRight.v2 = gpsTrace[j].v2;
+            ptRight.roadMode = gpsTrace[j].roadMode;
+            trace.push_back(ptRight);
+        }
+    }
+    return trace;
+}
+
+

src/decition/decition_brain/decision/adc_planner/lane_change_planner.h

@@ -0,0 +1,38 @@
+#ifndef LANE_CHANGE_PLANNER_H
+#define LANE_CHANGE_PLANNER_H
+
+#include "base_planner.h"
+
+namespace iv{
+namespace decition{
+    class LaneChangePlanner : public BasePlanner{
+    public:
+        LaneChangePlanner();
+        ~LaneChangePlanner();
+
+
+        /**
+         * @brief iv::decition::LaneChangePlanner::getPath
+         * 采用的车道变换的局部路径生成方法。计算原始地图路径偏移offset距离之后的路径。
+         *
+         * @param now_gps_ins          实时gps信息
+         * @param gpsMapLine           地图数据点
+         * @param PathPoint            地图路线中距离车辆位置最近的一个点的序号
+         * @param offset               在车辆避障中，地图源路线所在车道 与 即将去往的车道 之间的距离差值。可以为负值。
+         * @param lidarGridPtr         激光雷达信息网格
+         * @return                     返回一条车辆坐标系下的路径
+         */
+        std::vector<iv::Point2D> getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr);
+
+        bool checkAvoidEnable(const std::vector<double>& obsDisVector, int roadAim);
+
+    private:
+        std::vector<iv::Point2D> getGpsTrace(iv::GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint);
+        std::vector<iv::Point2D> getGpsTraceOffset(const std::vector<Point2D>& gpsTrace, double offset);
+
+    };
+}
+}
+
+
+#endif // LANE_CHANGE_PLANNER_H

src/decition/decition_brain/decision/adc_tools/compute_00.cpp

@@ -0,0 +1,2075 @@
+#include <decision/adc_tools/compute_00.h>
+#include <decision/decide_gps_00.h>
+#include <decision/adc_tools/gps_distance.h>
+#include <decision/decition_type.h>
+#include <decision/adc_tools/transfer.h>
+#include <common/constants.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+#include <control/can.h>
+using namespace std;
+
+#define PI (3.1415926535897932384626433832795)
+
+iv::decition::Compute00::Compute00() {
+
+}
+iv::decition::Compute00::~Compute00() {
+
+}
+
+
+double iv::decition::Compute00::angleLimit = 700;
+double iv::decition::Compute00::lastEA = 0;
+double iv::decition::Compute00::lastEP = 0;
+double iv::decition::Compute00::decision_Angle = 0;
+double iv::decition::Compute00::lastAng = 0;
+int iv::decition::Compute00::lastEsrID = -1;
+int  iv::decition::Compute00::lastEsrCount = 0;
+int iv::decition::Compute00::lastEsrIDAvoid = -1;
+int  iv::decition::Compute00::lastEsrCountAvoid = 0;
+
+iv::GPS_INS  iv::decition::Compute00::nearTpoint;
+iv::GPS_INS  iv::decition::Compute00::farTpoint;
+double  iv::decition::Compute00::bocheAngle;
+
+
+
+iv::GPS_INS  iv::decition::Compute00::dTpoint0;
+iv::GPS_INS  iv::decition::Compute00::dTpoint1;
+iv::GPS_INS  iv::decition::Compute00::dTpoint2;
+iv::GPS_INS  iv::decition::Compute00::dTpoint3;
+double  iv::decition::Compute00::dBocheAngle;
+
+
+std::vector<int> lastEsrIdVector;
+std::vector<int> lastEsrCountVector;
+
+
+
+int iv::decition::Compute00::getDesiredSpeed(std::vector<GPSData> gpsMap)
+{
+    int startIndex = 0;     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = gpsMap.size() - 1;
+    static double FrontTotalFive=0,FrontAveFive=0,BackAveFive=0,BackTotalFive=0;
+    static int FrontCount=0,BackCount=0;
+    static int CurrentIndex=0,MarkingIndex=0,MarkingCount=0;
+    int MarkedIndex=0,CurveContinue=0;
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        if((*gpsMap[i]).roadMode!=6)
+                (*gpsMap[i]).roadMode=5;
+    }
+    for (int j = startIndex; j < (endIndex-40); j+=40)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        for(int front_k=i;front_k<i+20;front_k++)
+        {
+            if(fabs(((*gpsMap[front_k]).ins_heading_angle)-((*gpsMap[i]).ins_heading_angle))<10)
+            {
+                   FrontTotalFive+=(*gpsMap[front_k]).ins_heading_angle;
+                   FrontCount++;
+            }
+
+        }
+        i+=20;
+        FrontAveFive=FrontTotalFive/FrontCount;
+        FrontTotalFive=0;
+        FrontCount=0;
+        for(int back_k=i;back_k<i+20;back_k++)
+        {
+            if(fabs((*gpsMap[back_k]).ins_heading_angle-(*gpsMap[i]).ins_heading_angle)<10)
+            {
+                   BackTotalFive+=(*gpsMap[back_k]).ins_heading_angle;
+                   BackCount++;
+            }
+
+        }
+        i+=20;
+        CurrentIndex=i-1;
+        BackAveFive=BackTotalFive/BackCount;
+        BackTotalFive=0;
+        BackCount=0;
+        if(fabs(FrontAveFive-BackAveFive)<50)
+        {
+                   if(fabs(FrontAveFive-BackAveFive)>4)
+                   {
+                        CurveContinue+=1;
+                        if(CurveContinue>=1)
+                        {
+                            MarkingCount=0;
+                            for(MarkingIndex=CurrentIndex;MarkingIndex>=MarkedIndex;MarkingIndex--)
+                            {
+                                if((*gpsMap[MarkingIndex]).roadMode!=6)
+                                {
+                                if(MarkingCount<150)
+                                {
+                                     if((BackAveFive-FrontAveFive)<=3.5)
+                                     {
+                                           (*gpsMap[MarkingIndex]).roadMode=14;   //弯道，2米,14
+                                     }
+                                     else if((BackAveFive-FrontAveFive)>3.5)
+                                     {
+                                           (*gpsMap[MarkingIndex]).roadMode=15;
+                                     }
+
+                                } //else if((MarkingCount>=100)&&(MarkingCount<150)){(*gpsMap[MarkingIndex]).roadMode=18;   //超低速，10米,1}
+                                else if((MarkingCount>=150)&&(MarkingCount<320))
+                                {
+                                     (*gpsMap[MarkingIndex]).roadMode=5;   //低速，20米,5
+                                }
+                                else if((MarkingCount>=320)&&(MarkingCount<620))
+                                {
+                                     (*gpsMap[MarkingIndex]).roadMode=0;   //常速，60米
+                                }
+                                else if(MarkingCount>=620)
+                                {
+                                     (*gpsMap[MarkingIndex]).roadMode=11;   //高速/疯狂加速，大于60米
+                                }
+                                }
+
+                                MarkingCount++;
+                            }
+                            MarkedIndex=CurrentIndex;
+                        }
+                   }
+                   else if(fabs(FrontAveFive-BackAveFive)<=4)
+                   {
+                        CurveContinue=0;
+                   }
+        }
+        FrontAveFive=0;
+        BackAveFive=0;
+    }
+
+    if(MarkedIndex<endIndex)
+    {
+        MarkingCount=0;
+        for(MarkingIndex=endIndex;MarkingIndex>=MarkedIndex;MarkingIndex--)
+        {
+            if((*gpsMap[MarkingIndex]).roadMode!=6)
+            {
+            if(MarkingCount<100)
+            {
+                if((BackAveFive-FrontAveFive)<3)
+                {
+                      (*gpsMap[MarkingIndex]).roadMode=14;   //弯道，2米,14
+                }
+                else if((BackAveFive-FrontAveFive)>3)
+                {
+                      (*gpsMap[MarkingIndex]).roadMode=15;
+                }
+            }
+            else if((MarkingCount>=100)&&(MarkingCount<150))
+            {
+                 (*gpsMap[MarkingIndex]).roadMode=18;   //超低速，10米
+            }
+            else if((MarkingCount>=150)&&(MarkingCount<320))
+            {
+                 (*gpsMap[MarkingIndex]).roadMode=5;   //低速，30米
+            }
+            else if((MarkingCount>=320)&&(MarkingCount<620))
+            {
+                 (*gpsMap[MarkingIndex]).roadMode=0;   //常速，60米
+            }
+            else if(MarkingCount>=620)
+            {
+                 (*gpsMap[MarkingIndex]).roadMode=11;   //高速/疯狂加速，大于60米
+            }
+             }
+            MarkingCount++;
+        }
+    }
+
+
+    return 1;
+}
+
+
+
+//首次找点
+
+int iv::decition::Compute00::getFirstNearestPointIndex(GPS_INS rp, std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle)
+{
+    int index = -1;
+    //	DecideGps00().minDis = iv::MaxValue;
+    float minDis = 10;
+    double maxAng = iv::MaxValue;
+
+    int startIndex = 0;     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = gpsMap.size() - 1;
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        double tmpdis = GetDistance(rp, (*gpsMap[i]));
+
+        if (tmpdis < minDis && (abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle) < 80
+                                              || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360) < 80
+                                              || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360) < 80)
+                )
+        {
+            index = i;
+            minDis = tmpdis;
+            maxAng = min(abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle), abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360));
+            maxAng = min(maxAng, abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360));
+        }
+    }
+
+    DecideGps00().maxAngle=maxAng;
+    DecideGps00().minDis=minDis;
+    return index;
+}
+
+//search pathpoint
+int iv::decition::Compute00::getNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle)
+{
+    int index = -1;
+    float minDis = 10;
+    double maxAng = iv::MaxValue;
+    int map_size=gpsMap.size();
+    int preDistance=max(100,(int)(rp.speed*10));
+        preDistance=min(500,preDistance);
+
+    int startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = min((int)(lastIndex + preDistance ),(int)(lastIndex+map_size));
+
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + map_size) % map_size;
+        double tmpdis = GetDistance(rp, (*gpsMap[i]));
+
+        if (tmpdis < minDis && (abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle) < 80
+            || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360) < 80
+            || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360) < 80)
+            )
+        {
+            index = i;
+            minDis = tmpdis;
+            maxAng = min(abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle), abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360));
+            maxAng = min(maxAngle, abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360));
+        }
+    }
+
+
+    DecideGps00().maxAngle=maxAng;
+    DecideGps00().minDis=minDis;
+    return index;
+}
+
+
+double iv::decition::Compute00::getAveDef(std::vector<Point2D> farTrace)
+{
+    double sum_x = 0;
+    double sum_y = 0;
+
+    for (int i = 0; i < min(5, (int)farTrace.size()); i++)
+    {
+        sum_x += farTrace[i].x;
+        sum_y += abs(farTrace[i].y);
+    }
+    double average_y = sum_y / min(5, (int)farTrace.size());
+    double average_x = sum_x / min(5, (int)farTrace.size());
+
+
+    return atan(average_x / average_y) / PI * 180;
+}
+
+
+
+double iv::decition::Compute00::getAvoidAveDef(std::vector<Point2D> farTrace, double avoidX)
+{
+    double sum_x = 0;
+    double sum_y = 0;
+
+    for (int i = 0; i < min(5, (int)farTrace.size()); i++)
+    {
+        sum_x += farTrace[i].x;
+        sum_y += abs(farTrace[i].y);
+    }
+    double average_y = sum_y / min(5, (int)farTrace.size());
+    double average_x = sum_x / min(5, (int)farTrace.size());
+
+
+    return atan(average_x + avoidX / average_y) / PI * 180;
+}
+
+
+
+
+
+
+double iv::decition::Compute00::getDecideAngle(std::vector<Point2D>  gpsTrace, double realSpeed) {
+
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+
+    //   double KEang = 14, KEPos = 10, DEang = 3, DEPos = 1;  // double KEang = 14, KEPos = 10, DEang = 10, DEPos = 10;
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0;
+
+    if(transferPieriod&& !transferPieriod2){
+        DEang = 200;
+        DEPos = 150;
+    }
+
+    //   double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+    double PreviewDistance;//预瞄距离
+    realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+    if(changeRoad ||transferPieriod){
+        PreviewDistance=PreviewDistance+avoidX;
+    }
+    if(realSpeed <15){
+        PreviewDistance = max(4.0, realSpeed *0.4) ;
+    }
+
+    if (gpsTrace[0].v1 == 1)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 2 || gpsTrace[0].v1 == 3)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 4 || gpsTrace[0].v1 == 5)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 7 && (gpsTrace[0].v2 == 23 || gpsTrace[0].v2 == 24))
+    {
+        KEang = 18; KEPos = 50; PreviewDistance = 3;
+    }
+    else if (gpsTrace[0].v1 == 7)
+    {
+        KEang = 20; KEPos = 50; PreviewDistance = 4;
+    }
+
+
+    if (realSpeed > 40)	KEang = 10; KEPos = 8;
+    if (realSpeed > 50) KEang = 5;
+
+    double sumdis = 0;
+    int gpsIndex = 0;
+    std::vector<Point2D> farTrace;
+
+
+
+
+
+
+    for (int i = 1; i < gpsTrace.size() - 1; i++)
+    {
+        sumdis += GetDistance(gpsTrace[i - 1], gpsTrace[i]);
+        if (sumdis > PreviewDistance)
+        {
+            gpsIndex = i;
+            break;
+        }
+    }
+
+
+
+
+    EPos = gpsTrace[gpsIndex].x;
+
+    for (unsigned int i = max(0, gpsIndex - 3); i < min((size_t)(gpsIndex + 3), gpsTrace.size()); i++) {
+        farTrace.push_back(gpsTrace[gpsIndex]);
+    }
+    if (farTrace.size() == 0) {
+        EAng = 0;
+    }
+    else {
+        EAng = getAveDef(farTrace);
+    }
+
+    ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP);
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    if (ang > angleLimit) {
+        ang = angleLimit;
+    }
+    else if (ang < -angleLimit) {
+        ang = -angleLimit;
+    }
+    if (lastAng != iv::MaxValue) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+        //ODS("lastAng：%d\n", lastAng);
+    }
+    lastAng = ang;
+    return ang;
+}
+
+
+
+
+int  iv::decition::Compute00::getSpeedPointIndex(std::vector<Point2D> gpsTrace, double realSpeed)
+{
+    int index = 1;
+    double sumdis = 0;
+    while (index < gpsTrace.size() && sumdis < realSpeed)
+        sumdis += GetDistance(gpsTrace[index - 1], gpsTrace[index++]);
+
+    if (index == gpsTrace.size())
+        return index - 1;
+
+    if (abs(sumdis - realSpeed) > abs(sumdis - GetDistance(gpsTrace[index - 1], gpsTrace[index]) - realSpeed))
+        index--;
+    return index;
+}
+
+iv::Point2D iv::decition::Compute00::getLidarObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr) {
+
+    iv::Point2D obsPoint(-1, -1);
+    vector<Point2D> gpsTraceLeft;
+    vector<Point2D> gpsTraceRight;
+    float xiuzheng=0;
+    if(!ServiceCarStatus.useMobileEye){
+        xiuzheng=0-ServiceCarStatus.msysparam.lidarGpsXiuzheng;
+    }
+
+    ServiceCarStatus.obsTraceLeft.clear();
+    ServiceCarStatus.obsTraceRight.clear();
+
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (unsigned int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        Point2D ptLeft(carFrontx + ServiceCarStatus.msysparam.vehWidth / 2 * cos(anglevalue + PI / 2),
+                       carFronty + ServiceCarStatus.msysparam.vehWidth / 2 * sin(anglevalue + PI / 2));
+
+        Point2D ptRight(carFrontx + ServiceCarStatus.msysparam.vehWidth / 2 * cos(anglevalue - PI / 2),
+                        carFronty + ServiceCarStatus.msysparam.vehWidth / 2 * sin(anglevalue - PI / 2));
+
+        gpsTraceLeft.push_back(ptLeft);
+        gpsTraceRight.push_back(ptRight);
+
+
+        TracePoint obsptleft(ptLeft.x,ptLeft.y);
+        ServiceCarStatus.obsTraceLeft.push_back(obsptleft);
+
+        TracePoint obsptright(ptRight.x,ptRight.y);
+        ServiceCarStatus.obsTraceLeft.push_back(obsptright);
+
+
+    }
+
+
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        if (!isRemove && gpsTrace[j].y>ServiceCarStatus.msysparam.lidarGpsXiuzheng)
+        {
+            int count = 0;
+
+            for (double length = 0; length <= ServiceCarStatus.msysparam.vehWidth; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / ServiceCarStatus.msysparam.vehWidth * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / ServiceCarStatus.msysparam.vehWidth * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;  //+(ptx / abs(ptx))) / 2左右多出一半的车宽（1米）
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+                int dy = (pty + gridwide*(double)centery+xiuzheng)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            j++;
+
+            for (double length = 0; length <= ServiceCarStatus.msysparam.vehWidth; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / ServiceCarStatus.msysparam.vehWidth * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / ServiceCarStatus.msysparam.vehWidth * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+                int dy = (pty + gridwide*(double)centery+xiuzheng)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            if (count >= 2)
+            {
+                obsPoint.x = gpsTrace[j].x;
+                obsPoint.y = gpsTrace[j].y;
+
+                isRemove = true;
+                //		DecideGps00().lidarDistance = obsPoint.y;
+                return obsPoint;
+            }
+        }
+    }
+    //	DecideGps00().lidarDistance = obsPoint.y;
+    return obsPoint;
+}
+
+//1220
+iv::Point2D iv::decition::Compute00::getLidarRearObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr) {
+
+    iv::Point2D obsPoint(-1, -1);
+    vector<Point2D> gpsTraceLeft;
+    vector<Point2D> gpsTraceRight;
+    float xiuzheng=0;
+    if(!ServiceCarStatus.useMobileEye){
+        xiuzheng=0-ServiceCarStatus.msysparam.rearLidarGpsXiuzheng;
+    }
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (unsigned int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        Point2D ptLeft(carFrontx + (ServiceCarStatus.msysparam.vehWidth-0.3) / 2 * cos(anglevalue + PI / 2),
+                       carFronty + (ServiceCarStatus.msysparam.vehWidth-0.3) / 2 * sin(anglevalue + PI / 2));
+
+        Point2D ptRight(carFrontx + (ServiceCarStatus.msysparam.vehWidth-0.3) / 2 * cos(anglevalue - PI / 2),
+                        carFronty + (ServiceCarStatus.msysparam.vehWidth-0.3) / 2 * sin(anglevalue - PI / 2));
+
+        gpsTraceLeft.push_back(ptLeft);
+        gpsTraceRight.push_back(ptRight);
+
+    }
+
+
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        if (!isRemove && gpsTrace[j].y<(0-ServiceCarStatus.msysparam.rearGpsXiuzheng) )
+        {
+            int count = 0;
+
+            for (double length = 0; length <= ServiceCarStatus.msysparam.vehWidth; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / ServiceCarStatus.msysparam.vehWidth * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / ServiceCarStatus.msysparam.vehWidth * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;  //+(ptx / abs(ptx))) / 2左右多出一半的车宽（1米）
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+
+                dx=grx-dx;//1227
+
+                int dy = (pty + gridwide*(double)centery+xiuzheng)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            j++;
+
+            for (double length = 0; length <= ServiceCarStatus.msysparam.vehWidth; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / ServiceCarStatus.msysparam.vehWidth * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / ServiceCarStatus.msysparam.vehWidth * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+
+                dx=grx-dx;//1227
+                int dy = (pty + gridwide*(double)centery+xiuzheng)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            if (count >= 2)
+            {
+                obsPoint.x = gpsTrace[j].x;
+                obsPoint.y = gpsTrace[j].y;
+
+                isRemove = true;
+                //		DecideGps00().lidarDistance = obsPoint.y;
+                return obsPoint;
+            }
+        }
+    }
+    //	DecideGps00().lidarDistance = obsPoint.y;
+    return obsPoint;
+}
+
+
+iv::Point2D iv::decition::Compute00::getLidarObsPointAvoid(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr) {
+
+    iv::Point2D obsPoint(-1, -1);
+    vector<Point2D> gpsTraceLeft;
+    vector<Point2D> gpsTraceRight;
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (unsigned int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        //1127 fanwei xiuzheng
+        float buchang=0;
+        Point2D ptLeft(carFrontx + (ServiceCarStatus.msysparam.vehWidth+(buchang)*2) / 2 * cos(anglevalue + PI / 2),
+                       carFronty +  (ServiceCarStatus.msysparam.vehWidth+(buchang)*2) / 2 * sin(anglevalue + PI / 2));
+
+        Point2D ptRight(carFrontx +  (ServiceCarStatus.msysparam.vehWidth+(buchang)*2) / 2 * cos(anglevalue - PI / 2),
+                        carFronty +  (ServiceCarStatus.msysparam.vehWidth+(buchang)*2) / 2 * sin(anglevalue - PI / 2));
+
+        gpsTraceLeft.push_back(ptLeft);
+        gpsTraceRight.push_back(ptRight);
+
+    }
+
+
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        if (!isRemove && gpsTrace[j].y>2.5 && gpsTraceLeft[j].y>2.5 && gpsTraceRight[j].y>2.5)
+        {
+            int count = 0;
+
+            for (double length = 0; length <= ServiceCarStatus.msysparam.vehWidth; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / ServiceCarStatus.msysparam.vehWidth * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / ServiceCarStatus.msysparam.vehWidth * length;
+
+                int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;  //*2左右多出一半的车宽（1米）
+                int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            j++;
+
+            for (double length = 0; length <= ServiceCarStatus.msysparam.vehWidth; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / ServiceCarStatus.msysparam.vehWidth * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / ServiceCarStatus.msysparam.vehWidth * length;
+
+                int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;
+                int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            if (count >= 2)
+            {
+                obsPoint.x = gpsTrace[j].x;
+                obsPoint.y = gpsTrace[j].y;
+
+                isRemove = true;
+                DecideGps00().lidarDistanceAvoid = obsPoint.y;
+                return obsPoint;
+            }
+        }
+    }
+    //	DecideGps00().lidarDistanceAvoid = obsPoint.y;
+
+    return obsPoint;
+}
+
+
+
+
+//int  iv::decition::Compute00::getEsrIndex(std::vector<Point2D> gpsTrace, std::vector<ObstacleBasic> esrRadars) {
+//	bool isRemove = false;
+//
+//	for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+//	{
+//
+//		for (int i = 0; i < esrRadars.size(); i++)
+//			if ((esrRadars[i].nomal_y) != 0)
+//			{
+//				double xxx = esrRadars[i].nomal_x + Esr_Offset;
+//				double yyy = esrRadars[i].nomal_y;
+//
+//				if (abs(xxx - gpsTrace[j].x) <= 3.0*ServiceCarStatus.msysparam.vehWidth / 4.0 && abs(yyy - (gpsTrace[j].y)) <= 1)
+//				{
+//
+//					if (lastEsrID == (esrRadars[i]).esr_ID)
+//					{
+//						lastEsrCount++;
+//					}
+//					else
+//					{
+//						lastEsrCount = 0;
+//					}
+//
+//					if (lastEsrCount >= 3)
+//					{
+//						return i;
+//					}
+//
+//					lastEsrID = (esrRadars[i]).esr_ID;
+//				}
+//			}
+//	}
+//	return -1;
+//}
+
+
+
+
+int  iv::decition::Compute00::getEsrIndex(std::vector<Point2D> gpsTrace,int roadNum,int *esrPathpoint) {
+    bool isRemove = false;
+
+    float xiuzheng=0;
+    if(!ServiceCarStatus.useMobileEye){
+        xiuzheng=ServiceCarStatus.msysparam.radarGpsXiuzheng;
+    }
+
+    float fxiuzhengCs = DecideGps00().xiuzhengCs;
+    int nsize = gpsTrace.size();
+    for (int j = 1; j < nsize - 1 && !isRemove; j++)
+    {
+
+        for (int i = 0; i < 64; i++)
+            if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_radar[i].valid))
+            {
+                double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+                double yyy = ServiceCarStatus.obs_radar[i].nomal_y+ xiuzheng;
+
+                /*ODS("\nESR毫米波检测物体X距离:%f\n", xxx);
+                ODS("\nESR毫米波检测物体Y距离:%f\n", yyy);*/
+
+//优化
+//                if(sqrt((xxx - gpsTrace[j].x)*(xxx - gpsTrace[j].x) + (yyy - gpsTrace[j].y)*(yyy - gpsTrace[j].y)) < (1.0*ServiceCarStatus.msysparam.vehWidth / 2.0+DecideGps00().xiuzhengCs)){
+//                    *esrPathpoint = j;
+//                    return i;
+//                }
+
+
+                if (abs(xxx - gpsTrace[j].x) <= (3.0*ServiceCarStatus.msysparam.vehWidth / 4.0+fxiuzhengCs) && abs(yyy - (gpsTrace[j].y)) <= 1)
+                {
+                    return i;
+
+
+                    if (lastEsrID == i)
+                    {
+                        lastEsrCount++;
+                    }
+                    else
+                    {
+                        lastEsrCount = 0;
+                    }
+
+                    if(yyy>50 ){
+                        if (lastEsrCount >=200)
+                        {
+                            return i;
+                        }
+                    }
+                    else if (lastEsrCount >= 1)
+                    {
+                        return i;
+                    }
+
+                    lastEsrID = i;
+                }
+            }
+    }
+    return -1;
+}
+
+
+
+
+int  iv::decition::Compute00::getRearEsrIndex(std::vector<Point2D> gpsTrace,int roadNum) {
+    bool isRemove = false;
+
+    float xiuzheng = ServiceCarStatus.msysparam.rearRadarGpsXiuzheng;
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        for (int i = 0; i < 64; i++)
+            if ((ServiceCarStatus.obs_rear_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_rear_radar[i].valid))
+            {
+                double xxx = 0-(ServiceCarStatus.obs_rear_radar[i].nomal_x + Esr_Offset);
+                double yyy = 0-(ServiceCarStatus.obs_rear_radar[i].nomal_y+ xiuzheng);
+
+                if(ServiceCarStatus.msysparam.mvehtype=="qingyuan"){
+                    xxx=0-xxx;
+                }
+
+                /*ODS("\nESR毫米波检测物体X距离:%f\n", xxx);
+                ODS("\nESR毫米波检测物体Y距离:%f\n", yyy);*/
+
+
+                if (abs(xxx - gpsTrace[j].x) <= (3.0*ServiceCarStatus.msysparam.vehWidth / 4.0+DecideGps00().xiuzhengCs) && abs(yyy - (gpsTrace[j].y)) <= 1)
+                {
+
+                    if (lastEsrID == i)
+                    {
+                        lastEsrCount++;
+                    }
+                    else
+                    {
+                        lastEsrCount = 0;
+                    }
+
+                    if(yyy>50 ){
+                        if (lastEsrCount >=200)
+                        {
+                            return i;
+                        }
+                    }
+                    else if (lastEsrCount >= 1)
+                    {
+                        return i;
+                    }
+
+                    lastEsrID = i;
+                }
+            }
+    }
+    return -1;
+}
+
+
+
+
+
+//int  iv::decition::Compute00::getEsrIndex(std::vector<Point2D> gpsTrace,int roadNum) {
+//    bool isRemove = false;
+
+//    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+//    {
+
+//        for (int i = 0; i < 64; i++)
+//            if ((examed_obs_radar[i].nomal_y) != 0 && (examed_obs_radar[i].valid))
+//            {
+//                double xxx = examed_obs_radar[i].nomal_x + Esr_Offset;
+//                double yyy = examed_obs_radar[i].nomal_y+ Esr_Y_Offset;
+
+//                /*ODS("\nESR毫米波检测物体X距离:%f\n", xxx);
+//                ODS("\nESR毫米波检测物体Y距离:%f\n", yyy);*/
+
+
+//                if (abs(xxx - gpsTrace[j].x) <= 3.0*ServiceCarStatus.msysparam.vehWidth / 4.0 && abs(yyy - (gpsTrace[j].y)) <= 1)
+//                {
+
+//                    if (lastEsrID == i)
+//                    {
+//                        lastEsrCount++;
+//                    }
+//                    else
+//                    {
+//                        lastEsrCount = 0;
+//                    }
+
+//                    if(yyy>50 ){
+//                        if (lastEsrCount >=200)
+//                        {
+//                            return i;
+//                        }
+//                    }
+//                    else if (lastEsrCount >= 3)
+//                    {
+//                        return i;
+//                    }
+
+//                    lastEsrID = i;
+//                }
+//            }
+//    }
+//    return -1;
+//}
+
+
+
+int  iv::decition::Compute00::getEsrIndexAvoid(std::vector<Point2D> gpsTrace) {
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        for (int i = 0; i < 64; i++)
+            if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_radar[i].valid))
+            {
+                double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+                double yyy = ServiceCarStatus.obs_radar[i].nomal_y;
+
+                if (abs(xxx - gpsTrace[j].x) <= 3.0*ServiceCarStatus.msysparam.vehWidth / 4.0 && abs(yyy - (gpsTrace[j].y)) <= 1)
+                {
+
+                    if (lastEsrIDAvoid == i)
+                    {
+                        lastEsrCountAvoid++;
+                    }
+                    else
+                    {
+                        lastEsrCountAvoid = 0;
+                    }
+
+                    if (lastEsrCountAvoid >= 6)
+                    {
+                        return i;
+                    }
+
+                    lastEsrIDAvoid = i;
+                }
+            }
+    }
+    return -1;
+}
+
+
+
+
+
+
+
+//double iv::decition::Compute00::getObsSpeed(Point2D obsPoint, std::vector<ObstacleBasic> esrRadars,double realSecSpeed) {
+//	double obsSpeed = 0 - realSecSpeed;
+//	double minDis = iv::MaxValue;
+//	for (int i = 0; i < esrRadars.size(); i++)
+//		if ((esrRadars[i].nomal_y) != 0)
+//		{
+//			double xxx = esrRadars[i].nomal_x + Esr_Offset;
+//			double yyy = esrRadars[i].nomal_y;
+//
+//			if (abs(xxx - obsPoint.x) < 4 && abs(yyy - obsPoint.y) < 2)
+//			{
+//				double tmpDis =sqrt((xxx - obsPoint.x) * (xxx - obsPoint.x) + (yyy - obsPoint.y) * (yyy - obsPoint.y));
+//				if (tmpDis < minDis)
+//				{
+//					minDis = tmpDis;
+//					obsSpeed = esrRadars[i].speed_y;
+//				}
+//			}
+//		}
+//
+//	return obsSpeed;
+//
+//
+//}
+
+
+
+
+double iv::decition::Compute00::getObsSpeed(Point2D obsPoint, double realSecSpeed) {
+    double obsSpeed = 0 - realSecSpeed;
+    double minDis = iv::MaxValue;
+    for (int i = 0; i < 64; i++)
+        if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && ServiceCarStatus.obs_radar[i].valid)
+        {
+            double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+            double yyy = ServiceCarStatus.obs_radar[i].nomal_y + Esr_Y_Offset;
+
+            if (abs(xxx - obsPoint.x) < 4 && abs(yyy - obsPoint.y) < 2)
+            {
+                double tmpDis = sqrt((xxx - obsPoint.x) * (xxx - obsPoint.x) + (yyy - obsPoint.y) * (yyy - obsPoint.y));
+                if (tmpDis < minDis)
+                {
+                    minDis = tmpDis;
+                    obsSpeed = ServiceCarStatus.obs_radar[i].speed_y;
+                }
+            }
+        }
+
+    return obsSpeed;
+}
+
+
+
+
+double iv::decition::Compute00::getDecideAvoidAngle(std::vector<Point2D>  gpsTrace, double realSpeed, float avoidX) {
+
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0;
+
+    double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+
+    if (gpsTrace[0].v1 == 1)
+    {
+        KEang = 10; KEPos = 8;
+        if (realSpeed > 60) KEang = 5;
+    }
+    else if (gpsTrace[0].v1 == 2 || gpsTrace[0].v1 == 3)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 4 || gpsTrace[0].v1 == 5)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 7 && (gpsTrace[0].v2 == 23 || gpsTrace[0].v2 == 24))
+    {
+        KEang = 18; KEPos = 50; PreviewDistance = 3;
+    }
+    else if (gpsTrace[0].v1 == 7)
+    {
+        KEang = 20; KEPos = 50; PreviewDistance = 4;
+    }
+
+
+    double sumdis = 0;
+    int gpsIndex = 0;
+    std::vector<Point2D> farTrace;
+
+
+
+
+
+
+    for (int i = 1; i < gpsTrace.size() - 1; i++)
+    {
+        sumdis += GetDistance(gpsTrace[i - 1], gpsTrace[i]);
+        if (sumdis > PreviewDistance)
+        {
+            gpsIndex = i;
+            break;
+        }
+    }
+
+    if ((DecideGps00().readyParkMode) && (gpsIndex + 10>DecideGps00().gpsLineParkIndex))
+    {
+        gpsIndex = DecideGps00().gpsLineParkIndex;
+    }
+
+
+
+    EPos = gpsTrace[gpsIndex].x + avoidX;
+
+    for (unsigned int i = max(0, gpsIndex - 3); i < min((size_t)(gpsIndex + 3), gpsTrace.size()); i++) {
+        farTrace.push_back(gpsTrace[gpsIndex]);
+    }
+    if (farTrace.size() == 0) {
+        EAng = 0;
+    }
+    else {
+        EAng = getAvoidAveDef(farTrace, avoidX);
+    }
+
+    ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP);
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    if (ang > angleLimit) {
+        ang = angleLimit;
+    }
+    else if (ang < -angleLimit) {
+        ang = -angleLimit;
+    }
+    if (lastAng != iv::MaxValue) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+        //ODS("lastAng：%d\n", lastAng);
+    }
+    lastAng = ang;
+
+    return ang;
+}
+
+
+std::vector<iv::GPSData>   iv::decition::Compute00::getBesideGpsMapLine(iv::GPS_INS now_gps_ins, vector<iv::GPSData>gpsMapLine, float avoidX) {
+
+    vector<vector<iv::GPSData>> maps;
+    vector<iv::GPSData> gpsMapLineBeside;
+    int sizeN = gpsMapLine.size();
+    for (int i = 1; i < sizeN; i++)
+    {
+        iv::GPSData gpsData(new GPS_INS);
+        double xx = gpsMapLine[i]->gps_x - now_gps_ins.gps_x;
+        double yy = gpsMapLine[i]->gps_y - now_gps_ins.gps_y;
+        double lng = ServiceCarStatus.location->ins_heading_angle;
+
+
+        double x0 = xx * cos(lng * PI / 180) - yy * sin(lng * PI / 180);
+        double y0 = xx * sin(lng * PI / 180) + yy * cos(lng * PI / 180);
+        double k1 = sin((90 + (gpsMapLine[i]->ins_heading_angle - lng)) * PI / 180);
+        double k2 = cos((90 + (gpsMapLine[i]->ins_heading_angle - lng)) * PI / 180);
+
+        //	memcpy(&gpsData, &gpsMapLine[i], sizeof(gpsData));
+
+        gpsData->speed_mode = gpsMapLine[i]->speed_mode;
+        gpsData->gps_x = x0 + k1 * avoidX;
+        gpsData->gps_y = y0 + k2 * avoidX;
+        gpsMapLineBeside.push_back(gpsData);
+
+    }
+    return gpsMapLineBeside;
+
+}
+
+
+
+//double iv::decition::Compute00::getDecideAngleByLane(double realSpeed) {
+
+//    double ang = 0;
+//    double EPos = 0, EAng = 0;
+
+// //   double KEang = 14, KEpos = 10, DEang = 0, DEpos = 0;
+//       double KEang = 5, KEPos = 30, DEang = 0, DEPos = 0;
+
+// //   double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+//    double PreviewDistance;//预瞄距离
+//    realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+
+
+
+
+
+////    if (realSpeed > 40)	KEang = 10; KEpos = 8;
+////        if (realSpeed > 50) KEang = 5;
+
+
+
+
+
+//double c1 = ServiceCarStatus.aftermarketLane.dist_to_lane_l;
+//double c2 = ServiceCarStatus.aftermarketLane.dist_to_lane_r;
+//double a = ServiceCarStatus.Lane.curvature;
+//double b = ServiceCarStatus.Lane.heading;
+//double c = (c1+c2)*0.5;
+//double x= PreviewDistance;
+//double y;
+
+
+//y=a*x*x+b*x+c;
+
+//   // EPos = y;
+//EPos=c;
+
+
+//  //  EAng=atan(2*a*x+b) / PI * 180;
+//    EAng=ServiceCarStatus.Lane.yaw;
+//        ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP);
+
+//        lastEA = EAng;
+//        lastEP = EPos;
+
+
+//           std::cout << "\nEPos:%f\n" << EPos << std::endl;
+//            std::cout << "\nEAng:%f\n" << EAng << std::endl;
+
+
+//        if (ang > angleLimit) {
+//            ang = angleLimit;
+//        }
+//        else if (ang < -angleLimit) {
+//            ang = -angleLimit;
+//        }
+//        if (lastAng != iv::MaxValue) {
+//            ang = 0.2 * lastAng + 0.8 * ang;
+//            //ODS("lastAng：%d\n", lastAng);
+//        }
+//        lastAng = ang;
+//        return ang;
+//    }
+
+
+
+double IEPos = 0, IEang = 0;
+
+
+double iv::decition::Compute00::getDecideAngleByLanePID(double realSpeed) {
+
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+    double Curve=0;
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0;
+    double KCurve=120;
+    double KIEPos = 0, KIEang = 0;
+    //   double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+    double PreviewDistance;//预瞄距离
+
+    int confL=ServiceCarStatus.aftermarketLane.lane_conf_left;
+    int confR=ServiceCarStatus.aftermarketLane.lane_conf_right;
+    int conf =min(confL,confR);
+
+    realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+
+
+
+
+
+    if (realSpeed > 40)	KEang = 10; KEPos = 8;
+    if (realSpeed > 50) KEang = 5;
+
+    KEPos = 20;
+    KEang = 200;
+    //KEang = 15;
+
+    double c1 = ServiceCarStatus.aftermarketLane.dist_to_lane_l;
+    double c2 = ServiceCarStatus.aftermarketLane.dist_to_lane_r;
+    double a = ServiceCarStatus.Lane.curvature;
+    double b = ServiceCarStatus.Lane.heading;
+    double c = (c1+c2)*0.5;
+    double yaw= ServiceCarStatus.Lane.yaw;
+
+    double x= PreviewDistance;
+    double y;
+
+
+    y=c-(a*x*x+b*x);
+    double difa=0-(atan(2*a*x+b) / PI * 180);
+    Curve=0-a;
+
+    //EAng=difa;
+    //EPos=y;
+    EAng= 0-b;
+    EPos = c;
+    DEang = 10;
+    DEPos = 20;
+    //DEang = 20;
+    //DEPos = 10;
+
+    IEang = EAng+0.7*IEang;
+    IEPos = EPos+0.7*IEPos;
+    KIEang = 0;
+    //KIEang = 0.5;
+    KIEPos =2;
+
+
+
+    if(abs(confL)>=2&&abs(confR)>=2){
+        //ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP)+ KIEang * IEang + KIEPos * IEPos;
+        ang = KEang * EAng + KEPos * EPos +KCurve*Curve+ DEang * (EAng - lastEA) + DEPos * (EPos - lastEP)+ KIEang * IEang + KIEPos * IEPos;
+    }else{
+        ang=lastAng;
+    }
+    //if(lastAng!=0&&abs(ang-lastAng)>20)ang=lastAng;
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    if (ang > angleLimit) {
+        ang = angleLimit;
+    }
+    else if (ang < -angleLimit) {
+        ang = -angleLimit;
+    }
+    if (lastAng != iv::MaxValue) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+        //ODS("lastAng：%d\n", lastAng);
+    }
+    lastAng = ang;
+    return ang;
+}
+
+
+
+double iv::decition::Compute00::bocheCompute(GPS_INS nowGps, GPS_INS aimGps) {
+
+    GaussProjCal(aimGps.gps_lng, aimGps.gps_lat, &aimGps.gps_x, &aimGps.gps_y);
+    Point2D pt = Coordinate_Transfer(nowGps.gps_x, nowGps.gps_y, aimGps);
+
+
+
+    double x_1 = pt.x;
+    double y_1 = pt.y;
+    double angle_1 = getQieXianAngle(nowGps,aimGps);
+    double x_2 = 0.0, y_2 = 0.0;
+    double steering_angle;
+    double l = 2.950;
+    double r =6;
+    double x_o, y_o, x_o_1, y_o_1, x_o_2, y_o_2, x_3, y_3;
+    double x_t_n, y_t_n, x_t_f, y_t_f;//近切点和远切点
+    double x_t_1, y_t_1, x_t_2, y_t_2;//圆形1的切点
+    double x_t_3, y_t_3, x_t_4, y_t_4;//圆形2的切点
+    double g_1 = tan(angle_1);
+    double car_pos[3] = { x_1,y_1,g_1 };
+    double parking_pos[2] = { x_2,y_2 };
+    double g_3;
+    double t[4][2];
+    double p[4];
+    double  s1, s2; //切点与车起始位置的距离
+    double  min;
+    int  min_i;
+
+    //g_3 = 0 - 0.5775;
+    g_3 = pingfenxian_xielv(x_1, y_1, x_2, y_2, angle_1);
+    //交点
+    x_3 = 0.0;//(y_1 - y_2 + g_2*x_2 - g_1*x_1) / (g_2 - g_1);
+    y_3 = y_1 - g_1 * x_1;
+    //圆心1
+    x_o_1 = r;
+    y_o_1 = g_3 * r + y_3;
+    //圆形1的切点1
+    x_t_1 = 0.0;
+    y_t_1 = g_3 * r + y_3;
+    //圆形1的切点2
+    if (g_1 == 0)
+    {
+        x_t_2 = r;
+        y_t_2 = y_1 - g_1 * x_1;
+    }
+    else
+    {
+        y_t_2 = (y_1 + g_1 * x_o_1 + y_o_1 * g_1*g_1 - g_1 * x_1) / (1 + g_1 * g_1);
+        x_t_2 = (y_t_2 + g_1 * x_1 - y_1) / g_1;
+
+    }
+    //圆心2
+    x_o_2 = 0 - r;
+    y_o_2 = y_3 - g_3 * r;
+    //圆形2的切点1
+    x_t_3 = 0;
+    y_t_3 = y_3 - g_3 * r;
+    //圆形2的切点2
+    if (g_1 == 0)
+    {
+        x_t_4 = 0 - r;
+        y_t_4 = y_1 - g_1 * x_1;
+    }
+    else
+    {
+        y_t_4 = (y_1 + g_1 * x_o_2 + y_o_2 * g_1*g_1 - g_1 * x_1) / (1 + g_1 * g_1);
+        x_t_4 = (y_t_4 + g_1 * x_1 - y_1) / g_1;
+
+    }
+    t[0][0] = x_t_1;
+    t[0][1] = y_t_1;
+    t[1][0] = x_t_2;
+    t[1][1] = y_t_2;
+    t[2][0] = x_t_3;
+    t[2][1] = y_t_3;
+    t[3][0] = x_t_4;
+    t[3][1] = y_t_4;
+    for (int i = 0; i < 4; i++)
+    {
+
+        p[i] = (t[i][0] - parking_pos[0])*(t[i][0] - parking_pos[0]) + (t[i][1] - parking_pos[1])*(t[i][1] - parking_pos[1]);
+
+    }
+    min = p[0];
+    min_i = 0;
+    for (int i = 1; i < 4; i++)
+    {
+
+        if (p[i] < min)
+        {
+            min = p[i]; min_i = i;
+        }
+    }
+    if (min_i < 2)
+    {
+        x_o = x_o_1;
+        y_o = y_o_1;
+        s1 = (x_t_1 - x_1)*(x_t_1 - x_1) + (y_t_1 - y_1)*(y_t_1 - y_1);
+        s2 = (x_t_2 - x_1)*(x_t_2 - x_1) + (y_t_2 - y_1)*(y_t_2 - y_1);
+        if (s1 < s2)
+        {
+            x_t_n = x_t_1;
+            y_t_n = y_t_1;
+            x_t_f = x_t_2;
+            y_t_f = y_t_2;
+        }
+        else
+        {
+            x_t_n = x_t_2;
+            y_t_n = y_t_2;
+            x_t_f = x_t_1;
+            y_t_f = y_t_1;
+
+        }
+    }
+    else
+    {
+        x_o = x_o_2;
+        y_o = y_o_2;
+        s1 = (x_t_3 - x_1)*(x_t_3 - x_1) + (y_t_3 - y_1)*(y_t_3 - y_1);
+        s2 = (x_t_4 - x_1)*(x_t_4 - x_1) + (y_t_4 - y_1)*(y_t_4 - y_1);
+
+        if (s1 < s2)
+        {
+
+            x_t_n = x_t_3;
+            y_t_n = y_t_3;
+            x_t_f = x_t_4;
+            y_t_f = y_t_4;
+        }
+        else
+        {
+            x_t_n = x_t_4;
+            y_t_n = y_t_4;
+            x_t_f = x_t_3;
+            y_t_f = y_t_3;
+        }
+
+
+
+
+    }
+    steering_angle = atan2(l, r);
+
+    if (x_t_n < 0)
+    {
+        steering_angle = 0 - steering_angle;
+    }
+
+    nearTpoint=Coordinate_UnTransfer(x_t_n, y_t_n, aimGps);
+    farTpoint = Coordinate_UnTransfer(x_t_f, y_t_f, aimGps);
+    bocheAngle = steering_angle*180/PI;
+
+    cout << "近切点：x_t_n=" << x_t_n << endl;
+    cout << "近切点：y_t_n=" << y_t_n << endl;
+    cout << "远切点：x_t_f=" << x_t_f << endl;
+    cout << "远切点：y_t_f=" << y_t_f << endl;
+    cout << "航向角：" << steering_angle << endl;
+
+
+    //    if (x_1 < 0 && y_1 > 0 && x_1 < x_t_n &&y_t_f > 0.1) {
+    //        return 1;
+    //    }
+    Point2D ptN = Coordinate_Transfer(nearTpoint.gps_x, nearTpoint.gps_y, nowGps);
+    double disA = GetDistance(aimGps,nowGps);
+    if(y_t_n>0 && ptN.y<0 && y_t_f>0.1 && disA<40){
+        return 1;
+    }
+
+    return 0;
+
+}
+
+
+
+//返回垂直平分线的斜率
+double iv::decition::Compute00::pingfenxian_xielv(double x_1, double y_1, double x_2, double y_2, double angle_1) {
+    double angl, x_3, angle_3;
+    if (tan(angle_1 == 0))
+    {
+        if ((x_1 - x_2) > 0 && ((y_1 - y_2) > 0))
+        {
+            angle_3 = 0 - 1;
+        }
+        else
+        {
+            angle_3 = 1;
+        }
+    }
+    else
+    {
+        x_3 = (tan(angle_1)*x_1 - y_1) / tan(angle_1);//车所在直线与x轴交点
+        angl = tan(angle_1);//车所在直线的斜率
+        if ((x_1 - x_2)>0 && ((y_1 - y_2)>0))//第一象限
+        {
+            if ((angl *x_3)<0)//车斜率与车直线的x轴交点异号
+            {
+                if (angl < 0)
+                {
+                    angle_3 = tan(PI*0.5 + (PI*0.5 - atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+                else
+                {
+                    angle_3 = tan(PI*0.5 + (PI*0.5 + atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+
+
+
+            }
+
+        }
+        else//第二象限
+        {
+            if ((angl*x_3)<0)//车斜率与车直线的x轴交点异号
+            {
+                if (angl < 0)
+                {
+                    angle_3 = tan(PI*0.5 - (PI*0.5 + atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+                else
+                {
+                    angle_3 = tan(atan(fabs(angl)) + (PI*0.5 - atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+
+            }
+        }
+    }
+
+    return angle_3;
+
+}
+
+
+
+double iv::decition::Compute00::getQieXianAngle(GPS_INS nowGps, GPS_INS aimGps) {
+    double heading = nowGps.ins_heading_angle *PI/180;
+    double x1 = nowGps.gps_x;
+    double y1 = nowGps.gps_y;
+    if (heading<=PI*0.5)
+    {
+        heading = 0.5*PI - heading;
+    }
+    else if (heading>PI*0.5 && heading<=PI*1.5) {
+        heading = 1.5*PI - heading;
+    }
+    else if (heading>PI*1.5) {
+        heading = 2.5*PI - heading;
+    }
+    double k1 = tan(heading);
+    double x = x1+10;
+    double y = k1 * x + y1 - (k1 * x1);
+    Point2D pt1 = Coordinate_Transfer(nowGps.gps_x, nowGps.gps_y, aimGps);
+    Point2D pt2 = Coordinate_Transfer(x, y, aimGps);
+    double xielv = (pt1.y - pt2.y) / (pt1.x - pt2.x);
+    double angle = atan(abs(xielv));
+    if (xielv<0)
+    {
+        angle = PI - angle;
+    }
+    return angle;
+
+}
+
+
+/*
+  chuizhicheweiboche
+  */
+
+
+int iv::decition::Compute00::bocheDirectCompute(GPS_INS nowGps, GPS_INS aimGps)
+{
+
+
+
+    double l=2.95;//轴距
+    double x_0 = 0, y_0 = 0.5;
+    double x_1, y_1;//车起点坐标
+    double ange1;//车航向角弧度
+    double x_2, y_2;//另一条与车直线在angle2和R_M 固定情况下过坐标点，第二个近切点
+    double real_rad;;//另一条直线的航向角弧度
+    double angle_3;//垂直平分线弧度
+    double x_3, y_3;//垂直平分线交点
+    double x_4, y_4;//另一条直线的远切点坐标，第二个远切点，已知
+    double x_o_1, y_o_1;//圆形1坐标
+    double x_o_2, y_o_2;//圆形2坐标
+    double x_t_n, y_t_n, x_t_f, y_t_f;//近切点和远切点
+    double min_rad;
+    double R_M; //后轴中点的转弯半径
+    double steering_angle;
+
+
+
+
+    GaussProjCal(aimGps.gps_lng, aimGps.gps_lat, &aimGps.gps_x, &aimGps.gps_y);
+    Point2D pt = Coordinate_Transfer(nowGps.gps_x, nowGps.gps_y, aimGps);
+    x_1=pt.x;
+    y_1=pt.y;
+    ange1=getQieXianAngle(nowGps,aimGps);
+
+    min_rad_zhuanxiang(&R_M , &min_rad);
+    qiedian_n(x_1,y_1,R_M,min_rad,&x_2 , &y_2, &real_rad);//计算另一条与车直线在angle2和R_M 固定情况下近切点：x_2, y_2
+    liangzhixian_jiaodian( x_1, y_1,  x_2, y_2,ange1,real_rad,&x_3 , &y_3);
+    chuizhipingfenxian_xielv( x_1, y_1, ange1, real_rad, min_rad,&angle_3);
+    yuanxin( x_2, y_2, x_3, y_3, real_rad, angle_3, R_M,&x_o_1,&y_o_1,&x_o_2,&y_o_2);
+    yuanxin_qiedian( ange1, x_o_1, y_o_1,  x_o_2, y_o_2,
+                     x_1, y_1, x_2, y_2, x_3, y_3, real_rad, angle_3, R_M,&x_t_n,&y_t_n,&x_t_f, &y_t_f);
+    steering_angle = atan2(l, R_M);
+    x_4 = 0.5;
+    y_4 = 0;
+    //for (int i = 0; i < 4; i++)
+    //{
+    //for (int j = 0; j < 2; j++)
+    //{
+    //	cout << t[i][j] << endl;
+    //}
+    //}
+    //cout << "min_rad:" << min_rad<< endl;
+    //cout << "jiaodian：x=" << x_3 << endl;
+    //cout << "jiaodian：y=" << y_3 << endl;
+    // cout << "R-M：" << R_M << endl;
+    cout << "x_0:" << x_0 << endl;
+    cout << "y_0:" << y_0 << endl;
+    cout << "x_2:" << x_2 << endl;
+    cout << "y_2:" << y_2 << endl;
+    cout << "近切点：x_t_n="<< x_t_n << endl;
+    cout << "近切点：y_t_n=" << y_t_n << endl;
+    cout << "远切点：x_t_f=" << x_t_f << endl;
+    cout << "远切点：y_t_f=" << y_t_f << endl;
+    //cout << "航向角：" << steering_angle << endl;
+    //cout << "圆心1横坐标=" << x_o_1 << endl;
+    //cout << "圆心1纵坐标=" << y_o_1 << endl;
+    //cout << "圆心2横坐标=" << x_o_2 << endl;
+    //cout << "圆心2纵坐标=" << y_o_2 << endl;
+    //cout << "平分线弧度=" << angle_3 << endl;
+    //cout << " min_rad=" << min_rad << endl;
+    //cout << " real_rad=" << real_rad << endl;
+    //   system("PAUSE");
+
+
+
+    dTpoint0=Coordinate_UnTransfer(x_t_n, y_t_n, aimGps);
+    dTpoint1 = Coordinate_UnTransfer(x_t_f, y_t_f, aimGps);
+    dTpoint2 = Coordinate_UnTransfer(x_2, y_2, aimGps);
+    dTpoint3 = Coordinate_UnTransfer(x_0, y_0, aimGps);
+    dBocheAngle = steering_angle*180/PI;
+
+    double disA = GetDistance(aimGps,nowGps);
+
+    if(pt.y>y_t_n && x_t_f<x_2 && y_t_f>y_2&&disA<40){
+        return 1;
+    }
+    return 0;
+
+}
+
+
+double iv::decition::Compute00::min_rad_zhuanxiang(double *R_M, double *min_rad) {
+    double L_c = 4.749;//车长
+    double rad_1;
+    double rad_2;
+    double L_k = 1.931;//车宽
+    double L = 2.95;//轴距
+    double L_f =1.2 ;//前悬
+    double L_r =0.7 ;//后悬
+    double R_min =6.5 ;//最小转弯半径
+    *R_M = fabs(sqrt(R_min*R_min - (L + L_f)*(L + L_f))) - L_k*0.5;//double	R_M  ;//后轴中点的转弯半径
+    //rad_1 = atan2(sqrt(R_min*R_min - (R_M - L_k*0.5)*(R_M - L_k*0.5)), R_M - L_k*0.5);
+    //rad_2 = atan2(L + L_f, R_M + L_k*0.5);
+    *min_rad = 45 * PI / 180;// rad_1 - rad_2;
+    return 0;
+}
+
+
+double iv::decition::Compute00::qiedian_n(double x_1, double y_1, double R_M,double min_rad, double *x_2, double *y_2, double *real_rad ) {
+
+    if (x_1 > 0 && y_1 > 0)
+    {
+        *real_rad = PI*0.5 - min_rad;
+        *x_2 = R_M - R_M*cos(min_rad);
+        *y_2 = R_M*sin(min_rad) + 0.5;
+    }
+    else
+    {
+        *real_rad = PI*0.5 + min_rad;
+        *x_2 = R_M*cos(min_rad) - R_M;
+        *y_2 = R_M*sin(min_rad) + 0.5;
+    }
+    return 0;
+
+}
+
+
+double iv::decition::Compute00::liangzhixian_jiaodian(double x_1,double y_1,double x_2,double y_2,double ange1,double real_rad,double *x_3,double *y_3) {
+    double b1, b2;
+    double k1, k2;
+    if (ange1!=(PI*0.5))
+    {
+        k1 = tan(ange1);
+        b1 = y_1 - k1*x_1;
+        k2 = tan(real_rad);
+        b2 = y_2 - k2*x_2;
+        *x_3 = (b2 - b1) / (k1 - k2);
+        *y_3 = k2*(*x_3) + b2;
+    }
+    else
+    {
+        k2 = tan(real_rad);
+        b2 = y_2 - k2*x_2;
+        *x_3 = x_1;
+        *y_3 = k2*(*x_3) + b2;
+    }
+    return 0;
+}
+
+
+double iv::decition::Compute00::chuizhipingfenxian_xielv(double x_1,double y_1,double ange1,double real_rad,double min_rad,double *angle_3) {
+    double k1, k2;
+    double  angle_j;
+    k2 = tan(real_rad);
+    if (ange1 != (PI*0.5))
+    {
+        k1 = tan(ange1);
+        angle_j = atan(fabs((k2 - k1) / (1 + k2*k1)));//两直线夹角
+
+        if (x_1 > 0 && y_1 > 0)
+        {
+            *angle_3 = angle_j*0.5 - min_rad + PI;
+        }
+        else
+        {
+            *angle_3 = min_rad - angle_j*0.5;
+        }
+    }
+    else
+    {
+        angle_j = min_rad;//两直线夹角
+        if (x_1 > 0 && y_1 > 0)
+        {
+            *angle_3 = angle_j*0.5 - min_rad + PI;
+        }
+        else
+        {
+            *angle_3 = min_rad - angle_j*0.5;
+        }
+    }
+    return 0;
+}
+
+
+double iv::decition::Compute00::yuanxin(double x_2,double y_2,double x_3,double y_3,double real_rad,double angle_3,double R_M,
+                                        double *x_o_1,double *y_o_1,double *x_o_2,double *y_o_2) {
+    double b2, b3, k2, k3;
+    b2 = y_2 - tan(real_rad)*x_2;
+    b3 = y_3 - tan(angle_3)*x_3;
+    k2 = tan(real_rad);
+    k3 = tan(angle_3);
+    *x_o_1 = (sqrt(k2*k2 + 1)*R_M + b3 - b2) / (k2 - k3);
+    *y_o_1 = k3*(*x_o_1) + b3;
+
+    *x_o_2 = (b3 - b2 - (sqrt(k2*k2 + 1)*R_M)) / (k2 - k3);
+    *y_o_2 = k3*(*x_o_2) + b3;
+    return 0;
+}
+
+
+double iv::decition::Compute00::yuanxin_qiedian(double ange1,double x_o_1,double y_o_1, double x_o_2,double y_o_2,
+                                                double x_1,double y_1,double x_2,double y_2,double x_3,double y_3,double real_rad,double angle_3,double R_M,
+                                                double *x_t_n, double *y_t_n, double *x_t_f, double *y_t_f)
+{
+    double x_o, y_o;
+    double b2, b3, k1, k2, k3;
+
+    //double car_pos[3] = { x_1,y_1,k1 };
+    double parking_pos[2] = { x_2,y_2 };
+    //double t[4][2];
+    double p[4];
+    double  s1, s2; //切点与车起始位置的距离
+    double  min;
+    int  min_i;
+    double x_t_1, y_t_1, x_t_2, y_t_2;//圆形1的切点
+    double x_t_3, y_t_3, x_t_4, y_t_4;//圆形2的切点
+    double t[4][2];
+    k1 = tan(ange1);
+    b2 = y_2 - tan(real_rad)*x_2;
+    b3 = y_3 - tan(real_rad)*x_3;
+    k2 = tan(real_rad);//另一条直线斜率
+    k3 = tan(angle_3);//垂直平分线斜率
+    //圆心1和2切点*********************************************
+    if (x_1 > 0 && y_1 > 0)//第一象限
+    {
+        if (ange1 == (PI*0.5))
+        {
+            x_t_1 = x_1;
+            y_t_1 = y_o_1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            x_t_3 = x_1;
+            y_t_3 = y_o_2;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+
+
+        }
+        else
+        {
+            y_t_1 = (y_1 + k1 *x_o_1 + y_o_1*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_1 = (y_t_1 + k1*x_1 - y_1) / k1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            y_t_3 = (y_1 + k1 *x_o_2 + y_o_2*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_3 = (y_t_3 + k1*x_1 - y_1) / k1;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+
+        }
+    }
+    else
+    {
+        if (ange1 == 0)
+        {
+            x_t_1 = 0 - x_1;
+            y_t_1 = y_o_1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            x_t_3 = 0 - x_1;
+            y_t_3 = y_o_2;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+        }
+        else
+        {
+            y_t_1 = (y_1 + k1 *x_o_1 + y_o_1*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_1 = (y_t_1 + k1*x_1 - y_1) / k1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            y_t_3 = (y_1 + k1 *x_o_2 + y_o_2*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_3 = (y_t_3 + k1*x_1 - y_1) / k1;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+
+        }
+
+    }
+
+    //圆心1和2切点*********************************************
+
+    t[0][0] = x_t_1;
+    t[0][1] = y_t_1;
+    t[1][0] = x_t_2;
+    t[1][1] = y_t_2;
+    t[2][0] = x_t_3;
+    t[2][1] = y_t_3;
+    t[3][0] = x_t_4;
+    t[3][1] = y_t_4;
+    for (int i = 0; i < 4; i++)
+    {
+
+        p[i] = (t[i][0] - parking_pos[0])*(t[i][0] - parking_pos[0]) + (t[i][1] - parking_pos[1])*(t[i][1] - parking_pos[1]);
+
+    }
+    min = p[0];
+    min_i = 0;
+    for (int i = 1; i < 4; i++)
+    {
+
+        if (p[i] < min)
+        {
+            min = p[i]; min_i = i;
+        }
+    }
+    if (min_i < 2)
+    {
+        x_o = x_o_1;
+        y_o = y_o_1;
+        s1 = (x_t_1 - x_1)*(x_t_1 - x_1) + (y_t_1 - y_1)*(y_t_1 - y_1);
+        s2 = (x_t_2 - x_1)*(x_t_2 - x_1) + (y_t_2 - y_1)*(y_t_2 - y_1);
+        if (s1 < s2)
+        {
+            *x_t_n = x_t_1;
+            *y_t_n = y_t_1;
+            *x_t_f = x_t_2;
+            *y_t_f = y_t_2;
+        }
+        else
+        {
+            *x_t_n = x_t_2;
+            *y_t_n = y_t_2;
+            *x_t_f = x_t_1;
+            *y_t_f = y_t_1;
+
+        }
+    }
+    else
+    {
+        x_o = x_o_2;
+        y_o = y_o_2;
+        s1 = (x_t_3 - x_1)*(x_t_3 - x_1) + (y_t_3 - y_1)*(y_t_3 - y_1);
+        s2 = (x_t_4 - x_1)*(x_t_4 - x_1) + (y_t_4 - y_1)*(y_t_4 - y_1);
+
+        if (s1 < s2)
+        {
+
+            *x_t_n = x_t_3;
+            *y_t_n = y_t_3;
+            *x_t_f = x_t_4;
+            *y_t_f = y_t_4;
+        }
+        else
+        {
+            *x_t_n = x_t_4;
+            *y_t_n = y_t_4;
+            *x_t_f = x_t_3;
+            *y_t_f = y_t_3;
+        }
+
+
+
+    }
+
+    return 0;
+
+}
+
+
+int iv::decition::Compute00::getNoAngleNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap)
+{
+    int index = -1;
+    int startIndex = 0;     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = gpsMap.size() - 1;
+    float minDis=20;
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        double tmpdis = GetDistance(rp, (*gpsMap[i]));
+
+        if (tmpdis < minDis)
+        {
+            index = i;
+            minDis=tmpdis;
+        }
+    }
+    return index;
+}
+
+
+double iv::decition::Compute00::getObsSpeedByFrenet(Point2D obsPoint, double realSecSpeed,const vector<Point2D> gpsTrace, std::vector<iv::GPSData> gpsMap,int pathpoint,GPS_INS nowGps) {
+    double obsSpeed = 0 - realSecSpeed;
+    double minDis = iv::MaxValue;
+    FrenetPoint esr_obs_F_point;
+    for (int i = 0; i < 64; i++)
+        if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && ServiceCarStatus.obs_radar[i].valid)
+        {
+            double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+            double yyy = ServiceCarStatus.obs_radar[i].nomal_y + Esr_Y_Offset;
+
+            if (abs(xxx - obsPoint.x) < 4 && abs(yyy - obsPoint.y) < 2)
+            {
+                double tmpDis = sqrt((xxx - obsPoint.x) * (xxx - obsPoint.x) + (yyy - obsPoint.y) * (yyy - obsPoint.y));
+                if (tmpDis < minDis)
+                {
+                    minDis = tmpDis;
+//                    esr_obs_F_point = iv::decition::FrenetPlanner::XY2Frenet(xxx, yyy, gpsTrace);
+                    esr_obs_F_point = iv::decition::FrenetPlanner::getFrenetfromXY(xxx, yyy, gpsTrace,gpsMap,pathpoint,nowGps);
+//                    obsSpeed = ServiceCarStatus.obs_radar[i].speed_y;
+                    double speedx=ServiceCarStatus.obs_radar[i].speed_x;  //障碍物相对于车辆x轴的速度
+                    double speedy=ServiceCarStatus.obs_radar[i].speed_y;  //障碍物相对于车辆y轴的速度
+                    double speed_combine = sqrt(speedx*speedx+speedy*speedy);    //将x、y轴两个方向的速度求矢量和
+                    //障碍物的速度方向与道路方向的夹角。用于将速度分解到s方向和d方向。
+                    //所谓道路方向是指，道路上离障碍物的最近的点沿道路弧线的切线方向。
+                    double Etheta = esr_obs_F_point.tangent_Ang - atan2(speedy,speedx);
+
+                    obsSpeed = speed_combine*cos(Etheta);  //由speed_combine分解的s轴方向上的速度
+                }
+            }
+        }
+
+    return obsSpeed;
+}
+
+
+int iv::decition::Compute00::getEsrIndexByFrenet(std::vector<Point2D> gpsTrace, FrenetPoint &esrObsPoint, std::vector<iv::GPSData> gpsMap,int pathpoint,GPS_INS nowGps){
+    double minDistance = numeric_limits<double>::max();
+    int minDis_index=-1;
+
+    for(int i=0; i<64; ++i){
+        if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_radar[i].valid)){
+            //毫米波在车头，故要加上毫米波与惯导的相对距离。(xxx,yyy)才是障碍物在 车辆坐标系下的坐标。
+            double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+            double yyy = ServiceCarStatus.obs_radar[i].nomal_y+ Esr_Y_Offset;
+
+            //将毫米波障碍物位置转换到frenet坐标系下
+//            esrObsPoint = iv::decition::FrenetPlanner::XY2Frenet(xxx,yyy,gpsTrace);
+            esrObsPoint = iv::decition::FrenetPlanner::getFrenetfromXY(xxx,yyy,gpsTrace,gpsMap,pathpoint,nowGps);
+
+            //如果障碍物与道路的横向距离d<=3.0*ServiceCarStatus.msysparam.vehWidth / 4.0，则认为道路上有障碍物。
+            //s则可理解为障碍物距离。为障碍物与车辆沿着道路方向的距离，而不是空间上的x或y坐标或者直线距离。
+            //minDistance、minDis_index用来统计最近的障碍物信息。
+            if(abs(esrObsPoint.d)<=(3.0*ServiceCarStatus.msysparam.vehWidth / 4.0+DecideGps00().xiuzhengCs)){
+                if(esrObsPoint.s<minDistance){
+                    minDistance = esrObsPoint.s;
+                    minDis_index = i;
+                }
+            }
+        }
+    }
+    return minDis_index;
+}
+
+
+
+
+std::vector<std::vector<iv::GPSData>> gmapsL;
+std::vector<std::vector<iv::GPSData>> gmapsR;

src/decition/decition_brain/decision/adc_tools/compute_00.h

@@ -0,0 +1,101 @@
+#pragma once
+#ifndef _IV_DECITION_COMPUTE_00_
+#define _IV_DECITION_COMPUTE_00_
+
+#include <common/gps_type.h>
+#include <common/obstacle_type.h>
+#include <decision/decition_type.h>
+#include <vector>
+#include <decision/decide_gps_00.h>
+
+namespace iv {
+    namespace decition {
+    //根据传感器传输来的信息作出决策
+        class Compute00 {
+        public:
+            Compute00();
+            ~Compute00();
+
+            static   double maxAngle;
+            static	 double angleLimit;  //角度限制
+            static	 double lastEA;      //上一次角度误差
+            static	 double lastEP;      //上一次位置误差
+            static	 double decision_Angle;  //决策角度
+            static	 double lastAng;         //上次角度
+            static   int lastEsrID;          //上次毫米波障碍物ID
+            static   int  lastEsrCount;      //毫米波障碍物累计次数
+
+            static   int lastEsrIDAvoid;          //上次毫米波障碍物ID Avoid
+            static   int  lastEsrCountAvoid;      //毫米波障碍物累计次数 Avoid
+
+            static iv::GPS_INS nearTpoint, farTpoint,dTpoint0,dTpoint1,dTpoint2,dTpoint3;
+            static double bocheAngle,dBocheAngle;
+
+            static	int getNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle);
+            static	int getFirstNearestPointIndex(GPS_INS rp, std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle);
+
+            static int getDesiredSpeed(std::vector<GPSData> gpsMap);
+
+            static double getDecideAngle(std::vector<Point2D>  gpsTrace, double realSpeed);
+            static double getAveDef(std::vector<Point2D> farTrace);
+            static int getSpeedPointIndex(std::vector<Point2D> gpsTrace, double realSpeed);
+            static Point2D getLidarObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr);
+            static Point2D getLidarRearObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr);
+
+
+            static Point2D getLidarObsPointAvoid(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr);
+            static int getEsrIndex(std::vector<Point2D> gpsTrace , int roadNum, int *esrPathpoint);
+            static int getRearEsrIndex(std::vector<Point2D> gpsTrace , int roadNum);
+            static int getEsrIndexAvoid(std::vector<Point2D> gpsTrace);
+
+            static double getObsSpeed(Point2D obsPoint, double realSecSpeed);
+
+            static double getAvoidAveDef(std::vector<Point2D> farTrace, double avoidX);
+            static double getDecideAvoidAngle(std::vector<Point2D>  gpsTrace, double realSpeed, float avoidX);
+
+            static std::vector<GPSData>  getBesideGpsMapLine(iv::GPS_INS now_gps_ins, std::vector<iv::GPSData>gpsMapLine, float avoidX);
+
+            static double getDecideAngleByLane(double realSpeed);
+
+            static double getDecideAngleByLanePID(double realSpeed);
+
+            static double bocheCompute(GPS_INS nowGps, GPS_INS aimGps);
+
+            static	double pingfenxian_xielv(double x_1, double y_1, double x_2, double y_2, double angle_1);
+
+            static double getQieXianAngle(GPS_INS nowGps, GPS_INS aimGps);
+
+            static int bocheDirectCompute(GPS_INS nowGps, GPS_INS aimGps);
+
+            static double min_rad_zhuanxiang(double *R_M, double *min_rad);
+            static double qiedian_n(double x_1,double y_1,double R_M,double min_rad,
+                                    double *x_2, double *y_2, double *real_rad);
+            static double liangzhixian_jiaodian(double x_1,double y_1,double x_2,double y_2,
+                                                double ange1,double real_rad,double *x_3, double *y_3);
+            static double chuizhipingfenxian_xielv(double x_1,double y_1,double ange1,double real_rad,
+                                                   double min_rad,double *angle_3);
+            static double yuanxin(double x_2,double y_2,double x_3,double y_3,double real_rad,
+                                  double angle_3,double R_M,double *x_o_1, double *y_o_1, double *x_o_2, double *y_0_2);
+            static double yuanxin_qiedian(double angel,double x_o_1,double y_o_1, double x_o_2,double y_o_2,
+                                          double x_1,double y_1,double x_2,double y_2,double x_3,double y_3,
+                                          double real_rad,double angle_3,double R_M,
+                                          double *x_t_n, double *y_t_n, double *x_t_f, double *y_t_f);
+
+            static int getNoAngleNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap);
+
+            static int getEsrIndexByFrenet(std::vector<Point2D> gpsTrace,FrenetPoint &esrObsPoint, std::vector<iv::GPSData> gpsMap,int pathpoint,GPS_INS nowGps);
+            double getObsSpeedByFrenet(Point2D obsPoint, double realSecSpeed,const std::vector<Point2D> gpsTrace, std::vector<iv::GPSData> gpsMap,int pathpoint,GPS_INS nowGps);
+
+        private:
+
+        };
+    }
+}
+extern std::vector<std::vector<iv::GPSData>> gmapsL;
+extern std::vector<std::vector<iv::GPSData>> gmapsR;
+
+extern std::vector<int> lastEsrIdVector;
+extern std::vector<int> lastEsrCountVector;
+
+#endif // !_IV_DECITION_COMPUTE_00_
+

src/decition/decition_brain/decision/adc_tools/dubins.cpp

@@ -0,0 +1,439 @@
+/*
+ * Copyright (c) 2008-2018, Andrew Walker
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifdef WIN32
+#define _USE_MATH_DEFINES
+#endif
+#include <math.h>
+#include "dubins.h"
+
+#define EPSILON (10e-10)
+
+typedef enum
+{
+    L_SEG = 0,
+    S_SEG = 1,
+    R_SEG = 2
+} SegmentType;
+
+/* The segment types for each of the Path types */
+const SegmentType DIRDATA[][3] = {
+    { L_SEG, S_SEG, L_SEG },
+    { L_SEG, S_SEG, R_SEG },
+    { R_SEG, S_SEG, L_SEG },
+    { R_SEG, S_SEG, R_SEG },
+    { R_SEG, L_SEG, R_SEG },
+    { L_SEG, R_SEG, L_SEG }
+};
+
+typedef struct
+{
+    double alpha;
+    double beta;
+    double d;
+    double sa;
+    double sb;
+    double ca;
+    double cb;
+    double c_ab;
+    double d_sq;
+} DubinsIntermediateResults;
+
+
+int dubins_word(DubinsIntermediateResults* in, DubinsPathType pathType, double out[3]);
+int dubins_intermediate_results(DubinsIntermediateResults* in, double q0[3], double q1[3], double rho);
+
+/**
+ * Floating point modulus suitable for rings
+ *
+ * fmod doesn't behave correctly for angular quantities, this function does
+ */
+double fmodr( double x, double y)
+{
+    return x - y*floor(x/y);
+}
+
+double mod2pi( double theta )
+{
+    return fmodr( theta, 2 * M_PI );
+}
+
+int dubins_shortest_path(DubinsPath* path, double q0[3], double q1[3], double rho)
+{
+    int i, errcode;
+    DubinsIntermediateResults in;
+    double params[3];
+    double cost;
+    double best_cost = INFINITY;
+    int best_word = -1;
+    errcode = dubins_intermediate_results(&in, q0, q1, rho);
+    if(errcode != EDUBOK) {
+        return errcode;
+    }
+
+
+    path->qi[0] = q0[0];
+    path->qi[1] = q0[1];
+    path->qi[2] = q0[2];
+    path->rho = rho;
+
+    for( i = 0; i < 6; i++ ) {
+        DubinsPathType pathType = (DubinsPathType)i;
+        errcode = dubins_word(&in, pathType, params);
+        if(errcode == EDUBOK) {
+            cost = params[0] + params[1] + params[2];
+            if(cost < best_cost) {
+                best_word = i;
+                best_cost = cost;
+                path->param[0] = params[0];
+                path->param[1] = params[1];
+                path->param[2] = params[2];
+                path->type = pathType;
+            }
+        }
+    }
+    if(best_word == -1) {
+        return EDUBNOPATH;
+    }
+    return EDUBOK;
+}
+
+int dubins_path(DubinsPath* path, double q0[3], double q1[3], double rho, DubinsPathType pathType)
+{
+    int errcode;
+    DubinsIntermediateResults in;
+    errcode = dubins_intermediate_results(&in, q0, q1, rho);
+    if(errcode == EDUBOK) {
+        double params[3];
+        errcode = dubins_word(&in, pathType, params);
+        if(errcode == EDUBOK) {
+            path->param[0] = params[0];
+            path->param[1] = params[1];
+            path->param[2] = params[2];
+            path->qi[0] = q0[0];
+            path->qi[1] = q0[1];
+            path->qi[2] = q0[2];
+            path->rho = rho;
+            path->type = pathType;
+        }
+    }
+    return errcode;
+}
+
+double dubins_path_length( DubinsPath* path )
+{
+    double length = 0.;
+    length += path->param[0];
+    length += path->param[1];
+    length += path->param[2];
+    length = length * path->rho;
+    return length;
+}
+
+double dubins_segment_length( DubinsPath* path, int i )
+{
+    if( (i < 0) || (i > 2) )
+    {
+        return INFINITY;
+    }
+    return path->param[i] * path->rho;
+}
+
+double dubins_segment_length_normalized( DubinsPath* path, int i )
+{
+    if( (i < 0) || (i > 2) )
+    {
+        return INFINITY;
+    }
+    return path->param[i];
+}
+
+DubinsPathType dubins_path_type( DubinsPath* path )
+{
+    return path->type;
+}
+
+void dubins_segment( double t, double qi[3], double qt[3], SegmentType type)
+{
+    double st = sin(qi[2]);
+    double ct = cos(qi[2]);
+    if( type == L_SEG ) {
+        qt[0] = +sin(qi[2]+t) - st;
+        qt[1] = -cos(qi[2]+t) + ct;
+        qt[2] = t;
+    }
+    else if( type == R_SEG ) {
+        qt[0] = -sin(qi[2]-t) + st;
+        qt[1] = +cos(qi[2]-t) - ct;
+        qt[2] = -t;
+    }
+    else if( type == S_SEG ) {
+        qt[0] = ct * t;
+        qt[1] = st * t;
+        qt[2] = 0.0;
+    }
+    qt[0] += qi[0];
+    qt[1] += qi[1];
+    qt[2] += qi[2];
+}
+
+int dubins_path_sample( DubinsPath* path, double t, double q[3] )
+{
+    /* tprime is the normalised variant of the parameter t */
+    double tprime = t / path->rho;
+    double qi[3]; /* The translated initial configuration */
+    double q1[3]; /* end-of segment 1 */
+    double q2[3]; /* end-of segment 2 */
+    const SegmentType* types = DIRDATA[path->type];
+    double p1, p2;
+
+    if( t < 0 || t > dubins_path_length(path) ) {
+        return EDUBPARAM;
+    }
+
+    /* initial configuration */
+    qi[0] = 0.0;
+    qi[1] = 0.0;
+    qi[2] = path->qi[2];
+
+    /* generate the target configuration */
+    p1 = path->param[0];
+    p2 = path->param[1];
+    dubins_segment( p1,      qi,    q1, types[0] );
+    dubins_segment( p2,      q1,    q2, types[1] );
+    if( tprime < p1 ) {
+        dubins_segment( tprime, qi, q, types[0] );
+    }
+    else if( tprime < (p1+p2) ) {
+        dubins_segment( tprime-p1, q1, q,  types[1] );
+    }
+    else {
+        dubins_segment( tprime-p1-p2, q2, q,  types[2] );
+    }
+
+    /* scale the target configuration, translate back to the original starting point */
+    q[0] = q[0] * path->rho + path->qi[0];
+    q[1] = q[1] * path->rho + path->qi[1];
+    q[2] = mod2pi(q[2]);
+
+    return EDUBOK;
+}
+
+int dubins_path_sample_many(DubinsPath* path, double stepSize,
+                            DubinsPathSamplingCallback cb, void* user_data)
+{
+    int retcode;
+    double q[3];
+    double x = 0.0;
+    double length = dubins_path_length(path);
+    while( x <  length ) {
+        dubins_path_sample( path, x, q );
+        retcode = cb(q, x, user_data);
+        if( retcode != 0 ) {
+            return retcode;
+        }
+        x += stepSize;
+    }
+    return 0;
+}
+
+int dubins_path_endpoint( DubinsPath* path, double q[3] )
+{
+    return dubins_path_sample( path, dubins_path_length(path) - EPSILON, q );
+}
+
+int dubins_extract_subpath( DubinsPath* path, double t, DubinsPath* newpath )
+{
+    /* calculate the true parameter */
+    double tprime = t / path->rho;
+
+    if((t < 0) || (t > dubins_path_length(path)))
+    {
+        return EDUBPARAM;
+    }
+
+    /* copy most of the data */
+    newpath->qi[0] = path->qi[0];
+    newpath->qi[1] = path->qi[1];
+    newpath->qi[2] = path->qi[2];
+    newpath->rho   = path->rho;
+    newpath->type  = path->type;
+
+    /* fix the parameters */
+    newpath->param[0] = fmin( path->param[0], tprime );
+    newpath->param[1] = fmin( path->param[1], tprime - newpath->param[0]);
+    newpath->param[2] = fmin( path->param[2], tprime - newpath->param[0] - newpath->param[1]);
+    return 0;
+}
+
+int dubins_intermediate_results(DubinsIntermediateResults* in, double q0[3], double q1[3], double rho)
+{
+    double dx, dy, D, d, theta, alpha, beta;
+    if( rho <= 0.0 ) {
+        return EDUBBADRHO;
+    }
+
+    dx = q1[0] - q0[0];
+    dy = q1[1] - q0[1];
+    D = sqrt( dx * dx + dy * dy );
+    d = D / rho;
+    theta = 0;
+
+    /* test required to prevent domain errors if dx=0 and dy=0 */
+    if(d > 0) {
+        theta = mod2pi(atan2( dy, dx ));
+    }
+    alpha = mod2pi(q0[2] - theta);
+    beta  = mod2pi(q1[2] - theta);
+
+    in->alpha = alpha;
+    in->beta  = beta;
+    in->d     = d;
+    in->sa    = sin(alpha);
+    in->sb    = sin(beta);
+    in->ca    = cos(alpha);
+    in->cb    = cos(beta);
+    in->c_ab  = cos(alpha - beta);
+    in->d_sq  = d * d;
+
+    return EDUBOK;
+}
+
+int dubins_LSL(DubinsIntermediateResults* in, double out[3])
+{
+    double tmp0, tmp1, p_sq;
+
+    tmp0 = in->d + in->sa - in->sb;
+    p_sq = 2 + in->d_sq - (2*in->c_ab) + (2 * in->d * (in->sa - in->sb));
+
+    if(p_sq >= 0) {
+        tmp1 = atan2( (in->cb - in->ca), tmp0 );
+        out[0] = mod2pi(tmp1 - in->alpha);
+        out[1] = sqrt(p_sq);
+        out[2] = mod2pi(in->beta - tmp1);
+        return EDUBOK;
+    }
+    return EDUBNOPATH;
+}
+
+
+int dubins_RSR(DubinsIntermediateResults* in, double out[3])
+{
+    double tmp0 = in->d - in->sa + in->sb;
+    double p_sq = 2 + in->d_sq - (2 * in->c_ab) + (2 * in->d * (in->sb - in->sa));
+    if( p_sq >= 0 ) {
+        double tmp1 = atan2( (in->ca - in->cb), tmp0 );
+        out[0] = mod2pi(in->alpha - tmp1);
+        out[1] = sqrt(p_sq);
+        out[2] = mod2pi(tmp1 -in->beta);
+        return EDUBOK;
+    }
+    return EDUBNOPATH;
+}
+
+int dubins_LSR(DubinsIntermediateResults* in, double out[3])
+{
+    double p_sq = -2 + (in->d_sq) + (2 * in->c_ab) + (2 * in->d * (in->sa + in->sb));
+    if( p_sq >= 0 ) {
+        double p    = sqrt(p_sq);
+        double tmp0 = atan2( (-in->ca - in->cb), (in->d + in->sa + in->sb) ) - atan2(-2.0, p);
+        out[0] = mod2pi(tmp0 - in->alpha);
+        out[1] = p;
+        out[2] = mod2pi(tmp0 - mod2pi(in->beta));
+        return EDUBOK;
+    }
+    return EDUBNOPATH;
+}
+
+int dubins_RSL(DubinsIntermediateResults* in, double out[3])
+{
+    double p_sq = -2 + in->d_sq + (2 * in->c_ab) - (2 * in->d * (in->sa + in->sb));
+    if( p_sq >= 0 ) {
+        double p    = sqrt(p_sq);
+        double tmp0 = atan2( (in->ca + in->cb), (in->d - in->sa - in->sb) ) - atan2(2.0, p);
+        out[0] = mod2pi(in->alpha - tmp0);
+        out[1] = p;
+        out[2] = mod2pi(in->beta - tmp0);
+        return EDUBOK;
+    }
+    return EDUBNOPATH;
+}
+
+int dubins_RLR(DubinsIntermediateResults* in, double out[3])
+{
+    double tmp0 = (6. - in->d_sq + 2*in->c_ab + 2*in->d*(in->sa - in->sb)) / 8.;
+    double phi  = atan2( in->ca - in->cb, in->d - in->sa + in->sb );
+    if( fabs(tmp0) <= 1) {
+        double p = mod2pi((2*M_PI) - acos(tmp0) );
+        double t = mod2pi(in->alpha - phi + mod2pi(p/2.));
+        out[0] = t;
+        out[1] = p;
+        out[2] = mod2pi(in->alpha - in->beta - t + mod2pi(p));
+        return EDUBOK;
+    }
+    return EDUBNOPATH;
+}
+
+int dubins_LRL(DubinsIntermediateResults* in, double out[3])
+{
+    double tmp0 = (6. - in->d_sq + 2*in->c_ab + 2*in->d*(in->sb - in->sa)) / 8.;
+    double phi = atan2( in->ca - in->cb, in->d + in->sa - in->sb );
+    if( fabs(tmp0) <= 1) {
+        double p = mod2pi( 2*M_PI - acos( tmp0) );
+        double t = mod2pi(-in->alpha - phi + p/2.);
+        out[0] = t;
+        out[1] = p;
+        out[2] = mod2pi(mod2pi(in->beta) - in->alpha -t + mod2pi(p));
+        return EDUBOK;
+    }
+    return EDUBNOPATH;
+}
+
+int dubins_word(DubinsIntermediateResults* in, DubinsPathType pathType, double out[3])
+{
+    int result;
+    switch(pathType)
+    {
+    case LSL:
+        result = dubins_LSL(in, out);
+        break;
+    case RSL:
+        result = dubins_RSL(in, out);
+        break;
+    case LSR:
+        result = dubins_LSR(in, out);
+        break;
+    case RSR:
+        result = dubins_RSR(in, out);
+        break;
+    case LRL:
+        result = dubins_LRL(in, out);
+        break;
+    case RLR:
+        result = dubins_RLR(in, out);
+        break;
+    default:
+        result = EDUBNOPATH;
+    }
+    return result;
+}
+
+

src/decition/decition_brain/decision/adc_tools/dubins.h

@@ -0,0 +1,149 @@
+#ifndef DUBINS_H
+#define DUBINS_H
+
+typedef enum
+{
+    LSL = 0,
+    LSR = 1,
+    RSL = 2,
+    RSR = 3,
+    RLR = 4,
+    LRL = 5
+} DubinsPathType;
+
+typedef struct
+{
+    /* the initial configuration */
+    double qi[3];
+    /* the lengths of the three segments */
+    double param[3];
+    /* model forward velocity / model angular velocity */
+    double rho;
+    /* the path type described */
+    DubinsPathType type;
+} DubinsPath;
+
+#define EDUBOK        (0)   /* No error */
+#define EDUBCOCONFIGS (1)   /* Colocated configurations */
+#define EDUBPARAM     (2)   /* Path parameterisitation error */
+#define EDUBBADRHO    (3)   /* the rho value is invalid */
+#define EDUBNOPATH    (4)   /* no connection between configurations with this word */
+
+/**
+ * Callback function for path sampling
+ *
+ * @note the q parameter is a configuration
+ * @note the t parameter is the distance along the path
+ * @note the user_data parameter is forwarded from the caller
+ * @note return non-zero to denote sampling should be stopped
+ */
+typedef int (*DubinsPathSamplingCallback)(double q[3], double t, void* user_data);
+
+/**
+ * Generate a path from an initial configuration to
+ * a target configuration, with a specified maximum turning
+ * radii
+ *
+ * A configuration is (x, y, theta), where theta is in radians, with zero
+ * along the line x = 0, and counter-clockwise is positive
+ *
+ * @param path  - the resultant path
+ * @param q0    - a configuration specified as an array of x, y, theta
+ * @param q1    - a configuration specified as an array of x, y, theta
+ * @param rho   - turning radius of the vehicle (forward velocity divided by maximum angular velocity)
+ * @return      - non-zero on error
+ */
+int dubins_shortest_path(DubinsPath* path, double q0[3], double q1[3], double rho);
+
+/**
+ * Generate a path with a specified word from an initial configuration to
+ * a target configuration, with a specified turning radius
+ *
+ * @param path     - the resultant path
+ * @param q0       - a configuration specified as an array of x, y, theta
+ * @param q1       - a configuration specified as an array of x, y, theta
+ * @param rho      - turning radius of the vehicle (forward velocity divided by maximum angular velocity)
+ * @param pathType - the specific path type to use
+ * @return         - non-zero on error
+ */
+int dubins_path(DubinsPath* path, double q0[3], double q1[3], double rho, DubinsPathType pathType);
+
+/**
+ * Calculate the length of an initialised path
+ *
+ * @param path - the path to find the length of
+ */
+double dubins_path_length(DubinsPath* path);
+
+/**
+ * Return the length of a specific segment in an initialized path
+ *
+ * @param path - the path to find the length of
+ * @param i    - the segment you to get the length of (0-2)
+ */
+double dubins_segment_length(DubinsPath* path, int i);
+
+/**
+ * Return the normalized length of a specific segment in an initialized path
+ *
+ * @param path - the path to find the length of
+ * @param i    - the segment you to get the length of (0-2)
+ */
+double dubins_segment_length_normalized( DubinsPath* path, int i );
+
+/**
+ * Extract an integer that represents which path type was used
+ *
+ * @param path    - an initialised path
+ * @return        - one of LSL, LSR, RSL, RSR, RLR or LRL
+ */
+DubinsPathType dubins_path_type(DubinsPath* path);
+
+/**
+ * Calculate the configuration along the path, using the parameter t
+ *
+ * @param path - an initialised path
+ * @param t    - a length measure, where 0 <= t < dubins_path_length(path)
+ * @param q    - the configuration result
+ * @returns    - non-zero if 't' is not in the correct range
+ */
+int dubins_path_sample(DubinsPath* path, double t, double q[3]);
+
+/**
+ * Walk along the path at a fixed sampling interval, calling the
+ * callback function at each interval
+ *
+ * The sampling process continues until the whole path is sampled, or the callback returns a non-zero value
+ *
+ * @param path      - the path to sample
+ * @param stepSize  - the distance along the path for subsequent samples
+ * @param cb        - the callback function to call for each sample
+ * @param user_data - optional information to pass on to the callback
+ *
+ * @returns - zero on successful completion, or the result of the callback
+ */
+int dubins_path_sample_many(DubinsPath* path,
+                            double stepSize,
+                            DubinsPathSamplingCallback cb,
+                            void* user_data);
+
+/**
+ * Convenience function to identify the endpoint of a path
+ *
+ * @param path - an initialised path
+ * @param q    - the configuration result
+ */
+int dubins_path_endpoint(DubinsPath* path, double q[3]);
+
+/**
+ * Convenience function to extract a subset of a path
+ *
+ * @param path    - an initialised path
+ * @param t       - a length measure, where 0 < t < dubins_path_length(path)
+ * @param newpath - the resultant path
+ */
+int dubins_extract_subpath(DubinsPath* path, double t, DubinsPath* newpath);
+
+
+
+#endif // DUBINS_H

src/decition/decition_brain/decision/adc_tools/gnss_coordinate_convert.cpp

@@ -0,0 +1,154 @@
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+
+void gps2xy(double J4, double K4, double *x, double *y)
+{
+    int L4 = (int)((K4 - 1.5) / 3) + 1;
+    double M4 = K4 - (L4 * 3);
+    double N4 = sin(J4 * 3.1415926536 / 180);
+    double O4 = cos(J4 * 3.1415926536 / 180);
+    double P4 = tan(J4 * 3.1415926536 / 180);
+    double Q4 = 111134.8611 * J4 - N4 * O4 * (32005.7799 + 133.9238 * N4 * N4 + 0.6973 * N4 * N4 * N4 * N4 + 0.0039 * N4 * N4 * N4 * N4 * N4 * N4);
+    double R4 = sqrt(0.006738525414683) * O4;
+    double S4 = sqrt(1 + R4 * R4);
+    double T4 = 6399698.901783 / S4;
+    double U4 = (T4 / S4) / S4;
+    double V4 = O4 * M4 * 3.1415926536 / 180;
+    double W4 = 0.5 + (5 - P4 * P4 + 9 * R4 * R4 + 4 * R4 * R4 * R4 * R4) * V4 * V4 / 24;
+    double X4 = V4 * V4 * V4 * V4 / 720 * (61 + (P4 * P4 - 58) * P4 * P4);
+    double Y4 = 1 + V4 * V4 * (1 - P4 * P4 + R4 * R4) / 6;
+    double Z4 = V4 * V4 * V4 * V4 * (5 - 18 * P4 * P4 * P4 * P4 * P4 * P4 + 14 * R4 * R4 - 58 * R4 * R4 * P4 * P4) / 120;
+
+    *y = Q4 + T4 * P4 * V4 * V4 * (W4 + X4);
+    *x = 500000 + T4 * V4 * (Y4 + Z4);
+}
+
+
+
+//高斯投影由经纬度(Unit:DD)反算大地坐标(含带号，Unit:Metres)
+void GaussProjCal(double longitude, double latitude, double *X, double *Y)
+{
+    int ProjNo = 0; int ZoneWide; ////带宽
+    double longitude1, latitude1, longitude0, latitude0, X0, Y0, xval, yval;
+    double a, f, e2, ee, NN, T, C, A, M, iPI;
+    iPI = 0.0174532925199433; ////3.1415926535898/180.0;
+    ZoneWide = 6; ////6度带宽
+    a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
+                                    ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
+    ProjNo = (int)(longitude / ZoneWide);
+    longitude0 = ProjNo * ZoneWide + ZoneWide / 2;
+    longitude0 = longitude0 * iPI;
+    latitude0 = 0;
+    longitude1 = longitude * iPI; //经度转换为弧度
+    latitude1 = latitude * iPI; //纬度转换为弧度
+    e2 = 2 * f - f * f;
+    ee = e2 * (1.0 - e2);
+    NN = a / sqrt(1.0 - e2 * sin(latitude1)*sin(latitude1));
+    T = tan(latitude1)*tan(latitude1);
+    C = ee * cos(latitude1)*cos(latitude1);
+    A = (longitude1 - longitude0)*cos(latitude1);
+    M = a * ((1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256)*latitude1 - (3 * e2 / 8 + 3 * e2*e2 / 32 + 45 * e2*e2
+        *e2 / 1024)*sin(2 * latitude1)
+        + (15 * e2*e2 / 256 + 45 * e2*e2*e2 / 1024)*sin(4 * latitude1) - (35 * e2*e2*e2 / 3072)*sin(6 * latitude1));
+    xval = NN * (A + (1 - T + C)*A*A*A / 6 + (5 - 18 * T + T * T + 72 * C - 58 * ee)*A*A*A*A*A / 120);
+    yval = M + NN * tan(latitude1)*(A*A / 2 + (5 - T + 9 * C + 4 * C*C)*A*A*A*A / 24
+        + (61 - 58 * T + T * T + 600 * C - 330 * ee)*A*A*A*A*A*A / 720);
+    X0 = 1000000L * (ProjNo + 1) + 500000L;
+    Y0 = 0;
+    xval = xval + X0; yval = yval + Y0;
+    *X = xval;
+    *Y = yval;
+}
+
+
+/*
+//=======================zhaobo0904
+#define PI  3.14159265358979
+void GaussProjCal(double lon, double lat, double *X, double *Y)
+{
+    // 1975 年国际椭球体长半轴 a, 第一离心率 e2, 第二离心率 ep2
+    double a = 6378140.0;
+    double e2 = 0.006694384999588;
+    double ep2 = e2/(1-e2);
+
+    // 原点所在经度
+    double lon_origin = 6.0*int(lon/6) + 3.0;
+    lon_origin *= PI / 180.0;
+
+    double k0 = 0.9996;
+
+    // 角度转弧度
+    double lat1 = lat * PI / 180.0;
+    double lon1 = lon * PI / 180.0;
+
+
+    // 经线在该点处的曲率半径,
+    double N = a / sqrt(1 - e2*sin(lat1)*sin(lat1));
+
+
+    // 赤道到该点的经线长度近似值 M, 使用泰勒展开逐项积分然后取前四项.
+    // 这个近似值是将 N 作为纬度 \phi 的函数展开为泰勒计数, 然后在区间 [0, lat1] 上积分得到的.
+    // 首先计算前四项的系数 a1~a4.
+    double a1 = 1 - e2/4 - (3*e2*e2)/64 - (5*e2*e2*e2)/256;
+    double a2 = (3*e2)/8 + (3*e2*e2)/32 + (45*e2*e2*e2)/1024;
+    double a3 = (15*e2*e2)/256 + (45*e2*e2*e2)/1024;
+    double a4 = (35*e2*e2*e2)/3072;
+    double M = a * (a1*lat1 - a2*sin(2*lat1) + a3*sin(4*lat1) - a4*sin(6*lat1));
+
+    // 辅助量
+    double T = tan(lat1)*tan(lat1);
+    double C = ep2*cos(lat1)*cos(lat1);
+    double A = (lon1 - lon_origin)*cos(lat1);
+
+    *X = 500000.0 + k0 * N * (A + (1 - T + C)*(A*A*A)/6 + (5 - 18*T + T*T + 72*C - 58*ep2)*(A*A*A*A*A)/120);
+    *Y = M + N * tan(lat1) * ((A*A)/2 +
+                              (5 - T + 9*C + 4*C*C)*(A*A*A*A)/24 +
+                              (61 - 58*T + T*T + 600*C - 330*ep2)*(A*A*A*A*A*A)/720);
+
+
+    *Y *= k0;
+    return;
+}
+//==========================================================
+
+*/
+
+
+//高斯投影由大地坐标(Unit:Metres)反算经纬度(Unit:DD)
+void GaussProjInvCal(double X, double Y, double *longitude, double *latitude)
+{
+    int ProjNo; int ZoneWide; ////带宽
+    double longitude1, latitude1, longitude0, latitude0, X0, Y0, xval, yval;
+    double e1, e2, f, a, ee, NN, T, C, M, D, R, u, fai, iPI;
+    iPI = 0.0174532925199433; ////3.1415926535898/180.0;
+    a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
+    ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
+    ZoneWide = 6; ////6度带宽
+    ProjNo = (int)(X / 1000000L); //查找带号
+    longitude0 = (ProjNo - 1) * ZoneWide + ZoneWide / 2;
+    longitude0 = longitude0 * iPI; //中央经线
+    X0 = ProjNo * 1000000L + 500000L;
+    Y0 = 0;
+    xval = X - X0; yval = Y - Y0; //带内大地坐标
+    e2 = 2 * f - f * f;
+    e1 = (1.0 - sqrt(1 - e2)) / (1.0 + sqrt(1 - e2));
+    ee = e2 / (1 - e2);
+    M = yval;
+    u = M / (a*(1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256));
+    fai = u + (3 * e1 / 2 - 27 * e1*e1*e1 / 32)*sin(2 * u) + (21 * e1*e1 / 16 - 55 * e1*e1*e1*e1 / 32)*sin(
+                4 * u)
+            + (151 * e1*e1*e1 / 96)*sin(6 * u) + (1097 * e1*e1*e1*e1 / 512)*sin(8 * u);
+    C = ee * cos(fai)*cos(fai);
+    T = tan(fai)*tan(fai);
+    NN = a / sqrt(1.0 - e2 * sin(fai)*sin(fai));
+    R = a * (1 - e2) / sqrt((1 - e2 * sin(fai)*sin(fai))*(1 - e2 * sin(fai)*sin(fai))*(1 - e2 * sin
+                                                                                       (fai)*sin(fai)));
+    D = xval / NN;
+    //计算经度(Longitude) 纬度(Latitude)
+    longitude1 = longitude0 + (D - (1 + 2 * T + C)*D*D*D / 6 + (5 - 2 * C + 28 * T - 3 * C*C + 8 * ee + 24 * T*T)*D
+                               *D*D*D*D / 120) / cos(fai);
+    latitude1 = fai - (NN*tan(fai) / R)*(D*D / 2 - (5 + 3 * T + 10 * C - 4 * C*C - 9 * ee)*D*D*D*D / 24
+                                         + (61 + 90 * T + 298 * C + 45 * T*T - 256 * ee - 3 * C*C)*D*D*D*D*D*D / 720);
+    //转换为度 DD
+    *longitude = longitude1 / iPI;
+    *latitude = latitude1 / iPI;
+}

src/decition/decition_brain/decision/adc_tools/gnss_coordinate_convert.h

@@ -0,0 +1,26 @@
+#pragma once
+#ifndef _IV_PERCEPTION_GNSS_CONVERT_
+#define _IV_PERCEPTION_GNSS_CONVERT_
+
+#include <math.h>
+//double nmeaConvert2Lat(string lat)
+//{
+//	Console.WriteLine(lat);
+//	double nmea_d = double.Parse(lat.Substring(0, 2));
+//	double nmea_m = double.Parse(lat.Substring(2, 6));
+//	return nmea_d + nmea_m / 60;
+//}
+//
+//double nmeaConvert2Lon(string lon)
+//{
+//	Console.WriteLine(lon);
+//	double nmea_d = double.Parse(lon.Substring(0, 3));
+//	double nmea_m = double.Parse(lon.Substring(3, 7));
+//	return nmea_d + nmea_m / 60;
+//}
+
+void gps2xy(double , double , double *, double *);
+void GaussProjCal(double longitude, double latitude, double *X, double *Y);
+void GaussProjInvCal(double X, double Y, double *longitude, double *latitude);
+
+#endif // !_IV_PERCEPTION_GNSS_CONVERT_

src/decition/decition_brain/decision/adc_tools/gps_distance.cpp

@@ -0,0 +1,45 @@
+#include <decision/adc_tools/gps_distance.h>
+#include <math.h>
+#define M_PI (3.1415926535897932384626433832795)
+
+// 计算弧度
+double iv::decition::rad(double d)
+{
+    const double PI = 3.1415926535898;
+    return d * PI / 180.0;
+}
+
+// 从两个gps坐标点（经纬度）获得两点的直线距离，单位是米
+double iv::decition::CalcDistance(double fLati1, double fLong1, double fLati2, double fLong2)
+{
+    const float EARTH_RADIUS = 6378.137;
+    double radLat1 = rad(fLati1);
+    double radLat2 = rad(fLati2);
+    double a = radLat1 - radLat2;
+
+    double b = rad(fLong1) - rad(fLong2);
+    double s = 2 * asin(sqrt(pow(sin(a / 2), 2) + cos(radLat1)*cos(radLat2)*pow(sin(b / 2), 2)));
+    s = s * EARTH_RADIUS;
+    //	s = (int)(s * 10000000) / 10000;
+    return s;
+}
+
+
+// 从直角坐标两点的直线距离，单位是米
+double iv::decition::DirectDistance(double x1, double y1, double x2, double y2)
+{
+    double s = sqrt(pow((x1-x2), 2) +pow((y1-y2), 2));
+    return s;
+}
+
+
+// 从直角坐标计算两点的夹角
+double iv::decition::DirectAngle(double x1, double y1, double x2, double y2)
+{
+    double angle = atan((y2 - y1) / (x2 - x1)) * 180 / M_PI;
+    return angle;
+}
+
+
+
+

src/decition/decition_brain/decision/adc_tools/gps_distance.h

@@ -0,0 +1,26 @@
+#pragma once
+#ifndef _IV_DECITION_GPS_DISTANCE_
+#define _IV_DECITION_GPS_DISTANCE_
+
+namespace iv {
+	namespace decition {
+        // 计算弧度
+		double rad(double d);
+
+		// 从两个gps坐标点（经纬度）获得两点的直线距离，单位是米
+		double CalcDistance(double , double , double , double );
+
+		//计算直角坐标距离
+		double DirectDistance(double, double, double, double);
+
+		//计算直角坐标角度
+		double DirectAngle(double, double, double, double);
+
+
+	}
+}
+
+
+
+
+#endif // !_IV_DECITION_GPS_DISTANCE_

src/decition/decition_brain/decision/adc_tools/parameter_status.h

@@ -0,0 +1,109 @@
+#ifndef PARAMETER_STATUS_H
+#define PARAMETER_STATUS_H
+
+
+
+
+#include <common/boost.h>
+#include <cstdint>
+#include <boost/serialization/singleton.hpp>
+#include <control/vv7.h>
+
+namespace iv {
+    namespace decition {
+        class ParameterStatus : public boost::noncopyable
+        {
+        public:
+            /*****************
+             * **** speed control *****
+             * ***************/
+
+
+
+
+                    float speed_kp=0.5;
+                    float speed_kd=0.3;
+                    float speed_ki=0;
+
+                    float speed_kp_t=10;
+                    float speed_kd_t=0;
+                    float speed_ki_t=0;
+
+                    float speed_increase_limite_switch=1;
+                    float speed_decline_limite_switch=1;
+                    float speed_max_increase=5;
+                    float speed_max_decline=10;
+
+
+
+
+            /*****************
+             * **** ttc control *****
+             * ***************/
+
+                float ttc_emc=0.8;
+                float ttc_urgent=1.6;
+                float ttc_early=10;
+                float brakeIntMax_emc=10;
+                float brakeIntMax_urgent=5;
+                float brakeIntMax_early=3;
+
+
+            /*****************
+             * **** wheel control *****
+             * ***************/
+
+                float wheel_p_eang=14;
+                float wheel_p_epos=10;
+                float wheel_d_eang=5;
+                float wheel_d_epos=5;
+                float wheel_i_eang=0;
+                float wheel_i_epos=0;
+
+                float  wheel_previewDistance_coefficient=0.6;
+                float  wheel_previewDistance_min=5;
+                float  wheel_change_limit_switch=0;
+                float  wheel_max_change=10;
+
+            /*****************
+             * **** path planning *****
+             * ***************/
+                float road_width = 3.5; //道路宽度
+                int now_road_num = 0;  //车辆当前所在道路编号
+
+
+            /*****************
+             * **** frenet path planning *****
+             * ***************/
+                double MAX_SPEED = 50.0 / 3.6;     // 最大速度 [m/s]
+                double MAX_ACCEL = 10;            // 最大加速度[m/ss]
+                double MAX_CURVATURE = 10;        // 最大曲率 [1/m]
+                double MIN_ROAD_OFFSET = -3.5;     // 最小道路偏移度 [m]。可以为负数。
+                double MAX_ROAD_WIDTH = 3.5;       // 最大道路宽度 [m]。过小可能不具有避障功能。
+                double D_ROAD_W = 3.5;             // 道路宽度采样间隔 [m]
+                double DT = 0.2;                   // Delta T [s]。总的预测时间的增量。
+                double MAXT = 4.0;                 // 最大预测时间 [s]
+                double MINT = 2.0;                 // 最小预测时间 [s]
+                double D_POINT_T = 0.04;           // 时间增量 [s]。用于控制每条轨迹生成轨迹点的密度。
+                double TARGET_SPEED = 30.0 / 3.6;  // 目标速度（即纵向的速度保持） [m/s]
+                double D_T_S = 5.0 / 3.6;          // 目标速度采样间隔 [m/s]
+                double N_S_SAMPLE = 1;             // sampling number of target speed
+                double ROBOT_RADIUS = 2.0;         // robot radius [m]
+
+                // 损失函数权重
+                double KJ = 0.1;
+                double KT = 0.1;
+                double KD = 1.0;
+                double KLAT = 1.0;
+                double KLON = 1.0;
+
+
+    };
+        typedef boost::serialization::singleton<iv::decition::ParameterStatus> ParameterStatusSingleton;
+}
+#define ServiceParameterStatus iv::decition::ParameterStatusSingleton::get_mutable_instance()
+
+}
+
+
+#endif // PARAMETER_STATUS_H

src/decition/decition_brain/decision/adc_tools/transfer.cpp

@@ -0,0 +1,138 @@
+#include <decision/adc_tools/transfer.h>
+#include <decision/decition_type.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+using namespace std;
+#define PI (3.1415926535897932384626433832795)
+
+
+
+///大地转车体
+iv::Point2D iv::decition::Coordinate_Transfer(double x_path, double y_path, iv::GPS_INS pos)
+{
+    double x_vehicle, y_vehicle;
+    double theta = atan2(x_path - pos.gps_x, y_path - pos.gps_y);
+
+    double distance = sqrt((x_path - pos.gps_x) * (x_path - pos.gps_x) + (y_path - pos.gps_y) * (y_path - pos.gps_y));
+    double angle = theta - (-90 + pos.ins_heading_angle) / 180 * PI;
+
+    x_vehicle = -cos(angle) * distance;
+    y_vehicle = sin(angle) * distance;
+    return  iv::Point2D(x_vehicle, y_vehicle);
+}
+
+///车体转大地
+iv::GPS_INS iv::decition::Coordinate_UnTransfer(double x_path, double y_path, iv::GPS_INS pos)
+{
+    iv::GPS_INS gps_ins;
+    double x_vehicle, y_vehicle;
+    double theta = atan2(x_path, y_path);
+
+    double distance = sqrt(x_path * x_path + y_path * y_path);
+    double angle = (pos.ins_heading_angle / 180 * PI + theta);
+
+    x_vehicle = pos.gps_x + distance * sin(angle);
+    y_vehicle = pos.gps_y + distance * cos(angle);
+    gps_ins.gps_x = x_vehicle;
+    gps_ins.gps_y = y_vehicle;
+
+    return  gps_ins;
+}
+
+double iv::decition::GetDistance(iv::Point2D x1, iv::Point2D x2)
+{
+    return sqrt((x1.x - x2.x) * (x1.x - x2.x) + (x1.y - x2.y) * (x1.y - x2.y));
+}
+
+double iv::decition::GetDistance(iv::GPS_INS p1, iv::GPS_INS p2)
+{
+    return sqrt((p1.gps_x - p2.gps_x) * (p1.gps_x - p2.gps_x) + (p1.gps_y - p2.gps_y) * (p1.gps_y - p2.gps_y));
+}
+
+
+
+
+//GPS转大地坐标
+void iv::decition::BLH2XYZ(iv::GPS_INS gp)
+{
+    int nFlag = 2;
+
+    double B = gp.gps_lat;
+
+    double L = gp.gps_lng;
+
+
+
+    double N, E, h;
+    double L0 = GetL0InDegree(L);//根据经度求中央子午线经度
+
+    double a = 6378245.0;            //地球半径  北京6378245
+    double F = 298.257223563;        //地球扁率
+    double iPI = 0.0174532925199433; //2pi除以360，用于角度转换
+
+    double f = 1 / F;
+    double b = a * (1 - f);
+    double ee = (a * a - b * b) / (a * a);
+    double e2 = (a * a - b * b) / (b * b);
+    double n = (a - b) / (a + b), n2 = (n * n), n3 = (n2 * n), n4 = (n2 * n2), n5 = (n4 * n);
+    double al = (a + b) * (1 + n2 / 4 + n4 / 64) / 2;
+    double bt = -3 * n / 2 + 9 * n3 / 16 - 3 * n5 / 32;
+    double gm = 15 * n2 / 16 - 15 * n4 / 32;
+    double dt = -35 * n3 / 48 + 105 * n5 / 256;
+    double ep = 315 * n4 / 512;
+
+    B = B * iPI;
+    L = L * iPI;
+    L0 = L0 * iPI;
+
+    double l = L - L0, cl = (cos(B) * l), cl2 = (cl * cl), cl3 = (cl2 * cl), cl4 = (cl2 * cl2), cl5 = (cl4 * cl), cl6 = (cl5 * cl), cl7 = (cl6 * cl), cl8 = (cl4 * cl4);
+    double lB = al * (B + bt * sin(2 * B) + gm * sin(4 * B) + dt * sin(6 * B) + ep * sin(8 * B));
+    double t = tan(B), t2 = (t * t), t4 = (t2 * t2), t6 = (t4 * t2);
+    double Nn = a / sqrt(1 - ee * sin(B) * sin(B));
+    double yt = e2 * cos(B) * cos(B);
+    N = lB;
+    N += t * Nn * cl2 / 2;
+    N += t * Nn * cl4 * (5 - t2 + 9 * yt + 4 * yt * yt) / 24;
+    N += t * Nn * cl6 * (61 - 58 * t2 + t4 + 270 * yt - 330 * t2 * yt) / 720;
+    N += t * Nn * cl8 * (1385 - 3111 * t2 + 543 * t4 - t6) / 40320;
+
+    E = Nn * cl;
+    E += Nn * cl3 * (1 - t2 + yt) / 6;
+    E += Nn * cl5 * (5 - 18 * t2 + t4 + 14 * yt - 58 * t2 * yt) / 120;
+    E += Nn * cl7 * (61 - 479 * t2 + 179 * t4 - t6) / 5040;
+
+    E += 500000;
+    if (nFlag == 1)
+    {
+        //UTM投影
+        N = 0.9996 * N;
+        E = 0.9996 * (E - 500000.0) + 500000.0;//Get y
+    }
+    if (nFlag == 2)
+    {
+        //UTM投影
+        N = 0.9999 * N;
+        E = 0.9999 * (E - 500000.0) + 250000.0;//Get y
+    }
+
+    //原
+    //pt2d.x = N;
+    //pt2d.y = E;
+    //
+    gp.gps_x = E - 280000;
+    gp.gps_y = N - 4325000;
+
+}
+
+
+double iv::decition::GetL0InDegree(double dLIn)
+{
+    //3°带求带号及中央子午线经度(d的形式)
+    //具体公式请参阅《常用大地坐标系及其变换》朱华统，解放军出版社138页
+    double L = dLIn;//d.d
+    double L_ddd_Style = L;
+    double ZoneNumber = (int)((L_ddd_Style - 1.5) / 3.0) + 1;
+    double L0 = ZoneNumber * 3.0;//degree
+    return L0;
+}

src/decition/decition_brain/decision/adc_tools/transfer.h

@@ -0,0 +1,27 @@
+#pragma once
+#ifndef _IV_DECITION_TRANSFER_
+#define _IV_DECITION_TRANSFER_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include<vector> 
+
+namespace iv {
+    namespace decition {
+        //根据传感器传输来的信息作出决策
+
+        double GetL0InDegree(double dLIn);
+
+        void BLH2XYZ(GPS_INS gps_ins);
+
+        ///大地转车体
+        Point2D Coordinate_Transfer(double x_path, double y_path, GPS_INS pos);
+
+        ///车体转大地
+        GPS_INS Coordinate_UnTransfer(double x_path, double y_path, GPS_INS pos);
+        double GetDistance(Point2D x1, Point2D x2);
+        double GetDistance(GPS_INS p1, GPS_INS p2);
+    }
+}
+
+#endif // ! _IV_DECITION_TRANSFER_

src/decition/decition_brain/decision/brain.cpp

@@ -0,0 +1,1404 @@
+#include <decision/brain.h>
+#include <fstream>
+#include <time.h>
+#include <exception>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <common/logout.h>
+#include <decision/adc_tools/transfer.h>
+
+#include <iostream>
+#include "xmlparam.h"
+#include "qcoreapplication.h"
+#include <QTime>
+
+QTime  gps_update_times,gps_last_to_current;
+
+extern std::string gstrmemdecition;
+extern std::string gstrmembrainstate;
+extern iv::Ivlog * givlog;
+extern std::string gstrmemchassis;
+
+#define LOG_ENABLE
+
+namespace iv {
+namespace decition {
+iv::decition::BrainDecition * gbrain;
+
+
+        void ListenTraceMap(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->UpdateMap(strdata,nSize);
+            gbrain->UpdateSate();
+        }
+
+        void ListenVbox(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->UpdateVbox(strdata,nSize);
+            gbrain->UpdateSate();
+        }
+
+        void ListenHMI(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->UpdateHMI(strdata,nSize);
+        }
+
+        void ListenPAD(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->UpdatePAD(strdata,nSize);
+        }
+
+        void ListenPlatform(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->UpdatePlatform(strdata,nSize);
+        }
+
+        void ListenGroup(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->UpdateGroupInfo(strdata,nSize);
+        }
+
+        void Listenv2x(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->Updatev2x(strdata,nSize);
+        }
+
+        void Listenultra(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            (void)&index;
+            (void)dt;
+            (void)strmemname;
+            gbrain->Updateultra(strdata,nSize);
+        }
+
+    /*    void ListenMap_change_req(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+        {
+            iv::formation_map_index::map map;
+            if(false == map.ParseFromArray(strdata,nSize))
+            {
+                givlog->error("GPS","[%s] Listencansend Parse fail.",__func__);
+                return;
+            }else{
+               gbrain->UpdateSate();
+            }
+        //    map.index()-1  map index num.
+        }*/
+
+    }
+
+}
+
+
+
+iv::decition::BrainDecition::BrainDecition()
+{
+    //    mpasd = new Adcivstatedb();
+    look1 = 0.0;
+    look2 = 0.0;
+    look3 = 0.0;
+    look4 = 0.0;
+    look5 = 0.0;
+    look6 = 0.0;
+    look7 = 0.0;
+    obs_lidar_grid_ = NULL;
+    old_obs_lidar_grid_ = NULL;
+    obs_camera_ = NULL;
+    //    controller = boost::shared_ptr<iv::control::Controller>(new iv::control::Controller());
+
+    //    carcall = new iv::carcalling::carcalling();
+    eyes = new iv::perception::Eyes();
+    //	decitionMaker = new iv::decition::DecitionMaker();
+
+    decitionGps00 = new iv::decition::DecideGps00();
+    decitionLine00=new iv::decition::DecideLine00();
+
+    //	decitionGpsUnit = new iv::decition::DecideGpsUnit();
+
+    //	decitionExecuter = new iv::decition::DecitionExecuter(controller);
+
+    iv::decition::gbrain = this;
+
+
+    mpa = iv::modulecomm::RegisterRecv("tracemap",iv::decition::ListenTraceMap);
+
+    mpvbox = iv::modulecomm::RegisterRecv("vbox",iv::decition::ListenVbox);
+
+    mpaVechicleState = iv::modulecomm::RegisterSend(gstrmembrainstate.data(),10000,10);
+
+
+    mpaToPlatform = iv::modulecomm::RegisterSend("toplatform",10*sizeof(iv::platform::PlatFormMsg),10);
+    mpaDecition = iv::modulecomm::RegisterSend(gstrmemdecition.data(),10*sizeof(iv::decition::DecitionBasic),1);
+
+    mpaPAD = iv::modulecomm::RegisterRecv("pad",iv::decition::ListenPAD);
+    mpaHMI = iv::modulecomm::RegisterRecv("hmi",iv::decition::ListenHMI);
+
+    mpaPlatform = iv::modulecomm::RegisterRecv("platformfrom",iv::decition::ListenPlatform);
+
+    mpaGroup = iv::modulecomm::RegisterRecv("p900_send",iv::decition::ListenGroup);
+ //   iv::modulecomm::RegisterRecv("map_index",ListenMap_change_req);
+
+    v2x = iv::modulecomm::RegisterRecv("v2x",iv::decition::Listenv2x);
+    ultra = iv::modulecomm::RegisterRecv("ultra",iv::decition::Listenultra);
+
+    mpamapreq = iv::modulecomm::RegisterSend("mapreq",1000,1);
+
+    ModuleFun funchassis =std::bind(&iv::decition::BrainDecition::UpdateChassis,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    void * pa = iv::modulecomm::RegisterRecvPlus(gstrmemchassis.data(),funchassis);
+
+    mpaPlanTrace = iv::modulecomm::RegisterSend("plantrace",100000,1);
+    mpaObsTraceLeft = iv::modulecomm::RegisterSend("obstraceleft",100000,1);
+    mpaObsTraceRight = iv::modulecomm::RegisterSend("obstraceright",100000,1);
+
+    mTime.start();
+    mnOldTime = mTime.elapsed();
+
+}
+
+iv::decition::BrainDecition::~BrainDecition()
+{
+}
+
+
+void iv::decition::BrainDecition::inialize() {
+    //	controller->inialize();
+    eyes->inialize();
+    //    carcall->start();
+}
+
+
+void iv::decition::BrainDecition::run() {
+
+    double last = 0;
+
+    iv::decition::Decition decition_gps = NULL;
+    iv::decition::Decition decition_lidar = NULL;
+    iv::decition::Decition decition_radar = NULL;
+    iv::decition::Decition decition_camera = NULL;
+    iv::decition::Decition decition_localmap = NULL;
+
+    iv::decition::Decition dgtemp(new iv::decition::DecitionBasic);
+    decition_gps = dgtemp;
+    decition_gps->brake = 0;
+    decition_gps->accelerator = 0;
+    decition_gps->wheel_angle = 0;
+
+    //controller->auto_drive_mode_enable(true);
+
+    /*Decition test(new DecitionBasic);
+    while (true)
+    {
+        test->accelerator = 1.2;
+        test->wheel_angle = 0;
+        decitionExecuter->executeDecition(test);
+        Sleep(5000);
+
+        test->accelerator = 0;
+        test->wheel_angle = 0;
+        decitionExecuter->executeDecition(test);
+        Sleep(5000);
+
+        test->accelerator = -1.2;
+        test->wheel_angle = 0;
+        decitionExecuter->executeDecition(test);
+        Sleep(5000);
+
+        test->accelerator = 0;
+        test->wheel_angle = 45;
+        decitionExecuter->executeDecition(test);
+        Sleep(5000);
+
+        test->accelerator = 0;
+        test->wheel_angle = 0;
+        decitionExecuter->executeDecition(test);
+        Sleep(5000);
+
+        test->accelerator = 0;
+        test->wheel_angle = -60;
+        decitionExecuter->executeDecition(test);
+        Sleep(5000);
+
+    }*/
+
+    //   std::cout<<"start run."<<std::endl;
+
+    //   ServiceCarStatus.mbRunPause = false;
+
+    bool bRun;
+    int nValueSize;
+
+    //    if(mpasd->LoadState("runstate",(char *)&bRun,sizeof(bool),&nValueSize) == true)
+    //    {
+    //        if(bRun)
+    //        {
+    //            ServiceCarStatus.mbRunPause = false;
+    //        }
+    //        else
+    //        {
+    //            ServiceCarStatus.mbRunPause = true;
+    //        }
+    //    }
+
+    char * strmap = new char[10000000];
+    int nMapSize;
+
+    //    if(mpasd->LoadState("map",strmap,10000000,&nMapSize) == true)
+    //    {
+    //        UpdateMap(strmap,nMapSize);
+    //    }
+
+    QString strpath = QCoreApplication::applicationDirPath();
+    strpath = strpath + "/ADS_decision.xml";
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+    ServiceCarStatus.msysparam.mstrvin = xp.GetParam("vin","10000000000000001");
+    ServiceCarStatus.msysparam.mstrid = xp.GetParam("id","1");
+    ServiceCarStatus.msysparam.mstriccid = xp.GetParam("iccid","11111111111111111111");
+    ServiceCarStatus.msysparam.mvehtype= xp.GetParam("vehType","yuhesen");
+
+    ServiceCarStatus.msysparam.vehWidth = atof(xp.GetParam("vehWidth","2.1").data());
+    ServiceCarStatus.msysparam.vehLenth = atof(xp.GetParam("vehLenth","4.6").data());
+
+
+    /*=============     20200113 apollo_fu  add ===========*/
+    std::string str_zhuchetime = xp.GetParam("zhuchetime","16");
+    ServiceCarStatus.msysparam.mzhuchetime =atoi(str_zhuchetime.data());
+    /*============= end ================================== */
+
+    std::string strepsoff = xp.GetParam("epsoff","0.0");
+    ServiceCarStatus.mfEPSOff = atof(strepsoff.data());
+
+    std::string strroadmode_vel = xp.GetParam("roadmode0","10");
+    ServiceCarStatus.mroadmode_vel.mfmode0 = atof(strroadmode_vel.data());
+
+    strroadmode_vel = xp.GetParam("roadmode11","30");
+    ServiceCarStatus.mroadmode_vel.mfmode11 = atof(strroadmode_vel.data());
+
+
+    strroadmode_vel = xp.GetParam("roadmode14","15");
+    ServiceCarStatus.mroadmode_vel.mfmode14 = atof(strroadmode_vel.data());
+
+    //float a = ServiceCarStatus.mroadmode_vel.mfmode14;
+    //cout<<"........"<<a<<endl;
+
+    strroadmode_vel = xp.GetParam("roadmode15","15");
+    ServiceCarStatus.mroadmode_vel.mfmode15 = atof(strroadmode_vel.data());
+
+    /*==================== 20200113    apollo_fu add =================*/
+    strroadmode_vel = xp.GetParam("roadmode5","10");
+    ServiceCarStatus.mroadmode_vel.mfmode5 = atof(strroadmode_vel.data());
+
+    strroadmode_vel = xp.GetParam("roadmode13","5");
+    ServiceCarStatus.mroadmode_vel.mfmode13 = atof(strroadmode_vel.data());
+
+    strroadmode_vel = xp.GetParam("roadmode16","8");
+    ServiceCarStatus.mroadmode_vel.mfmode16 = atof(strroadmode_vel.data());
+
+    strroadmode_vel = xp.GetParam("roadmode17","8");
+    ServiceCarStatus.mroadmode_vel.mfmode17 = atof(strroadmode_vel.data());
+
+    strroadmode_vel = xp.GetParam("roadmode18","5");
+    ServiceCarStatus.mroadmode_vel.mfmode18 = atof(strroadmode_vel.data());
+
+
+
+    /*=========================    end   =============================*/
+
+    std::string group_cotrol = xp.GetParam("group","false");
+    if(group_cotrol=="true"){
+        ServiceCarStatus.group_control=true;
+    }else{
+        ServiceCarStatus.group_control=false;
+    }
+
+    std::string speed_control = xp.GetParam("speed","false");
+    if(speed_control=="true"){
+        ServiceCarStatus.speed_control=true;
+    }else{
+        ServiceCarStatus.speed_control=false;
+    }
+
+
+
+    std::string strparklat = xp.GetParam("parklat","39.0624557");
+    std::string strparklng = xp.GetParam("parklng","117.3575493");
+    std::string strparkheading = xp.GetParam("parkheading","112.5");
+    std::string strparktype = xp.GetParam("parktype","1");
+
+    ServiceCarStatus.mfParkLat = atof(strparklat.data());
+    ServiceCarStatus.mfParkLng = atof(strparklng.data());
+    ServiceCarStatus.mfParkHeading = atof(strparkheading.data());
+    ServiceCarStatus.mnParkType = atoi(strparktype.data());
+
+    ServiceCarStatus.mLidarRotation = atof(xp.GetParam("LidarRotation","90.0").data());
+    ServiceCarStatus.mLidarRangeUnit = atof(xp.GetParam("LidarRangeUnit","5.0").data());
+
+
+
+    std::string lightlon = xp.GetParam("lightlon","0");
+    std::string lightlat = xp.GetParam("lightlat","0");
+    ServiceCarStatus.iTrafficeLightLat=atof(lightlat.data());
+    ServiceCarStatus.iTrafficeLightLon=atof(lightlon.data());
+
+
+
+    //mobileEye
+    std::string   timeWidth =xp.GetParam("waitGpsTimeWidth","5000");
+    std::string   garageLong =xp.GetParam("outGarageLong","10");
+    ServiceCarStatus.waitGpsTimeWidth=atof(timeWidth.data());
+    ServiceCarStatus.outGarageLong=atof(garageLong.data());
+    //mobileEye end
+
+
+    //lidar start
+    std::string lidarGpsXiuzheng = xp.GetParam("lidarGpsXiuzheng","1.0");
+    std::string radarGpsXiuzheng = xp.GetParam("radarGpsXiuzheng","3.0");
+    std::string rearRadarGpsXiuzheng = xp.GetParam("rearRadarGpsXiuzheng","0.5");
+    std::string rearLidarGpsXiuzheng = xp.GetParam("rearLidarGpsXiuzheng","1.0");
+    std::string frontGpsXiuzheng = xp.GetParam("frontGpsXiuzheng","3.0");
+    std::string rearGpsXiuzheng = xp.GetParam("rearGpsXiuzheng","1.0");
+    std::string gpsOffset_x = xp.GetParam("gpsOffset_X","0");
+    std::string gpsOffset_y = xp.GetParam("gpsOffset_Y","0");
+    std::string strexternmpc = xp.GetParam("ExternMPC","false");  //If Use MPC set true
+
+
+    adjuseGpsLidarPosition();
+
+    if(strexternmpc == "true")
+    {
+        mbUseExternMPC = true;
+    }
+
+    ServiceCarStatus.msysparam.lidarGpsXiuzheng = atof(lidarGpsXiuzheng.data());
+    ServiceCarStatus.msysparam.radarGpsXiuzheng = atof(radarGpsXiuzheng.data());
+    ServiceCarStatus.msysparam.rearRadarGpsXiuzheng = atof(rearRadarGpsXiuzheng.data());
+    ServiceCarStatus.msysparam.rearLidarGpsXiuzheng = atof(rearLidarGpsXiuzheng.data());
+    ServiceCarStatus.msysparam.frontGpsXiuzheng = atof(frontGpsXiuzheng.data());
+    ServiceCarStatus.msysparam.rearGpsXiuzheng = atof(rearGpsXiuzheng.data());
+    ServiceCarStatus.msysparam.gpsOffset_x = atof(gpsOffset_x.data());
+    ServiceCarStatus.msysparam.gpsOffset_y = atof(gpsOffset_y.data());
+    // lidar end
+
+    std::string strObsPredict = xp.GetParam("obsPredict","false");  //If Use MPC set true
+    if(strObsPredict == "true")
+    {
+        ServiceCarStatus.useObsPredict = true;
+    }
+
+    std::string inRoadAvoid = xp.GetParam("inRoadAvoid","false");  //If Use MPC set true
+    if(inRoadAvoid == "true")
+    {
+        ServiceCarStatus.inRoadAvoid = true;
+    }else{
+        ServiceCarStatus.inRoadAvoid = false;
+    }
+
+    std::string avoidObs = xp.GetParam("avoidObs","false");  //If Use MPC set true
+    if(avoidObs == "true")
+    {
+        ServiceCarStatus.avoidObs = true;
+    }else{
+        ServiceCarStatus.avoidObs = false;
+    }
+
+    //map
+
+    mstrmemmap_index = xp.GetParam("msg_mapindex","map_index");
+
+
+    while (eyes->isAllSensorRunning())
+    {
+        if(navigation_data.size() <1)
+        {
+            iv::map::mapreq x;
+            x.set_maptype(1);
+            int nsize = x.ByteSize();
+            char * str = new char[nsize];
+            if(x.SerializeToArray(str,nsize))
+            {
+                iv::modulecomm::ModuleSendMsg(mpamapreq,str,nsize);
+            }
+            else
+            {
+                std::cout<<"iv::map::mapreq serialize error."<<std::endl;
+            }
+            delete str;
+        }
+
+
+        iv::GPSData gps_data_;			//gps 惯导数据
+
+        //       qDebug("size = %d",navigation_data.size());
+
+
+
+        std::shared_ptr<std::vector<iv::Perception::PerceptionOutput>> lidar_per(new std::vector<iv::Perception::PerceptionOutput>);
+
+        bool brun =ServiceCarStatus.mbRunPause;
+        if(ServiceCarStatus.mnBocheComplete > 0)
+        {
+            ServiceCarStatus.mbBrainCtring = false;
+            ServiceCarStatus.mbRunPause = true;
+            ServiceCarStatus.mnBocheComplete--;
+        }
+        if((ServiceCarStatus.mbRunPause)||(navigation_data.size()<1)||(ServiceCarStatus.mnBocheComplete>0))
+        {
+            ServiceCarStatus.mbBrainCtring = false;
+            decition_gps->brake = 6;
+            decition_gps->accelerator = -0.5;
+            decition_gps->wheel_angle = 0;
+            decition_gps->torque = 0;
+            decition_gps->mode = 0;
+            //decitionExecuter->executeDecition(decition_gps);
+                   ShareDecition(decition_gps);  //apollo_fu 20200413 qudiaozhushi
+            ServiceCarStatus.mfAcc = decition_gps->accelerator;
+            ServiceCarStatus.mfWheel = decition_gps->wheel_angle;
+            ServiceCarStatus.mfBrake = decition_gps->brake;
+
+            iv::brain::brainstate xbs;
+            xbs.set_mbbocheenable(ServiceCarStatus.bocheEnable);
+            xbs.set_mbbrainrunning(false);
+            xbs.set_mflidarobs(ServiceCarStatus.mLidarObs);
+            xbs.set_mfradarobs(ServiceCarStatus.mRadarObs);
+            xbs.set_mfobs(ServiceCarStatus.mObs);
+            xbs.set_decision_period(decision_period);
+            ShareBrainstate(xbs);    //apollo_fu 20200413 qudiaozhushi
+            //            iv::decition::VehicleStateBasic vsb;
+            //            vsb.mbBocheEnable = ServiceCarStatus.bocheEnable;
+            //            vsb.mfLidarObs = ServiceCarStatus.mLidarObs;
+            //            vsb.mfRadarObs = ServiceCarStatus.mRadarObs;
+            //            vsb.mfObs = ServiceCarStatus.mRadarObs;
+            //            vsb.decision_period = decision_period;
+            //            vsb.mbBrainRunning = false;
+            ////             mpaVechicleState->writemsg((char *)&vsb,sizeof(iv::decition::VehicleStateBasic));
+            //            iv::modulecomm::ModuleSendMsg(mpaVechicleState,(char *)&vsb,sizeof(iv::decition::VehicleStateBasic));
+
+#ifdef Q_OS_LINUX
+            usleep(10000);
+#endif
+#ifdef Q_OS_WIN32
+            boost::this_thread::sleep(boost::posix_time::milliseconds(10));
+#endif
+             std::cout<<"enter mbRunPause"<<std::endl;
+            continue;
+
+        }
+
+
+
+        ServiceCarStatus.mbBrainCtring = true;
+        obs_lidar_ = obs_radar_ = NULL;
+
+        int j;
+        //      gps_data_ = NULL;
+
+        //        if(obs_lidar_grid_ != NULL)free(obs_lidar_grid_);
+        if(obs_lidar_grid_ != NULL)
+        {
+            if(old_obs_lidar_grid_ != NULL) free(old_obs_lidar_grid_);
+            old_obs_lidar_grid_ = obs_lidar_grid_;
+        }
+
+        obs_lidar_grid_ = NULL;
+
+        if(obs_camera_ != NULL)free(obs_camera_);
+
+        obs_camera_ = NULL;
+
+        int gps_update_period=0,gps_last_to_current_times=0;
+
+        gps_update_times.start();
+        eyes->getSensorObstacle(obs_radar_, obs_camera_,gps_data_, obs_lidar_grid_);	//从传感器线程临界区交换数据
+        if(gps_data_!=NULL)
+        {
+           gps_update_period=gps_update_times.elapsed();
+           gps_last_to_current.start();
+        }
+        gps_last_to_current_times=gps_last_to_current.elapsed();
+
+
+
+
+
+
+        ServiceLidar.copylidarperto(lidar_per);
+
+        //        if(lidar_per->size() >0)
+        //        {
+        //            int i;
+        //            for(i=0;i<lidar_per->size();i++)
+        //            {
+        //                if(lidar_per->at(i).label>0)
+        //                {
+        //                    std::cout<<"label is"<<lidar_per->at(i).label<<" vy = "<<lidar_per->at(i).velocity.y<<std::endl;
+        //                }
+        //            }
+        //            //if size > 0, have perception result;
+        //        }
+
+        iv::ObsLiDAR obs_lidar_tmp(new std::vector<iv::ObstacleBasic>);
+        iv::ObsRadar obs_radar_tmp(new std::vector<iv::ObstacleBasic>);
+        iv::decition::Decition decition_final(new iv::decition::DecitionBasic);
+
+        if (obs_lidar_) {	//激光雷达有障碍物
+            //          std::cout<<"obs lidar size = "<<obs_lidar_->size()<<std::endl;
+            //std::cout << "大脑处理激光雷达:" << obs_lidar_->at(0).nomal_x << " " << obs_lidar_->at(0).nomal_y << " " << obs_lidar_->at(0).nomal_z << std::endl;
+            obs_lidar_tmp = NULL;
+            obs_lidar_tmp.swap(obs_lidar_);
+        }
+        else
+        {
+            //           std::cout<<"no lidar obs"<<std::endl;
+        }
+        //ServiceCarStatus.obs_radar;
+        //毫米波雷达障碍物信息
+
+        if (obs_radar_) {
+            //std::cout << "大脑处理毫米波雷达:" << obs_radar_->at(0).nomal_x << " " << obs_radar_->at(0).nomal_y << " " << obs_radar_->at(0).nomal_z << std::endl;
+            obs_radar_tmp = NULL;
+            obs_radar_tmp.swap(obs_radar_);
+        }
+        if (obs_camera_) {
+            //std::cout << "大脑处理摄像头雷达:" << obs_camera_->at(0).nomal_x << " " << obs_camera_->at(0).nomal_y << " " << obs_camera_->at(0).nomal_z << std::endl;
+        }
+
+
+        //useMobileEye chuku
+        if(ServiceCarStatus.m_bOutGarage){
+            GPS_INS gps ;
+            if(gps_data_){
+                gps=*gps_data_;
+            }
+            decition_gps = decitionLine00->getDecideFromGPS(gps, navigation_data, obs_lidar_grid_,*lidar_per);  //chedaoxian
+
+            std::cout << "使用mobileEye决策"<< std::endl;
+        }
+        //useMobileEye chuku end;
+
+        givlog->debug("GPS","gps_data_ is: %d,gps_update_period is: %d,gps_last_to_current_times is: %d",gps_data_,gps_update_period,gps_last_to_current_times);
+
+        if (gps_data_  &&!handPark && !ServiceCarStatus.m_bOutGarage){// && obs_lidar_grid_) {	//处理GPS数据
+
+            double start = GetTickCount();
+
+            if ( ServiceCarStatus.epsMode==0 && ServiceCarStatus.receiveEps) {
+                ServiceCarStatus.mbRunPause=true;
+
+            }
+            ServiceCarStatus.receiveEps=false;
+
+            lastMode=ServiceCarStatus.epsMode;
+            lastPause=ServiceCarStatus.mbRunPause;
+
+            if((fabs(mTime.elapsed() - mnOldTime)>40))
+            {
+                if((fabs(mTime.elapsed() - mnOldTime)<10000))
+                {
+                    ServiceCarStatus.mfCalAcc = (ServiceCarStatus.speed - mfSpeedLast)*1000/(fabs(mTime.elapsed() - mnOldTime))/3.6;
+                    ServiceCarStatus.mfVehAcc = (ServiceCarStatus.vehSpeed_st - mfVehSpeedLast)*1000/(fabs(mTime.elapsed() - mnOldTime))/3.6;
+                }else
+                {
+                    ServiceCarStatus.mfCalAcc = 0;
+                    ServiceCarStatus.mfVehAcc = 0;
+                }
+                mnOldTime = mTime.elapsed();
+                mfSpeedLast = ServiceCarStatus.speed;
+                mfVehSpeedLast=ServiceCarStatus.vehSpeed_st;
+            }
+
+            iv::LidarGridPtr templidar= obs_lidar_grid_;
+            if(templidar == NULL)templidar = old_obs_lidar_grid_;
+        //    GaussProjCal(gps_data_->gps_lng,gps_data_->gps_lat,&gps_data_->gps_x,&gps_data_->gps_y);
+
+            mMutexMap.lock();
+            decition_gps = decitionGps00->getDecideFromGPS(*gps_data_, navigation_data, templidar,*lidar_per,trafficLight);  // my dicition=============================
+            mMutexMap.unlock();
+
+            if(mbUseExternMPC)
+            {
+                fanya::GPS_INS xgpsins;
+                xgpsins.speed_y = gps_data_->speed/3.6;
+                xgpsins.gps_lat = gps_data_->gps_lat;
+                xgpsins.gps_lng = gps_data_->gps_lng;
+                xgpsins.ins_heading = gps_data_->ins_heading_angle;
+                mmpcapi.SetGPS(xgpsins);
+                mmpcapi.SetDesiredspeed(decition_gps->speed/3.6);
+                double mpc_speed,mpc_decision,mpc_wheel;
+                if(mmpcapi.GetDecision(mpc_speed,mpc_decision,mpc_wheel) == 0)
+                {
+                    decition_gps->wheel_angle = mpc_wheel;
+                }
+            }
+            iv::modulecomm::ModuleSendMsg(mpaPlanTrace,(char *)decitionGps00->planTrace.data(),decitionGps00->planTrace.size()*sizeof(iv::TracePoint));
+
+            iv::modulecomm::ModuleSendMsg(mpaObsTraceLeft,(char *)(ServiceCarStatus.obsTraceLeft.data()),ServiceCarStatus.obsTraceLeft.size()*sizeof(iv::TracePoint));
+            iv::modulecomm::ModuleSendMsg(mpaObsTraceRight,(char *)(ServiceCarStatus.obsTraceRight.data()),ServiceCarStatus.obsTraceRight.size()*sizeof(iv::TracePoint));
+            //      decition_gps = decitionLine00->getDecideFromGPS(*gps_data_, navigation_data, obs_lidar_grid_);
+            //ODS("\n决策：%f\t%f\t\t", decition_gps->speed, decition_gps->wheel_angle);
+            //ODS("\n接收到的实时GPS数据:%f\t%f\t%f\n", gps_data_->gps_x, gps_data_->gps_y,gps_data_->ins_heading_angle);
+
+
+
+            //carcall->is_arrived = decitionGps00->is_arrivaled;
+            //double end = GetTickCount();
+            decision_period = start - last;
+            std::cout<<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "\n周期时长:%f\n" << decision_period << std::endl;
+            //                iv::decition::VehicleStateBasic vsb;
+            //                vsb.mbBocheEnable = ServiceCarStatus.bocheEnable;
+            //                vsb.mfLidarObs = ServiceCarStatus.mLidarObs;
+            //                vsb.mfRadarObs = ServiceCarStatus.mRadarObs;
+            //                vsb.mfObs = ServiceCarStatus.mRadarObs;
+            //                vsb.decision_period = decision_period;
+            //                vsb.mbBrainRunning = ServiceCarStatus.mbBrainCtring;
+            ////                mpaVechicleState->writemsg((char *)&vsb,sizeof(iv::decition::VehicleStateBasic));
+
+            //                iv::modulecomm::ModuleSendMsg(mpaVechicleState,(char *)&vsb,sizeof(iv::decition::VehicleStateBasic));
+
+            iv::brain::brainstate xbs;
+            xbs.set_mbbocheenable(ServiceCarStatus.bocheEnable);
+            xbs.set_mbbrainrunning(true);  //apollo_fu debug ui 20200417
+            xbs.set_mflidarobs(ServiceCarStatus.mLidarObs);
+            xbs.set_mfradarobs(ServiceCarStatus.mRadarObs);
+            xbs.set_mfobs(ServiceCarStatus.mObs);
+            xbs.set_decision_period(decision_period);
+            ShareBrainstate(xbs);
+
+
+            //                decitionExecuter->executeDecition(decition_gps);
+            ShareDecition(decition_gps);
+
+            givlog->debug("acc is %f brake is %f wheel is %f",
+                          decition_gps->accelerator,decition_gps->brake,
+                          decition_gps->wheel_angle);
+            givlog->debug("period id %f",decision_period);
+
+            //	ODS("\n周期时长:%f\n", start - last);
+            //	ODS("\n决策时长:%f\n", end - start);
+            //	ODS("\n接收到的实时GPS车速:%f\n", gps_data_->speed);
+            //	ODS("\n接收到的实时GPS车y轴加速:%f\n", gps_data_->accel_y);
+            //	ODS("\n接收到的实时GPS车x轴加速:%f\n", gps_data_->accel_x);
+            std::cout<<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "\n决策加速度:%f\n" << decition_gps->accelerator << std::endl;
+            //		ODS("\n决策刹车:%f\n", decition_gps->brake);
+            std::cout<<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "\n决策方向:%f\n" << decition_gps->wheel_angle << std::endl;
+            std::cout<<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "\n决策速度:%f\n" << decition_gps->speed << std::endl;
+            last = start;
+            //decitionMaker->decideFromGPS(decition_gps, gps_data_, navigation_data);		//gps_data_为当前读到的gps位置信息  navigation_data为导航数据  decition_gps为根据前两者得出的决策速度与决策角度
+            //            }
+
+        }
+
+        if (handPark && decition_gps != NULL)
+        {
+            decition_gps->brake = 20;
+            decition_gps->accelerator = 0;
+            //			decitionExecuter->executeDecition(decition_gps);
+            ShareDecition(decition_gps);
+            //boost::this_thread::sleep(boost::posix_time::milliseconds(2000));
+
+#ifdef linux
+            usleep(2000000);
+#endif
+#ifdef WIN32
+            boost::this_thread::sleep(boost::posix_time::milliseconds(2000));
+            //           Sleep(2000);
+#endif
+            decition_gps->brake = 0;
+            decition_gps->accelerator = 0;
+            //			decitionExecuter->executeDecition(decition_gps);
+            //			ServiceCanUtil.set_handbrake_on();
+            //boost::this_thread::sleep(boost::posix_time::milliseconds(handParkTime));
+            ShareDecition(decition_gps);
+
+#ifdef linux
+            usleep(handParkTime*1000);
+#endif
+#ifdef WIN32
+            Sleep(handParkTime);
+#endif
+            handPark = false;
+        }
+
+
+        else
+        {
+            //boost::this_thread::sleep(boost::posix_time::milliseconds(1));
+
+#ifdef linux
+            usleep(1000);
+#endif
+#ifdef WIN32
+            Sleep(1);
+#endif
+            //			ODS("no gps data .sleep.\r\n");
+        }
+
+
+
+
+        //        if (decition_lidar || decition_radar || decition_camera || decition_gps || decition_lidar) {
+        //            //	decitionVoter->decideFromAll(decition_final, decition_lidar, decition_radar, decition_camera, decition_gps, decition_localmap);
+        //            //	decitionExecuter->executeDecition(decition_final);	//执行最终的决策
+        //            /*	decition_gps->brake = 0;
+        //            decition_gps->accelerator = 0;*/
+        //            look1 = decition_gps->accelerator;
+        //            look2 = decition_gps->brake;
+        //            look3 = decition_gps->wheel_angle;
+        //            look4 = decition_gps->speed;
+        //            look5 = decitionGps00->lidarDistance;
+        //            look6 = decitionGps00->myesrDistance;
+        //            look7 = decitionGps00->obsDistance;
+
+        //            decition_gps->grade=1;
+        //            decition_gps->mode=1;
+        //            decition_gps->speak=0;
+        //            decition_gps->handBrake=0;
+        //            decition_gps->bright=false;
+        //            decition_gps->engine=0;
+
+        //            if(ServiceCarStatus.bocheMode){
+        //                decition_gps->dangWei=2;
+        //            }else{
+        //                decition_gps->dangWei=1;
+        //            }
+
+
+        //            decition_gps->wheel_angle=max((float)-500.0,float(decition_gps->wheel_angle+ServiceCarStatus.mfEPSOff));
+        //            decition_gps->wheel_angle=min((float)500.0,decition_gps->wheel_angle);
+
+        //            //			decitionExecuter->executeDecition(decition_gps);
+        //            //           ShareDecition(decition_gps);
+        //        }
+
+        ServiceCarStatus.mfAcc = decition_gps->accelerator;
+        ServiceCarStatus.mfWheel = decition_gps->wheel_angle;
+        ServiceCarStatus.mfBrake = decition_gps->brake;
+
+        iv::platform::PlatFormMsg toplat;
+        toplat.carState = ServiceCarStatus.carState;	// 0:停车	1:正常循迹	2:前往站点
+        toplat.istostation = ServiceCarStatus.istostation;
+        toplat.currentstation = ServiceCarStatus.currentstation;
+        toplat.clientto = ServiceCarStatus.clientto;
+        toplat.amilng = ServiceCarStatus.amilng;
+        toplat.amilat = ServiceCarStatus.amilat;
+        //       mpaToPlatform->writemsg((char*)&toplat,sizeof(iv::platform::PlatFormMsg));
+
+        iv::modulecomm::ModuleSendMsg(mpaToPlatform,(char*)&toplat,sizeof(iv::platform::PlatFormMsg));
+        //ODS("\ngetSensor时长:%f\n", end1 - start1);
+    }
+    std::cout << "\n\n\n\n\n\n\n\n\n\n\nbrain线程退出\n" << std::endl;
+}
+
+bool iv::decition::BrainDecition::loadMapFromFile(std::string fileName) {
+    std::ifstream fis(fileName);//获取文件
+    std::string line;
+    std::vector<std::string> des;
+
+    if (fis.is_open() == false)
+        return false;
+    try {
+        while (std::getline(fis, line)) {//开始一行一行的读数据
+            boost::split(des, line, boost::is_any_of("\t"));
+            if (des.size() != 10)
+                throw "error";
+            iv::GPSData data(new iv::GPS_INS);
+            data->index = atoi(des[0].c_str());
+            data->gps_lng = atof(des[1].c_str());
+            data->gps_lat = atof(des[2].c_str());
+            data->speed_mode = atoi(des[3].c_str());
+            data->mode2 = atoi(des[4].c_str());
+            data->ins_heading_angle = atof(des[5].c_str());
+            data->runMode = atoi(des[6].c_str());
+            data->roadMode = atoi(des[7].c_str());
+            data->roadSum = atoi(des[8].c_str());
+            data->roadOri = atoi(des[9].c_str());
+            //      gps2xy(data->gps_lat, data->gps_lng, &data->gps_x, &data->gps_y);
+            GaussProjCal(data->gps_lng, data->gps_lat, &data->gps_x, &data->gps_y);
+            //data->speed = 5;	//调试用  所有点速度都设为5km/h
+            //LOG2(data->gps_x, data->gps_y);
+            //ODS("x %.20lf   y %.20lf\n", data->gps_x, data->gps_y);
+
+            //	iv::decition::BLH2XYZ(*data);   //重新转下大地坐标
+
+            if(data->roadMode==4){
+                data->ins_heading_angle=data->ins_heading_angle+180;
+                if(data->ins_heading_angle>=360)
+                    data->ins_heading_angle=data->ins_heading_angle-360;
+            }
+
+            navigation_data.push_back(data);
+        }
+
+    }
+    catch (...) {
+        fis.close();
+        return false;
+    }
+
+    fis.close();
+    return true;
+}
+
+bool iv::decition::BrainDecition::loadMapFromFile2(std::string fileName) {
+    std::ifstream fis(fileName);//获取文件
+    std::string line;
+    std::vector<std::string> des;
+
+    if (fis.is_open() == false)
+        return false;
+    try {
+        while (std::getline(fis, line)) {//开始一行一行的读数据
+            boost::split(des, line, boost::is_any_of("\t"));
+            if (des.size() != 10)
+                throw "error";
+            iv::GPSData data(new iv::GPS_INS);
+            data->index = atoi(des[0].c_str());
+            data->gps_lng = atof(des[1].c_str());
+            data->gps_lat = atof(des[2].c_str());
+            data->speed_mode = atoi(des[3].c_str());
+            data->mode2 = atoi(des[4].c_str());
+            data->ins_heading_angle = atof(des[5].c_str());
+            data->runMode = atoi(des[6].c_str());
+            data->roadMode = atoi(des[7].c_str());
+            data->roadSum = atoi(des[8].c_str());
+            data->roadOri = atoi(des[9].c_str());
+            GaussProjCal(data->gps_lng, data->gps_lat, &data->gps_x, &data->gps_y);
+            navigation_data2.push_back(data);
+        }
+    }
+    catch (...) {
+        fis.close();
+        return false;
+    }
+
+    fis.close();
+    return true;
+}
+
+bool iv::decition::BrainDecition::loadMapFromFile3(std::string fileName) {
+    std::ifstream fis(fileName);//获取文件
+    std::string line;
+    std::vector<std::string> des;
+
+    if (fis.is_open() == false)
+        return false;
+    try {
+        while (std::getline(fis, line)) {//开始一行一行的读数据
+            boost::split(des, line, boost::is_any_of("\t"));
+            if (des.size() != 10)
+                throw "error";
+            iv::GPSData data(new iv::GPS_INS);
+            data->index = atoi(des[0].c_str());
+            data->gps_lng = atof(des[1].c_str());
+            data->gps_lat = atof(des[2].c_str());
+            data->speed_mode = atoi(des[3].c_str());
+            data->mode2 = atoi(des[4].c_str());
+            data->ins_heading_angle = atof(des[5].c_str());
+            data->runMode = atoi(des[6].c_str());
+            data->roadMode = atoi(des[7].c_str());
+            data->roadSum = atoi(des[8].c_str());
+            data->roadOri = atoi(des[9].c_str());
+            GaussProjCal(data->gps_lng, data->gps_lat, &data->gps_x, &data->gps_y);
+            navigation_data3.push_back(data);
+        }
+    }
+    catch (...) {
+        fis.close();
+        return false;
+    }
+
+    fis.close();
+    return true;
+}
+
+bool iv::decition::BrainDecition::loadMapFromFile4(std::string fileName) {
+    std::ifstream fis(fileName);//获取文件
+    std::string line;
+    std::vector<std::string> des;
+
+    if (fis.is_open() == false)
+        return false;
+    try {
+        while (std::getline(fis, line)) {//开始一行一行的读数据
+            boost::split(des, line, boost::is_any_of("\t"));
+            if (des.size() != 10)
+                throw "error";
+            iv::GPSData data(new iv::GPS_INS);
+            data->index = atoi(des[0].c_str());
+            data->gps_lng = atof(des[1].c_str());
+            data->gps_lat = atof(des[2].c_str());
+            data->speed_mode = atoi(des[3].c_str());
+            data->mode2 = atoi(des[4].c_str());
+            data->ins_heading_angle = atof(des[5].c_str());
+            data->runMode = atoi(des[6].c_str());
+            data->roadMode = atoi(des[7].c_str());
+            data->roadSum = atoi(des[8].c_str());
+            data->roadOri = atoi(des[9].c_str());
+            GaussProjCal(data->gps_lng, data->gps_lat, &data->gps_x, &data->gps_y);
+            navigation_data4.push_back(data);
+        }
+    }
+    catch (...) {
+        fis.close();
+        return false;
+    }
+
+    fis.close();
+    return true;
+}
+
+void iv::decition::BrainDecition::start() {
+    thread_run = new boost::thread(boost::bind(&iv::decition::BrainDecition::run, this));
+}
+
+void iv::decition::BrainDecition::stop() {
+    //    carcall->stop();
+    thread_run->interrupt();
+    thread_run->join();
+}
+
+void iv::decition::BrainDecition::UpdateMap(const char *mapdata, const int mapdatasize)
+{
+    //    std::cout<<"update map "<<std::endl;
+    int gpsunitsize = sizeof(iv::GPS_INS);
+    int nMapSize = mapdatasize/gpsunitsize;
+    //    std::cout<<"map size is "<<nMapSize<<std::endl;
+
+    if(nMapSize < 1)return;
+
+    bool bUpdate = false;
+    if(nMapSize != navigation_data.size())
+    {
+        bUpdate = true;
+    }
+    else
+    {
+        iv::GPS_INS * p = (iv::GPS_INS *)mapdata;
+        if((p->gps_lat == navigation_data.at(0)->gps_lat)&&(p->ins_heading_angle == navigation_data.at(0)->ins_heading_angle))
+        {
+            //           qDebug("same map");
+            bUpdate = false;
+        }
+        else
+        {
+            bUpdate = true;
+        }
+    }
+
+    if(bUpdate)
+    {
+        std::vector<fanya::MAP_DATA> xvectorMAP;
+        int i;
+        mMutexMap.lock();
+        navigation_data.clear();
+        for(i=0;i<nMapSize;i++)
+        {
+            iv::GPS_INS x;
+            memcpy(&x,mapdata + i*gpsunitsize,gpsunitsize);
+            iv::GPSData data(new iv::GPS_INS);
+            *data = x;
+            navigation_data.push_back(data);
+
+            fanya::MAP_DATA xmapdata;
+            xmapdata.gps_lat = x.gps_lat;
+            xmapdata.gps_lng = x.gps_lng;
+            xmapdata.ins_heading = x.ins_heading_angle;
+            xvectorMAP.push_back(xmapdata);
+        }
+
+        mmpcapi.SetMAP(xvectorMAP);
+                                                                                                    
+        if(ServiceCarStatus.speed_control==true){
+        Compute00().getDesiredSpeed(navigation_data);}
+        mMutexMap.unlock();
+        //        mpasd->SaveState("map",mapdata,mapdatasize);
+    }
+    else
+    {
+        //       qDebug("not need update");
+    }
+}
+
+void iv::decition::BrainDecition::ShareDecition(iv::decition::Decition decition)
+{
+    iv::brain::decition xdecition;
+    xdecition.set_accelerator(decition->accelerator);
+    xdecition.set_brake(decition->brake);
+    xdecition.set_leftlamp(decition->leftlamp);
+    xdecition.set_rightlamp(decition->rightlamp);
+    xdecition.set_speed(decition->speed);
+    xdecition.set_wheelangle(decition->wheel_angle);
+    xdecition.set_wheelspeed(decition->angSpeed);
+    xdecition.set_torque(decition->torque);
+    xdecition.set_mode(decition->mode);
+    xdecition.set_gear(decition->dangWei);
+    xdecition.set_handbrake(decition->handBrake);
+    xdecition.set_grade(decition->grade);
+    xdecition.set_engine(decition->engine);
+    xdecition.set_brakelamp(decition->brakeLight);
+    xdecition.set_ttc(ServiceCarStatus.mfttc);
+    xdecition.set_air_enable(decition->air_enable);
+    xdecition.set_air_temp(decition->air_temp);
+    xdecition.set_air_mode(decition->air_mode);
+    xdecition.set_wind_level(decition->wind_level);
+    xdecition.set_roof_light(decition->roof_light);
+    xdecition.set_home_light(decition->home_light);
+    xdecition.set_air_worktime(decition->air_worktime);
+    xdecition.set_air_offtime(decition->air_offtime);
+    xdecition.set_air_on(decition->air_on);
+    xdecition.set_door(decition->door);
+
+
+
+    std::cout<<"===================shareDecition========================"<<std::endl;
+         std::cout<<"  torque_st:"<<ServiceCarStatus.torque_st
+                 <<"  decideTorque:"<<decition->torque <<"  decideBrake:"<<decition->brake
+                <<"  decition mode:"<<decition->mode
+        <<std::endl;
+    std::cout<<"========================================="<<std::endl;
+
+    givlog->verbose("torque_st: %ld",ServiceCarStatus.torque_st);
+     givlog->verbose("decideTorque: %ld",decition->torque);
+     givlog->verbose("decideBrake: %ld", decition->brake);
+     givlog->debug("wheelAng: %f",decition->wheel_angle);
+
+   //  xdecition.set_wheelangle(100);
+    static qint64 oldtime;
+
+    if((QDateTime::currentMSecsSinceEpoch() - oldtime)>100)
+    {
+        givlog->warn("brain interval is more than 100ms.  value is %ld",QDateTime::currentMSecsSinceEpoch() - oldtime);
+    }
+
+    givlog->verbose("decition time is %ld",QDateTime::currentMSecsSinceEpoch());
+    oldtime = QDateTime::currentMSecsSinceEpoch();
+
+
+    givlog->verbose("torque %f wheel %f dangwei %d ",decition->torque,
+                    decition->wheel_angle,decition->dangWei);
+    int nsize = xdecition.ByteSize();
+    char * str = new char[nsize];
+    std::shared_ptr<char> pstr;
+    pstr.reset(str);
+    if(xdecition.SerializeToArray(str,nsize))
+    {
+        if(ServiceCarStatus.mbRunPause == false)
+        {
+
+            iv::modulecomm::ModuleSendMsg(mpaDecition,str,nsize);
+        }
+    }
+    else
+    {
+        std::cout<<"iv::decition::BrainDecition::ShareDecition serialize error."<<std::endl;
+    }
+}
+
+void iv::decition::BrainDecition::ShareBrainstate(iv::brain::brainstate xbs)
+{
+    int nsize = xbs.ByteSize();
+    char * str = new char[nsize];
+    std::shared_ptr<char> pstr;
+    pstr.reset(str);
+    if(xbs.SerializeToArray(str,nsize))
+    {
+        iv::modulecomm::ModuleSendMsg(mpaVechicleState,str,nsize);
+    }
+    else
+    {
+        std::cout<<"iv::decition::BrainDecition::ShareBrainstate serialize error."<<std::endl;
+    }
+}
+
+void iv::decition::BrainDecition::UpdateHMI(const char *pdata, const int ndatasize)
+{
+    if(ndatasize < sizeof(iv::hmi::HMIBasic))return;
+
+    iv::hmi::hmimsg xhmimsg;
+    if(!xhmimsg.ParseFromArray(pdata,ndatasize))
+    {
+        givlog->error("iv::decition::BrainDecition::UpdateHMI parse error");
+        return;
+    }
+
+    ServiceCarStatus.mbRunPause = xhmimsg.mbpause();
+
+    if(xhmimsg.mbbochemode()){
+         ServiceCarStatus.bocheMode = true;
+    }
+    ServiceCarStatus.busmode = xhmimsg.mbbusmode();
+
+    if( ServiceCarStatus.bocheMode ){
+        int a=0;
+    }
+
+    bool bRun;
+    bRun = !ServiceCarStatus.mbRunPause;
+
+    //    mpasd->SaveState("runstate",(char *)&bRun,sizeof(bool));
+
+}
+
+void iv::decition::BrainDecition::UpdatePAD(const char *pdata, const int ndatasize)
+{
+//    if(ndatasize < sizeof(iv::hmi::HMIBasic))return;
+
+    iv::hmi::hmimsg xhmimsg;
+    if(!xhmimsg.ParseFromArray(pdata,ndatasize))
+    {
+        givlog->error("iv::decition::BrainDecition::UpdateHMI parse error");
+        return;
+    }
+
+    ServiceCarStatus.mbRunPause = xhmimsg.mbpause();
+
+    if(xhmimsg.mbbochemode()){
+         ServiceCarStatus.bocheMode = true;
+    }
+    ServiceCarStatus.busmode = xhmimsg.mbbusmode();
+
+    if( ServiceCarStatus.bocheMode ){
+        int a=0;
+    }
+
+    bool bRun;
+    bRun = !ServiceCarStatus.mbRunPause;
+
+    //    mpasd->SaveState("runstate",(char *)&bRun,sizeof(bool));
+
+}
+
+void iv::decition::BrainDecition::UpdatePlatform(const char *pdata, const int ndatasize)
+{
+    if(ndatasize < sizeof(iv::platform::PlatFormMsg))return;
+
+    iv::platform::PlatFormMsg x;
+    memcpy(&x,pdata,sizeof(iv::platform::PlatFormMsg));
+    ServiceCarStatus.carState = x.carState;	// 0:停车	1:正常循迹	2:前往站点
+    std::cout<<"car state "<<ServiceCarStatus.carState<<std::endl;
+    ServiceCarStatus.istostation = x.istostation;
+    ServiceCarStatus.currentstation = x.currentstation;
+    ServiceCarStatus.clientto = x.clientto;
+    ServiceCarStatus.amilng = x.amilng;
+    ServiceCarStatus.amilat = x.amilat;
+
+}
+
+void iv::decition::BrainDecition::UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    iv::chassis xchassis;
+    static int ncount = 0;
+    if(!xchassis.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
+        return;
+    }
+
+    ServiceCarStatus.epb = xchassis.epbfault();
+    ServiceCarStatus.grade = xchassis.shift();
+    ServiceCarStatus.driverMode = xchassis.drivemode();
+    if(xchassis.has_epsmode()){
+        ServiceCarStatus.epsMode = xchassis.epsmode();
+        ServiceCarStatus.receiveEps=true;
+        if(ServiceCarStatus.epsMode == 0)
+        {
+            ServiceCarStatus.mbRunPause = true;
+        }
+    }
+    if(xchassis.has_torque())
+    {
+         ServiceCarStatus.torque_st = xchassis.torque();
+        if(ServiceCarStatus.msysparam.mvehtype=="bus"){
+            ServiceCarStatus.torque_st = xchassis.torque()*0.4;
+        }
+         std::cout<<"******* xchassis.torque:"<< xchassis.torque()<<std::endl;
+        std::cout<<"******* ServiceCarStatus.torque_st:"<< ServiceCarStatus.torque_st<<std::endl;
+        givlog->warn(" ServiceCarStatus.torque_st: is %f",ServiceCarStatus.torque_st);
+
+    }
+
+    if(xchassis.has_engine_speed())
+    {
+         ServiceCarStatus.engine_speed = xchassis.engine_speed();
+
+         std::cout<<"******* xchassis.engine_speed:"<< xchassis.engine_speed()<<std::endl;
+
+
+    }
+    //    if(xchassis.epsmode() == 1)
+    //    {
+    //        ncount++;
+    ////        if(ncount > 10)ServiceCarStatus.mbRunPause = true;
+    //    }
+    //    else
+    //    {
+    //        ncount = 0;
+    //    }
+}
+
+void iv::decition::BrainDecition::UpdateGroupInfo(const char *pdata, const int ndatasize){
+
+    iv::radio::radio_send group_message;
+    if(false == group_message.ParseFromArray(pdata,ndatasize))
+    {
+        std::cout<<"Listencansend Parse fail."<<std::endl;
+        return;
+    }
+    ServiceCarStatus.group_server_status = group_message.server_status();
+    ServiceCarStatus.group_comm_speed= (float)group_message.car_control_speed();
+    ServiceCarStatus.group_state= group_message.cmd_mode();
+
+    qDebug("updateGroupInfo %ld",QDateTime::currentMSecsSinceEpoch());
+    if(ServiceCarStatus.group_state!=2){
+        ServiceCarStatus.group_comm_speed=0;
+    }
+    qDebug("serverSt: %d, speed: %f, state: %d", ServiceCarStatus.group_server_status, ServiceCarStatus.group_comm_speed, ServiceCarStatus.group_state);
+
+
+}
+
+void iv::decition::BrainDecition::UpdateVbox(const char *pdata, const int ndatasize){
+
+    iv::vbox::vbox group_message;
+    if(false == group_message.ParseFromArray(pdata,ndatasize))
+    {
+        std::cout<<"Listencansend Parse fail."<<std::endl;
+        return;
+    }
+
+//  解析box信息
+//    ServiceCarStatus.group_server_status = group_message.server_status();
+//    ServiceCarStatus.group_comm_speed= (float)group_message.car_control_speed();
+//    ServiceCarStatus.group_state= group_message.cmd_mode();
+
+
+    trafficLight.leftColor=group_message.st_left();
+    trafficLight.rightColor=group_message.st_right();
+    trafficLight.straightColor=group_message.st_straight();
+    trafficLight.uturnColor=group_message.st_turn();
+    trafficLight.leftTime=group_message.time_left();
+    trafficLight.rightTime=group_message.time_right();
+    trafficLight.straightTime=group_message.time_straight();
+    trafficLight.uturnTime=group_message.time_turn();
+
+
+
+}
+
+void iv::decition::BrainDecition::Updatev2x(const char *pdata, const int ndatasize){
+
+    iv::v2x::v2x v2x_message;
+    if(false == v2x_message.ParseFromArray(pdata,ndatasize))
+    {
+        std::cout<<"Listenv2x fail."<<std::endl;
+        return;
+    }
+
+//  解析v2x信息
+    ServiceCarStatus.stationCmd.received=true;
+
+    ServiceCarStatus.stationCmd.has_carID=v2x_message.has_carid();
+    if(ServiceCarStatus.stationCmd.has_carID)
+    {
+            ServiceCarStatus.stationCmd.carID=v2x_message.carid();
+    }
+
+    ServiceCarStatus.stationCmd.has_carMode=v2x_message.has_carmode();
+    if(ServiceCarStatus.stationCmd.has_carMode)
+    {
+            ServiceCarStatus.stationCmd.carMode=v2x_message.carmode();
+
+            qDebug("ServiceCarStatus.stationCmd.carMode:",ServiceCarStatus.stationCmd.carMode);
+            givlog->debug("brain_v2x","ServiceCarStatus.stationCmd.carMode:%d",ServiceCarStatus.stationCmd.carMode);
+    }
+
+    ServiceCarStatus.stationCmd.has_emergencyStop=v2x_message.has_emergencystop();
+    if(ServiceCarStatus.stationCmd.has_emergencyStop)
+    {
+            ServiceCarStatus.stationCmd.emergencyStop=v2x_message.emergencystop();
+
+            qDebug("ServiceCarStatus.stationCmd.emergencyStop:",ServiceCarStatus.stationCmd.emergencyStop);
+            givlog->debug("brain_v2x","ServiceCarStatus.stationCmd.emergencyStop:%d",ServiceCarStatus.stationCmd.emergencyStop);
+    }
+
+    ServiceCarStatus.stationCmd.has_stationStop=v2x_message.has_stationstop();
+    if(ServiceCarStatus.stationCmd.has_stationStop)
+    {
+            ServiceCarStatus.stationCmd.stationStop=v2x_message.stationstop();
+
+            qDebug("ServiceCarStatus.stationCmd.stationStop:",ServiceCarStatus.stationCmd.stationStop);
+            givlog->debug("brain_v2x","ServiceCarStatus.stationCmd.stationStop:%d",ServiceCarStatus.stationCmd.stationStop);
+    }
+    int num=v2x_message.stationid_size();
+    if(num>0)
+    {
+        ServiceCarStatus.stationCmd.stationTotalNum=num;
+        for(int i=0;i<ServiceCarStatus.stationCmd.stationTotalNum;i++)
+        {
+            ServiceCarStatus.stationCmd.stationGps[i].gps_lat=v2x_message.stgps(i).lat();
+            ServiceCarStatus.stationCmd.stationGps[i].gps_lng=v2x_message.stgps(i).lon();
+
+            qDebug("stationGps: %d, lat: %.7f, lon: %.7f", v2x_message.stationid(i), ServiceCarStatus.stationCmd.stationGps[i].gps_lat, ServiceCarStatus.stationCmd.stationGps[i].gps_lng);
+            givlog->debug("brain_v2x","stationGps: %d, lat: %.7f, lon: %.7f",
+                           v2x_message.stationid(i),ServiceCarStatus.stationCmd.stationGps[i].gps_lat,
+                          ServiceCarStatus.stationCmd.stationGps[i].gps_lng);
+        }
+        ServiceCarStatus.mbRunPause=false;
+    }
+
+}
+
+void iv::decition::BrainDecition::Updateultra(const char *pdata, const int ndatasize)
+{
+    iv::ultrasonic::ultrasonic ultraarry;
+    if(false == ultraarry.ParseFromArray(pdata,ndatasize))
+    {
+        std::cout<<"Listenultra fail."<<std::endl;
+        return;
+    }
+
+    ServiceCarStatus.ultraDistance[1]=ultraarry.sigobjdist_flcorner();
+    ServiceCarStatus.ultraDistance[2]=ultraarry.sigobjdist_flmiddle();
+    ServiceCarStatus.ultraDistance[3]=ultraarry.sigobjdist_flside();
+    ServiceCarStatus.ultraDistance[4]=ultraarry.sigobjdist_frcorner();
+    ServiceCarStatus.ultraDistance[5]=ultraarry.sigobjdist_frmiddle();
+    ServiceCarStatus.ultraDistance[6]=ultraarry.sigobjdist_frside();
+    ServiceCarStatus.ultraDistance[7]=ultraarry.sigobjdist_rlcorner();
+    ServiceCarStatus.ultraDistance[8]=ultraarry.sigobjdist_rlmiddle();
+    ServiceCarStatus.ultraDistance[9]=ultraarry.sigobjdist_rlside();
+    ServiceCarStatus.ultraDistance[10]=ultraarry.sigobjdist_rrcorner();
+    ServiceCarStatus.ultraDistance[11]=ultraarry.sigobjdist_rrmiddle();
+    ServiceCarStatus.ultraDistance[12]=ultraarry.sigobjdist_rrside();
+}
+
+
+void iv::decition::BrainDecition::UpdateSate(){
+     decitionGps00->isFirstRun=true;
+}
+
+void iv::decition::BrainDecition::adjuseGpsLidarPosition(){
+
+    ServiceCarStatus.msysparam.lidarGpsXiuzheng -=  ServiceCarStatus.msysparam.gpsOffset_y;
+    ServiceCarStatus.msysparam.radarGpsXiuzheng -=  ServiceCarStatus.msysparam.gpsOffset_y;
+    ServiceCarStatus.msysparam.rearRadarGpsXiuzheng +=  ServiceCarStatus.msysparam.gpsOffset_y;
+    ServiceCarStatus.msysparam.rearLidarGpsXiuzheng +=  ServiceCarStatus.msysparam.gpsOffset_y;
+    ServiceCarStatus.msysparam.frontGpsXiuzheng -=  ServiceCarStatus.msysparam.gpsOffset_y;
+    ServiceCarStatus.msysparam.rearGpsXiuzheng +=  ServiceCarStatus.msysparam.gpsOffset_y;
+}

src/decition/decition_brain/decision/brain.h

@@ -0,0 +1,176 @@
+#pragma once
+/*
+* 中央决策大脑
+*/
+
+#ifndef _IV_DECITION_BRAIN_
+#define _IV_DECITION_BRAIN_
+
+#include <common/boost.h>
+#include <common/gps_type.h>
+//#include <control/controller.h>
+//#include <control/can.h>
+#include <perception/eyes.h>
+#include <decision/decition_maker.h>
+//#include <decition/decition_executer.h>
+#include <decision/decition_voter.h>
+#include <decision/decide_gps_00.h>
+#include <decision/decide_line_00.h>
+#include <decision/adc_tools/compute_00.h>
+#include <perception/sensor.h>
+#include <perception/sensor_camera.h>
+#include <perception/sensor_gps.h>
+#include<perception/sensor_lidar.h>
+#include<perception/sensor_radar.h>
+//#include <server/carcalling.h>
+//#include "adcivstatedb.h"
+
+//#include "decition/vehiclestate_type.h"
+#include "common/hmi_type.h"
+#include "common/platform_type.h"
+#include"common/gps_type.h"
+
+#include <QMutex>
+#include <QTime>
+#include <memory>
+
+#include "brainstate.pb.h"
+#include "decition.pb.h"
+#include "mapreq.pb.h"
+#include "chassis.pb.h"
+#include "hmi.pb.h"
+#include "radio_send.pb.h"
+#include "ivlog.h"
+#include "formation_map.pb.h"
+#include "vbox.pb.h"
+#include "v2x.pb.h"
+#include "ultrasonic.pb.h"
+
+#include "fanyaapi.h"
+
+namespace iv {
+    namespace decition {
+		class BrainDecition
+		{
+		public:
+			BrainDecition();
+			~BrainDecition();
+
+
+            void inialize();/* 初始化*/
+
+
+            bool loadMapFromFile(std::string fileName);/* 加载地图*/
+			bool loadMapFromFile2(std::string fileName);
+			bool loadMapFromFile3(std::string fileName);
+			bool loadMapFromFile4(std::string fileName);
+
+
+            void start();/* 启动大脑*/
+			void stop();	//关闭
+
+			std::vector<iv::GPSData> navigation_data;	//导航数据，GPS结构体数组
+			std::vector<iv::GPSData> navigation_data2;	//导航数据，GPS结构体数组2
+			std::vector<iv::GPSData> navigation_data3;	//导航数据，GPS结构体数组3
+			std::vector<iv::GPSData> navigation_data4;	//导航数据，GPS结构体数组4
+			std::vector<iv::ObsRadar> radar_data;
+			std::vector<iv::ObsRadar> lidar_data;
+			std::vector<iv::ObsRadar> camera_data;
+		/*	std::vector<std::vector<iv::GPSData>> mapsL;
+			std::vector<std::vector<iv::GPSData>> mapsR;*/
+
+            double decision_period = 0.0;
+            double look1 = 0.0;
+            double look2 = 0.0;
+            double look3 = 0.0;
+            double look4 = 0.0;
+            double look5 = 0.0;
+            double look6 = 0.0;
+            double look7 = 0.0;
+
+            void UpdateMap(const char * mapdata,const int mapdatasize);
+		private:
+		//	iv::perception::Eyes* eyes;							//眼睛
+ //           iv::carcalling::carcalling* carcall;
+			iv::perception::Eyes* eyes;
+            iv::decition::DecitionMaker* decitionMaker;			//决策器
+            iv::decition::DecitionVoter* decitionVoter;			//决策仲裁 判断器
+//			iv::decition::DecitionExecuter* decitionExecuter;	//决策执行器
+
+            iv::decition::DecideGps00* decitionGps00;			//决策器
+              iv::decition::DecideLine00* decitionLine00;
+
+//			boost::shared_ptr<iv::control::Controller> controller;	//实际车辆控制器
+
+			boost::thread* thread_run;
+			
+			iv::ObsLiDAR obs_lidar_;		//激光雷达障碍物
+			iv::ObsRadar obs_radar_;		//毫米波雷达障碍物
+			//iv::ObsCamera obs_camera_;		//摄像头障碍物
+			iv::CameraInfoPtr obs_camera_;
+//			iv::GPSData gps_data_;			//gps 惯导数据
+			iv::LidarGridPtr obs_lidar_grid_;//激光雷达网格化
+            iv::LidarGridPtr old_obs_lidar_grid_;//激光雷达网格化
+            iv::TrafficLight trafficLight;
+            //iv::StationCmd   stationCmd;
+            int lastMode;
+            bool lastPause;
+
+			void run();	//实际执行逻辑
+
+            void * mpamapreq;
+            void * mpa;
+            void * mpvbox;
+            QMutex mMutexMap;
+
+            void * mpaDecition;
+            void * mpaVechicleState;
+            void * mpaToPlatform;
+            void * mpaPlanTrace;
+            void * mpaObsTraceLeft;
+            void * mpaObsTraceRight;
+
+
+            void ShareDecition(iv::decition::Decition decition);
+            void ShareBrainstate(iv::brain::brainstate xbs);
+
+        private:
+            void * mpaPAD;
+            void * mpaHMI;
+            void * mpaPlatform;
+            void *mpaGroup;
+            void * mpmapChangeSig;
+            void * v2x;
+            void * ultra;
+            std::string mstrmemmap_index;
+
+            int mnOldTime;
+            QTime mTime;
+            double mfSpeedLast;
+            double mfVehSpeedLast;
+
+
+        public:
+            void UpdatePAD(const char *pdata, const int ndatasize);
+            void UpdateHMI(const char * pdata,const int ndatasize);
+            void UpdatePlatform(const char * pdata,const int ndatasize);
+            void UpdateGroupInfo(const char * pdata,const int ndatasize);
+            void UpdateSate();
+            void UpdateVbox(const char * pdata,const int ndatasize);
+            void Updatev2x(const char * pdata,const int ndatasize);
+            void Updateultra(const char * pdata,const int ndatasize);
+
+        private:
+//            Adcivstatedb * mpasd;
+            void UpdateChassis(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
+            void adjuseGpsLidarPosition();
+
+            fanyaapi mmpcapi;
+
+            bool mbUseExternMPC = false;
+        };
+
+    }
+}
+
+#endif // !_IV_DECITION_BRAIN_

src/decition/decition_brain/decision/compute_00.cpp

@@ -0,0 +1,1843 @@
+#include <decition/compute_00.h>
+#include <decition/decide_gps_00.h>
+#include <decition/gps_distance.h>
+#include <decition/decition_type.h>
+#include <decition/transfer.h>
+#include <common/constants.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+//#include <control/radar_exam.h>
+#include <control/can.h>
+using namespace std;
+
+#define PI (3.1415926535897932384626433832795)
+
+iv::decition::Compute00::Compute00() {
+
+}
+iv::decition::Compute00::~Compute00() {
+
+}
+
+
+double iv::decition::Compute00::angleLimit = 700;
+double iv::decition::Compute00::lastEA = 0;
+double iv::decition::Compute00::lastEP = 0;
+double iv::decition::Compute00::decision_Angle = 0;
+double iv::decition::Compute00::lastAng = 0;
+int iv::decition::Compute00::lastEsrID = -1;
+int  iv::decition::Compute00::lastEsrCount = 0;
+int iv::decition::Compute00::lastEsrIDAvoid = -1;
+int  iv::decition::Compute00::lastEsrCountAvoid = 0;
+
+iv::GPS_INS  iv::decition::Compute00::nearTpoint;
+iv::GPS_INS  iv::decition::Compute00::farTpoint;
+double  iv::decition::Compute00::bocheAngle;
+
+
+
+iv::GPS_INS  iv::decition::Compute00::dTpoint0;
+iv::GPS_INS  iv::decition::Compute00::dTpoint1;
+iv::GPS_INS  iv::decition::Compute00::dTpoint2;
+iv::GPS_INS  iv::decition::Compute00::dTpoint3;
+double  iv::decition::Compute00::dBocheAngle;
+
+
+std::vector<int> lastEsrIdVector;
+std::vector<int> lastEsrCountVector;
+
+int iv::decition::Compute00::getNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle)
+{
+    int index = -1;
+    //	DecideGps00().minDis = iv::MaxValue;
+    DecideGps00().minDis = 20;
+    DecideGps00().maxAngle = iv::MaxValue;
+
+    int startIndex = max((lastIndex - 500), 0);     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = min((gpsMap.size() - 1), (size_t)(lastIndex + 2000 + 100 * (gpsMissCount + 1)));
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        double tmpdis = GetDistance(rp, (*gpsMap[i]));
+
+        if (tmpdis < DecideGps00().minDis && (abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle) < 80
+                                              || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360) < 80
+                                              || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360) < 80)
+                )
+        {
+            index = i;
+            DecideGps00().minDis = tmpdis;
+            DecideGps00().maxAngle = min(abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle), abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360));
+            DecideGps00().maxAngle = min(DecideGps00().maxAngle, abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360));
+        }
+    }
+    /*if (index == -1) {
+        index = 0;
+    }*/
+    return index;
+}
+
+
+//首次找点
+
+int iv::decition::Compute00::getFirstNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle)
+{
+    int index = -1;
+    //	DecideGps00().minDis = iv::MaxValue;
+    DecideGps00().minDis = 40;
+    DecideGps00().maxAngle = iv::MaxValue;
+
+    int startIndex = 0;     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = gpsMap.size() - 1;
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        double tmpdis = GetDistance(rp, (*gpsMap[i]));
+
+        if (tmpdis < DecideGps00().minDis && (abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle) < 80
+                                              || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360) < 80
+                                              || abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360) < 80)
+                )
+        {
+            index = i;
+            DecideGps00().minDis = tmpdis;
+            DecideGps00().maxAngle = min(abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle), abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360));
+            DecideGps00().maxAngle = min(DecideGps00().maxAngle, abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360));
+        }
+    }
+    /*if (index == -1) {
+        index = 0;
+    }*/
+    return index;
+}
+
+
+
+
+
+double iv::decition::Compute00::getAveDef(std::vector<Point2D> farTrace)
+{
+    double sum_x = 0;
+    double sum_y = 0;
+
+    for (int i = 0; i < min(5, (int)farTrace.size()); i++)
+    {
+        sum_x += farTrace[i].x;
+        sum_y += abs(farTrace[i].y);
+    }
+    double average_y = sum_y / min(5, (int)farTrace.size());
+    double average_x = sum_x / min(5, (int)farTrace.size());
+
+
+    return atan(average_x / average_y) / PI * 180;
+}
+
+
+
+double iv::decition::Compute00::getAvoidAveDef(std::vector<Point2D> farTrace, double avoidX)
+{
+    double sum_x = 0;
+    double sum_y = 0;
+
+    for (int i = 0; i < min(5, (int)farTrace.size()); i++)
+    {
+        sum_x += farTrace[i].x;
+        sum_y += abs(farTrace[i].y);
+    }
+    double average_y = sum_y / min(5, (int)farTrace.size());
+    double average_x = sum_x / min(5, (int)farTrace.size());
+
+
+    return atan(average_x + avoidX / average_y) / PI * 180;
+}
+
+
+
+
+
+
+double iv::decition::Compute00::getDecideAngle(std::vector<Point2D>  gpsTrace, double realSpeed) {
+
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+
+    //   double KEang = 14, KEPos = 10, DEang = 3, DEPos = 1;  // double KEang = 14, KEPos = 10, DEang = 10, DEPos = 10;
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0;
+
+    if(transferPieriod&& !transferPieriod2){
+        DEang = 200;
+        DEPos = 150;
+    }
+
+    //   double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+    double PreviewDistance;//预瞄距离
+    realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+    if(changeRoad ||transferPieriod){
+        PreviewDistance=PreviewDistance+avoidX;
+    }
+    if(realSpeed <15){
+        PreviewDistance = max(4.0, realSpeed *0.4) ;
+    }
+
+    if (gpsTrace[0].v1 == 1)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 2 || gpsTrace[0].v1 == 3)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 4 || gpsTrace[0].v1 == 5)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 7 && (gpsTrace[0].v2 == 23 || gpsTrace[0].v2 == 24))
+    {
+        KEang = 18; KEPos = 50; PreviewDistance = 3;
+    }
+    else if (gpsTrace[0].v1 == 7)
+    {
+        KEang = 20; KEPos = 50; PreviewDistance = 4;
+    }
+
+
+    if (realSpeed > 40)	KEang = 10; KEPos = 8;
+    if (realSpeed > 50) KEang = 5;
+
+    double sumdis = 0;
+    int gpsIndex = 0;
+    std::vector<Point2D> farTrace;
+
+
+
+
+
+
+    for (int i = 1; i < gpsTrace.size() - 1; i++)
+    {
+        sumdis += GetDistance(gpsTrace[i - 1], gpsTrace[i]);
+        if (sumdis > PreviewDistance)
+        {
+            gpsIndex = i;
+            break;
+        }
+    }
+
+
+
+
+    EPos = gpsTrace[gpsIndex].x;
+
+    for (unsigned int i = max(0, gpsIndex - 3); i < min((size_t)(gpsIndex + 3), gpsTrace.size()); i++) {
+        farTrace.push_back(gpsTrace[gpsIndex]);
+    }
+    if (farTrace.size() == 0) {
+        EAng = 0;
+    }
+    else {
+        EAng = getAveDef(farTrace);
+    }
+
+    ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP);
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    if (ang > angleLimit) {
+        ang = angleLimit;
+    }
+    else if (ang < -angleLimit) {
+        ang = -angleLimit;
+    }
+    if (lastAng != iv::MaxValue) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+        //ODS("lastAng：%d\n", lastAng);
+    }
+    lastAng = ang;
+    return ang;
+}
+
+
+
+
+int  iv::decition::Compute00::getSpeedPointIndex(std::vector<Point2D> gpsTrace, double realSpeed)
+{
+    int index = 1;
+    double sumdis = 0;
+    while (index < gpsTrace.size() && sumdis < realSpeed)
+        sumdis += GetDistance(gpsTrace[index - 1], gpsTrace[index++]);
+
+    if (index == gpsTrace.size())
+        return index - 1;
+
+    if (abs(sumdis - realSpeed) > abs(sumdis - GetDistance(gpsTrace[index - 1], gpsTrace[index]) - realSpeed))
+        index--;
+    return index;
+}
+
+iv::Point2D iv::decition::Compute00::getLidarObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr) {
+
+    iv::Point2D obsPoint(-1, -1);
+    vector<Point2D> gpsTraceLeft;
+    vector<Point2D> gpsTraceRight;
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (unsigned int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        Point2D ptLeft(carFrontx + Veh_Width / 2 * cos(anglevalue + PI / 2),
+                       carFronty + Veh_Width / 2 * sin(anglevalue + PI / 2));
+
+        Point2D ptRight(carFrontx + Veh_Width / 2 * cos(anglevalue - PI / 2),
+                        carFronty + Veh_Width / 2 * sin(anglevalue - PI / 2));
+
+        gpsTraceLeft.push_back(ptLeft);
+        gpsTraceRight.push_back(ptRight);
+
+    }
+
+
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        if (!isRemove && gpsTrace[j].y>2.5 )
+        {
+            int count = 0;
+
+            for (double length = 0; length <= Veh_Width; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / Veh_Width * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / Veh_Width * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;  //+(ptx / abs(ptx))) / 2左右多出一半的车宽（1米）
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+                int dy = (pty + gridwide*(double)centery)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            j++;
+
+            for (double length = 0; length <= Veh_Width; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / Veh_Width * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / Veh_Width * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+                int dy = (pty + gridwide*(double)centery)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            if (count >= 2)
+            {
+                obsPoint.x = gpsTrace[j].x;
+                obsPoint.y = gpsTrace[j].y;
+
+                isRemove = true;
+                //		DecideGps00().lidarDistance = obsPoint.y;
+                return obsPoint;
+            }
+        }
+    }
+    //	DecideGps00().lidarDistance = obsPoint.y;
+    return obsPoint;
+}
+
+//1220
+iv::Point2D iv::decition::Compute00::getLidarRearObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr) {
+
+    iv::Point2D obsPoint(-1, -1);
+    vector<Point2D> gpsTraceLeft;
+    vector<Point2D> gpsTraceRight;
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (unsigned int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        Point2D ptLeft(carFrontx + (Veh_Width-0.3) / 2 * cos(anglevalue + PI / 2),
+                       carFronty + (Veh_Width-0.3) / 2 * sin(anglevalue + PI / 2));
+
+        Point2D ptRight(carFrontx + (Veh_Width-0.3) / 2 * cos(anglevalue - PI / 2),
+                        carFronty + (Veh_Width-0.3) / 2 * sin(anglevalue - PI / 2));
+
+        gpsTraceLeft.push_back(ptLeft);
+        gpsTraceRight.push_back(ptRight);
+
+    }
+
+
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        if (!isRemove && gpsTrace[j].y<-1.0 )
+        {
+            int count = 0;
+
+            for (double length = 0; length <= Veh_Width; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / Veh_Width * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / Veh_Width * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;  //+(ptx / abs(ptx))) / 2左右多出一半的车宽（1米）
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+
+                dx=grx-dx;//1227
+
+                int dy = (pty + gridwide*(double)centery)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            j++;
+
+            for (double length = 0; length <= Veh_Width; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / Veh_Width * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / Veh_Width * length;
+
+                //				int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;
+                //				int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+                int dx = (ptx + gridwide*(double)centerx)/gridwide;
+
+                dx=grx-dx;//1227
+                int dy = (pty + gridwide*(double)centery)/gridwide;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    //					if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    if (lidarGridPtr[dx * (iv::gry) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            if (count >= 2)
+            {
+                obsPoint.x = gpsTrace[j].x;
+                obsPoint.y = gpsTrace[j].y;
+
+                isRemove = true;
+                //		DecideGps00().lidarDistance = obsPoint.y;
+                return obsPoint;
+            }
+        }
+    }
+    //	DecideGps00().lidarDistance = obsPoint.y;
+    return obsPoint;
+}
+
+
+iv::Point2D iv::decition::Compute00::getLidarObsPointAvoid(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr) {
+
+    iv::Point2D obsPoint(-1, -1);
+    vector<Point2D> gpsTraceLeft;
+    vector<Point2D> gpsTraceRight;
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (unsigned int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        //1127 fanwei xiuzheng
+        float buchang=0;
+        Point2D ptLeft(carFrontx + (Veh_Width+(buchang)*2) / 2 * cos(anglevalue + PI / 2),
+                       carFronty +  (Veh_Width+(buchang)*2) / 2 * sin(anglevalue + PI / 2));
+
+        Point2D ptRight(carFrontx +  (Veh_Width+(buchang)*2) / 2 * cos(anglevalue - PI / 2),
+                        carFronty +  (Veh_Width+(buchang)*2) / 2 * sin(anglevalue - PI / 2));
+
+        gpsTraceLeft.push_back(ptLeft);
+        gpsTraceRight.push_back(ptRight);
+
+    }
+
+
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        if (!isRemove && gpsTrace[j].y>2.5 && gpsTraceLeft[j].y>2.5 && gpsTraceRight[j].y>2.5)
+        {
+            int count = 0;
+
+            for (double length = 0; length <= Veh_Width; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / Veh_Width * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / Veh_Width * length;
+
+                int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;  //*2左右多出一半的车宽（1米）
+                int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            j++;
+
+            for (double length = 0; length <= Veh_Width; length += 0.4)
+            {
+                double ptx = gpsTraceLeft[j].x + (gpsTraceRight[j].x - gpsTraceLeft[j].x) / Veh_Width * length;
+                double pty = gpsTraceLeft[j].y + (gpsTraceRight[j].y - gpsTraceLeft[j].y) / Veh_Width * length;
+
+                int dx = (int)(ptx / gridwide * 2 + (ptx / abs(ptx))) / 2 + centerx;
+                int dy = (int)(pty / gridwide * 2 + (pty / abs(pty))) / 2 + centery;
+
+                if (dx >= 0 && dx <grx && dy >= 0 && dy < gry)
+                {
+                    if (lidarGridPtr[dx * (iv::gry + 1) + dy].ob != 0)
+                    {
+                        count++; obsPoint.x = ptx; obsPoint.y = pty;
+                    }
+                }
+            }
+
+            if (count >= 2)
+            {
+                obsPoint.x = gpsTrace[j].x;
+                obsPoint.y = gpsTrace[j].y;
+
+                isRemove = true;
+                DecideGps00().lidarDistanceAvoid = obsPoint.y;
+                return obsPoint;
+            }
+        }
+    }
+    //	DecideGps00().lidarDistanceAvoid = obsPoint.y;
+
+    return obsPoint;
+}
+
+
+
+
+//int  iv::decition::Compute00::getEsrIndex(std::vector<Point2D> gpsTrace, std::vector<ObstacleBasic> esrRadars) {
+//	bool isRemove = false;
+//
+//	for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+//	{
+//
+//		for (int i = 0; i < esrRadars.size(); i++)
+//			if ((esrRadars[i].nomal_y) != 0)
+//			{
+//				double xxx = esrRadars[i].nomal_x + Esr_Offset;
+//				double yyy = esrRadars[i].nomal_y;
+//
+//				if (abs(xxx - gpsTrace[j].x) <= 3.0*Veh_Width / 4.0 && abs(yyy - (gpsTrace[j].y)) <= 1)
+//				{
+//
+//					if (lastEsrID == (esrRadars[i]).esr_ID)
+//					{
+//						lastEsrCount++;
+//					}
+//					else
+//					{
+//						lastEsrCount = 0;
+//					}
+//
+//					if (lastEsrCount >= 3)
+//					{
+//						return i;
+//					}
+//
+//					lastEsrID = (esrRadars[i]).esr_ID;
+//				}
+//			}
+//	}
+//	return -1;
+//}
+
+
+
+
+int  iv::decition::Compute00::getEsrIndex(std::vector<Point2D> gpsTrace,int roadNum,int *esrPathpoint) {
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        for (int i = 0; i < 64; i++)
+            if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_radar[i].valid))
+            {
+                double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+                double yyy = ServiceCarStatus.obs_radar[i].nomal_y+ Esr_Y_Offset;
+
+                /*ODS("\nESR毫米波检测物体X距离:%f\n", xxx);
+                ODS("\nESR毫米波检测物体Y距离:%f\n", yyy);*/
+
+//优化
+//                if(sqrt((xxx - gpsTrace[j].x)*(xxx - gpsTrace[j].x) + (yyy - gpsTrace[j].y)*(yyy - gpsTrace[j].y)) < (1.0*Veh_Width / 2.0+DecideGps00().xiuzhengCs)){
+//                    *esrPathpoint = j;
+//                    return i;
+//                }
+
+
+                if (abs(xxx - gpsTrace[j].x) <= (3.0*Veh_Width / 4.0+DecideGps00().xiuzhengCs) && abs(yyy - (gpsTrace[j].y)) <= 1)
+                {
+
+                    if (lastEsrID == i)
+                    {
+                        lastEsrCount++;
+                    }
+                    else
+                    {
+                        lastEsrCount = 0;
+                    }
+
+                    if(yyy>50 ){
+                        if (lastEsrCount >=200)
+                        {
+                            return i;
+                        }
+                    }
+                    else if (lastEsrCount >= 1)
+                    {
+                        return i;
+                    }
+
+                    lastEsrID = i;
+                }
+            }
+    }
+    return -1;
+}
+
+//int  iv::decition::Compute00::getEsrIndex(std::vector<Point2D> gpsTrace,int roadNum) {
+//    bool isRemove = false;
+
+//    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+//    {
+
+//        for (int i = 0; i < 64; i++)
+//            if ((examed_obs_radar[i].nomal_y) != 0 && (examed_obs_radar[i].valid))
+//            {
+//                double xxx = examed_obs_radar[i].nomal_x + Esr_Offset;
+//                double yyy = examed_obs_radar[i].nomal_y+ Esr_Y_Offset;
+
+//                /*ODS("\nESR毫米波检测物体X距离:%f\n", xxx);
+//                ODS("\nESR毫米波检测物体Y距离:%f\n", yyy);*/
+
+
+//                if (abs(xxx - gpsTrace[j].x) <= 3.0*Veh_Width / 4.0 && abs(yyy - (gpsTrace[j].y)) <= 1)
+//                {
+
+//                    if (lastEsrID == i)
+//                    {
+//                        lastEsrCount++;
+//                    }
+//                    else
+//                    {
+//                        lastEsrCount = 0;
+//                    }
+
+//                    if(yyy>50 ){
+//                        if (lastEsrCount >=200)
+//                        {
+//                            return i;
+//                        }
+//                    }
+//                    else if (lastEsrCount >= 3)
+//                    {
+//                        return i;
+//                    }
+
+//                    lastEsrID = i;
+//                }
+//            }
+//    }
+//    return -1;
+//}
+
+
+
+int  iv::decition::Compute00::getEsrIndexAvoid(std::vector<Point2D> gpsTrace) {
+    bool isRemove = false;
+
+    for (int j = 1; j < gpsTrace.size() - 1 && !isRemove; j++)
+    {
+
+        for (int i = 0; i < 64; i++)
+            if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_radar[i].valid))
+            {
+                double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+                double yyy = ServiceCarStatus.obs_radar[i].nomal_y;
+
+                if (abs(xxx - gpsTrace[j].x) <= 3.0*Veh_Width / 4.0 && abs(yyy - (gpsTrace[j].y)) <= 1)
+                {
+
+                    if (lastEsrIDAvoid == i)
+                    {
+                        lastEsrCountAvoid++;
+                    }
+                    else
+                    {
+                        lastEsrCountAvoid = 0;
+                    }
+
+                    if (lastEsrCountAvoid >= 6)
+                    {
+                        return i;
+                    }
+
+                    lastEsrIDAvoid = i;
+                }
+            }
+    }
+    return -1;
+}
+
+
+
+
+
+
+
+//double iv::decition::Compute00::getObsSpeed(Point2D obsPoint, std::vector<ObstacleBasic> esrRadars,double realSecSpeed) {
+//	double obsSpeed = 0 - realSecSpeed;
+//	double minDis = iv::MaxValue;
+//	for (int i = 0; i < esrRadars.size(); i++)
+//		if ((esrRadars[i].nomal_y) != 0)
+//		{
+//			double xxx = esrRadars[i].nomal_x + Esr_Offset;
+//			double yyy = esrRadars[i].nomal_y;
+//
+//			if (abs(xxx - obsPoint.x) < 4 && abs(yyy - obsPoint.y) < 2)
+//			{
+//				double tmpDis =sqrt((xxx - obsPoint.x) * (xxx - obsPoint.x) + (yyy - obsPoint.y) * (yyy - obsPoint.y));
+//				if (tmpDis < minDis)
+//				{
+//					minDis = tmpDis;
+//					obsSpeed = esrRadars[i].speed_y;
+//				}
+//			}
+//		}
+//
+//	return obsSpeed;
+//
+//
+//}
+
+
+
+
+double iv::decition::Compute00::getObsSpeed(Point2D obsPoint, double realSecSpeed) {
+    double obsSpeed = 0 - realSecSpeed;
+    double minDis = iv::MaxValue;
+    for (int i = 0; i < 64; i++)
+        if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && ServiceCarStatus.obs_radar[i].valid)
+        {
+            double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+            double yyy = ServiceCarStatus.obs_radar[i].nomal_y + Esr_Y_Offset;
+
+            if (abs(xxx - obsPoint.x) < 4 && abs(yyy - obsPoint.y) < 2)
+            {
+                double tmpDis = sqrt((xxx - obsPoint.x) * (xxx - obsPoint.x) + (yyy - obsPoint.y) * (yyy - obsPoint.y));
+                if (tmpDis < minDis)
+                {
+                    minDis = tmpDis;
+                    obsSpeed = ServiceCarStatus.obs_radar[i].speed_y;
+                }
+            }
+        }
+
+    return obsSpeed;
+}
+
+
+
+
+double iv::decition::Compute00::getDecideAvoidAngle(std::vector<Point2D>  gpsTrace, double realSpeed, float avoidX) {
+
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0;
+
+    double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+
+    if (gpsTrace[0].v1 == 1)
+    {
+        KEang = 10; KEPos = 8;
+        if (realSpeed > 60) KEang = 5;
+    }
+    else if (gpsTrace[0].v1 == 2 || gpsTrace[0].v1 == 3)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 4 || gpsTrace[0].v1 == 5)
+    {
+        KEang = 14; KEPos = 10;
+    }
+    else if (gpsTrace[0].v1 == 7 && (gpsTrace[0].v2 == 23 || gpsTrace[0].v2 == 24))
+    {
+        KEang = 18; KEPos = 50; PreviewDistance = 3;
+    }
+    else if (gpsTrace[0].v1 == 7)
+    {
+        KEang = 20; KEPos = 50; PreviewDistance = 4;
+    }
+
+
+    double sumdis = 0;
+    int gpsIndex = 0;
+    std::vector<Point2D> farTrace;
+
+
+
+
+
+
+    for (int i = 1; i < gpsTrace.size() - 1; i++)
+    {
+        sumdis += GetDistance(gpsTrace[i - 1], gpsTrace[i]);
+        if (sumdis > PreviewDistance)
+        {
+            gpsIndex = i;
+            break;
+        }
+    }
+
+    if ((DecideGps00().readyParkMode) && (gpsIndex + 10>DecideGps00().gpsLineParkIndex))
+    {
+        gpsIndex = DecideGps00().gpsLineParkIndex;
+    }
+
+
+
+    EPos = gpsTrace[gpsIndex].x + avoidX;
+
+    for (unsigned int i = max(0, gpsIndex - 3); i < min((size_t)(gpsIndex + 3), gpsTrace.size()); i++) {
+        farTrace.push_back(gpsTrace[gpsIndex]);
+    }
+    if (farTrace.size() == 0) {
+        EAng = 0;
+    }
+    else {
+        EAng = getAvoidAveDef(farTrace, avoidX);
+    }
+
+    ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP);
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    if (ang > angleLimit) {
+        ang = angleLimit;
+    }
+    else if (ang < -angleLimit) {
+        ang = -angleLimit;
+    }
+    if (lastAng != iv::MaxValue) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+        //ODS("lastAng：%d\n", lastAng);
+    }
+    lastAng = ang;
+
+    return ang;
+}
+
+
+std::vector<iv::GPSData>   iv::decition::Compute00::getBesideGpsMapLine(iv::GPS_INS now_gps_ins, vector<iv::GPSData>gpsMapLine, float avoidX) {
+
+    vector<vector<iv::GPSData>> maps;
+    vector<iv::GPSData> gpsMapLineBeside;
+    int sizeN = gpsMapLine.size();
+    for (int i = 1; i < sizeN; i++)
+    {
+        iv::GPSData gpsData(new GPS_INS);
+        double xx = gpsMapLine[i]->gps_x - now_gps_ins.gps_x;
+        double yy = gpsMapLine[i]->gps_y - now_gps_ins.gps_y;
+        double lng = ServiceCarStatus.location->ins_heading_angle;
+
+
+        double x0 = xx * cos(lng * PI / 180) - yy * sin(lng * PI / 180);
+        double y0 = xx * sin(lng * PI / 180) + yy * cos(lng * PI / 180);
+        double k1 = sin((90 + (gpsMapLine[i]->ins_heading_angle - lng)) * PI / 180);
+        double k2 = cos((90 + (gpsMapLine[i]->ins_heading_angle - lng)) * PI / 180);
+
+        //	memcpy(&gpsData, &gpsMapLine[i], sizeof(gpsData));
+
+        gpsData->speed_mode = gpsMapLine[i]->speed_mode;
+        gpsData->gps_x = x0 + k1 * avoidX;
+        gpsData->gps_y = y0 + k2 * avoidX;
+        gpsMapLineBeside.push_back(gpsData);
+
+    }
+    return gpsMapLineBeside;
+
+}
+
+
+
+//double iv::decition::Compute00::getDecideAngleByLane(double realSpeed) {
+
+//    double ang = 0;
+//    double EPos = 0, EAng = 0;
+
+// //   double KEang = 14, KEpos = 10, DEang = 0, DEpos = 0;
+//       double KEang = 5, KEPos = 30, DEang = 0, DEPos = 0;
+
+// //   double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+//    double PreviewDistance;//预瞄距离
+//    realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+
+
+
+
+
+////    if (realSpeed > 40)	KEang = 10; KEpos = 8;
+////        if (realSpeed > 50) KEang = 5;
+
+
+
+
+
+//double c1 = ServiceCarStatus.aftermarketLane.dist_to_lane_l;
+//double c2 = ServiceCarStatus.aftermarketLane.dist_to_lane_r;
+//double a = ServiceCarStatus.Lane.curvature;
+//double b = ServiceCarStatus.Lane.heading;
+//double c = (c1+c2)*0.5;
+//double x= PreviewDistance;
+//double y;
+
+
+//y=a*x*x+b*x+c;
+
+//   // EPos = y;
+//EPos=c;
+
+
+//  //  EAng=atan(2*a*x+b) / PI * 180;
+//    EAng=ServiceCarStatus.Lane.yaw;
+//        ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP);
+
+//        lastEA = EAng;
+//        lastEP = EPos;
+
+
+//           std::cout << "\nEPos:%f\n" << EPos << std::endl;
+//            std::cout << "\nEAng:%f\n" << EAng << std::endl;
+
+
+//        if (ang > angleLimit) {
+//            ang = angleLimit;
+//        }
+//        else if (ang < -angleLimit) {
+//            ang = -angleLimit;
+//        }
+//        if (lastAng != iv::MaxValue) {
+//            ang = 0.2 * lastAng + 0.8 * ang;
+//            //ODS("lastAng：%d\n", lastAng);
+//        }
+//        lastAng = ang;
+//        return ang;
+//    }
+
+
+
+double IEPos = 0, IEang = 0;
+
+
+double iv::decition::Compute00::getDecideAngleByLanePID(double realSpeed) {
+
+    double ang = 0;
+    double EPos = 0, EAng = 0;
+    double Curve=0;
+    double KEang = 14, KEPos = 10, DEang = 0, DEPos = 0;
+    double KCurve=120;
+    double KIEPos = 0, KIEang = 0;
+    //   double PreviewDistance = max(6.0, realSpeed / 3.6 * 1.8);//预瞄距离
+
+    double PreviewDistance;//预瞄距离
+
+    int confL=ServiceCarStatus.aftermarketLane.lane_conf_left;
+    int confR=ServiceCarStatus.aftermarketLane.lane_conf_right;
+    int conf =min(confL,confR);
+
+    realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);
+
+
+
+
+
+    if (realSpeed > 40)	KEang = 10; KEPos = 8;
+    if (realSpeed > 50) KEang = 5;
+
+    KEPos = 20;
+    KEang = 200;
+    //KEang = 15;
+
+    double c1 = ServiceCarStatus.aftermarketLane.dist_to_lane_l;
+    double c2 = ServiceCarStatus.aftermarketLane.dist_to_lane_r;
+    double a = ServiceCarStatus.Lane.curvature;
+    double b = ServiceCarStatus.Lane.heading;
+    double c = (c1+c2)*0.5;
+    double yaw= ServiceCarStatus.Lane.yaw;
+
+    double x= PreviewDistance;
+    double y;
+
+
+    y=c-(a*x*x+b*x);
+    double difa=0-(atan(2*a*x+b) / PI * 180);
+    Curve=0-a;
+
+    //EAng=difa;
+    //EPos=y;
+    EAng= 0-b;
+    EPos = c;
+    DEang = 10;
+    DEPos = 20;
+    //DEang = 20;
+    //DEPos = 10;
+
+    IEang = EAng+0.7*IEang;
+    IEPos = EPos+0.7*IEPos;
+    KIEang = 0;
+    //KIEang = 0.5;
+    KIEPos =2;
+
+
+
+    if(abs(confL)>=2&&abs(confR)>=2){
+        //ang = KEang * EAng + KEPos * EPos + DEang * (EAng - lastEA) + DEPos * (EPos - lastEP)+ KIEang * IEang + KIEPos * IEPos;
+        ang = KEang * EAng + KEPos * EPos +KCurve*Curve+ DEang * (EAng - lastEA) + DEPos * (EPos - lastEP)+ KIEang * IEang + KIEPos * IEPos;
+    }else{
+        ang=lastAng;
+    }
+    //if(lastAng!=0&&abs(ang-lastAng)>20)ang=lastAng;
+
+    lastEA = EAng;
+    lastEP = EPos;
+
+    if (ang > angleLimit) {
+        ang = angleLimit;
+    }
+    else if (ang < -angleLimit) {
+        ang = -angleLimit;
+    }
+    if (lastAng != iv::MaxValue) {
+        ang = 0.2 * lastAng + 0.8 * ang;
+        //ODS("lastAng：%d\n", lastAng);
+    }
+    lastAng = ang;
+    return ang;
+}
+
+
+
+double iv::decition::Compute00::bocheCompute(GPS_INS nowGps, GPS_INS aimGps) {
+
+    GaussProjCal(aimGps.gps_lng, aimGps.gps_lat, &aimGps.gps_x, &aimGps.gps_y);
+    Point2D pt = Coordinate_Transfer(nowGps.gps_x, nowGps.gps_y, aimGps);
+
+
+
+    double x_1 = pt.x;
+    double y_1 = pt.y;
+    double angle_1 = getQieXianAngle(nowGps,aimGps);
+    double x_2 = 0.0, y_2 = 0.0;
+    double steering_angle;
+    double l = 2.950;
+    double r =6;
+    double x_o, y_o, x_o_1, y_o_1, x_o_2, y_o_2, x_3, y_3;
+    double x_t_n, y_t_n, x_t_f, y_t_f;//近切点和远切点
+    double x_t_1, y_t_1, x_t_2, y_t_2;//圆形1的切点
+    double x_t_3, y_t_3, x_t_4, y_t_4;//圆形2的切点
+    double g_1 = tan(angle_1);
+    double car_pos[3] = { x_1,y_1,g_1 };
+    double parking_pos[2] = { x_2,y_2 };
+    double g_3;
+    double t[4][2];
+    double p[4];
+    double  s1, s2; //切点与车起始位置的距离
+    double  min;
+    int  min_i;
+
+    //g_3 = 0 - 0.5775;
+    g_3 = pingfenxian_xielv(x_1, y_1, x_2, y_2, angle_1);
+    //交点
+    x_3 = 0.0;//(y_1 - y_2 + g_2*x_2 - g_1*x_1) / (g_2 - g_1);
+    y_3 = y_1 - g_1 * x_1;
+    //圆心1
+    x_o_1 = r;
+    y_o_1 = g_3 * r + y_3;
+    //圆形1的切点1
+    x_t_1 = 0.0;
+    y_t_1 = g_3 * r + y_3;
+    //圆形1的切点2
+    if (g_1 == 0)
+    {
+        x_t_2 = r;
+        y_t_2 = y_1 - g_1 * x_1;
+    }
+    else
+    {
+        y_t_2 = (y_1 + g_1 * x_o_1 + y_o_1 * g_1*g_1 - g_1 * x_1) / (1 + g_1 * g_1);
+        x_t_2 = (y_t_2 + g_1 * x_1 - y_1) / g_1;
+
+    }
+    //圆心2
+    x_o_2 = 0 - r;
+    y_o_2 = y_3 - g_3 * r;
+    //圆形2的切点1
+    x_t_3 = 0;
+    y_t_3 = y_3 - g_3 * r;
+    //圆形2的切点2
+    if (g_1 == 0)
+    {
+        x_t_4 = 0 - r;
+        y_t_4 = y_1 - g_1 * x_1;
+    }
+    else
+    {
+        y_t_4 = (y_1 + g_1 * x_o_2 + y_o_2 * g_1*g_1 - g_1 * x_1) / (1 + g_1 * g_1);
+        x_t_4 = (y_t_4 + g_1 * x_1 - y_1) / g_1;
+
+    }
+    t[0][0] = x_t_1;
+    t[0][1] = y_t_1;
+    t[1][0] = x_t_2;
+    t[1][1] = y_t_2;
+    t[2][0] = x_t_3;
+    t[2][1] = y_t_3;
+    t[3][0] = x_t_4;
+    t[3][1] = y_t_4;
+    for (int i = 0; i < 4; i++)
+    {
+
+        p[i] = (t[i][0] - parking_pos[0])*(t[i][0] - parking_pos[0]) + (t[i][1] - parking_pos[1])*(t[i][1] - parking_pos[1]);
+
+    }
+    min = p[0];
+    min_i = 0;
+    for (int i = 1; i < 4; i++)
+    {
+
+        if (p[i] < min)
+        {
+            min = p[i]; min_i = i;
+        }
+    }
+    if (min_i < 2)
+    {
+        x_o = x_o_1;
+        y_o = y_o_1;
+        s1 = (x_t_1 - x_1)*(x_t_1 - x_1) + (y_t_1 - y_1)*(y_t_1 - y_1);
+        s2 = (x_t_2 - x_1)*(x_t_2 - x_1) + (y_t_2 - y_1)*(y_t_2 - y_1);
+        if (s1 < s2)
+        {
+            x_t_n = x_t_1;
+            y_t_n = y_t_1;
+            x_t_f = x_t_2;
+            y_t_f = y_t_2;
+        }
+        else
+        {
+            x_t_n = x_t_2;
+            y_t_n = y_t_2;
+            x_t_f = x_t_1;
+            y_t_f = y_t_1;
+
+        }
+    }
+    else
+    {
+        x_o = x_o_2;
+        y_o = y_o_2;
+        s1 = (x_t_3 - x_1)*(x_t_3 - x_1) + (y_t_3 - y_1)*(y_t_3 - y_1);
+        s2 = (x_t_4 - x_1)*(x_t_4 - x_1) + (y_t_4 - y_1)*(y_t_4 - y_1);
+
+        if (s1 < s2)
+        {
+
+            x_t_n = x_t_3;
+            y_t_n = y_t_3;
+            x_t_f = x_t_4;
+            y_t_f = y_t_4;
+        }
+        else
+        {
+            x_t_n = x_t_4;
+            y_t_n = y_t_4;
+            x_t_f = x_t_3;
+            y_t_f = y_t_3;
+        }
+
+
+
+
+    }
+    steering_angle = atan2(l, r);
+
+    if (x_t_n < 0)
+    {
+        steering_angle = 0 - steering_angle;
+    }
+
+    nearTpoint=Coordinate_UnTransfer(x_t_n, y_t_n, aimGps);
+    farTpoint = Coordinate_UnTransfer(x_t_f, y_t_f, aimGps);
+    bocheAngle = steering_angle*180/PI;
+
+    cout << "近切点：x_t_n=" << x_t_n << endl;
+    cout << "近切点：y_t_n=" << y_t_n << endl;
+    cout << "远切点：x_t_f=" << x_t_f << endl;
+    cout << "远切点：y_t_f=" << y_t_f << endl;
+    cout << "航向角：" << steering_angle << endl;
+
+
+    //    if (x_1 < 0 && y_1 > 0 && x_1 < x_t_n &&y_t_f > 0.1) {
+    //        return 1;
+    //    }
+    Point2D ptN = Coordinate_Transfer(nearTpoint.gps_x, nearTpoint.gps_y, nowGps);
+    double disA = GetDistance(aimGps,nowGps);
+    if(y_t_n>0 && ptN.y<0 && y_t_f>0.1 && disA<40){
+        return 1;
+    }
+
+    return 0;
+
+}
+
+
+
+//返回垂直平分线的斜率
+double iv::decition::Compute00::pingfenxian_xielv(double x_1, double y_1, double x_2, double y_2, double angle_1) {
+    double angl, x_3, angle_3;
+    if (tan(angle_1 == 0))
+    {
+        if ((x_1 - x_2) > 0 && ((y_1 - y_2) > 0))
+        {
+            angle_3 = 0 - 1;
+        }
+        else
+        {
+            angle_3 = 1;
+        }
+    }
+    else
+    {
+        x_3 = (tan(angle_1)*x_1 - y_1) / tan(angle_1);//车所在直线与x轴交点
+        angl = tan(angle_1);//车所在直线的斜率
+        if ((x_1 - x_2)>0 && ((y_1 - y_2)>0))//第一象限
+        {
+            if ((angl *x_3)<0)//车斜率与车直线的x轴交点异号
+            {
+                if (angl < 0)
+                {
+                    angle_3 = tan(PI*0.5 + (PI*0.5 - atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+                else
+                {
+                    angle_3 = tan(PI*0.5 + (PI*0.5 + atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+
+
+
+            }
+
+        }
+        else//第二象限
+        {
+            if ((angl*x_3)<0)//车斜率与车直线的x轴交点异号
+            {
+                if (angl < 0)
+                {
+                    angle_3 = tan(PI*0.5 - (PI*0.5 + atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+                else
+                {
+                    angle_3 = tan(atan(fabs(angl)) + (PI*0.5 - atan(fabs(angl))) *0.5);//垂直平分线斜率
+                }
+
+            }
+        }
+    }
+
+    return angle_3;
+
+}
+
+
+
+double iv::decition::Compute00::getQieXianAngle(GPS_INS nowGps, GPS_INS aimGps) {
+    double heading = nowGps.ins_heading_angle *PI/180;
+    double x1 = nowGps.gps_x;
+    double y1 = nowGps.gps_y;
+    if (heading<=PI*0.5)
+    {
+        heading = 0.5*PI - heading;
+    }
+    else if (heading>PI*0.5 && heading<=PI*1.5) {
+        heading = 1.5*PI - heading;
+    }
+    else if (heading>PI*1.5) {
+        heading = 2.5*PI - heading;
+    }
+    double k1 = tan(heading);
+    double x = x1+10;
+    double y = k1 * x + y1 - (k1 * x1);
+    Point2D pt1 = Coordinate_Transfer(nowGps.gps_x, nowGps.gps_y, aimGps);
+    Point2D pt2 = Coordinate_Transfer(x, y, aimGps);
+    double xielv = (pt1.y - pt2.y) / (pt1.x - pt2.x);
+    double angle = atan(abs(xielv));
+    if (xielv<0)
+    {
+        angle = PI - angle;
+    }
+    return angle;
+
+}
+
+
+/*
+  chuizhicheweiboche
+  */
+
+
+int iv::decition::Compute00::bocheDirectCompute(GPS_INS nowGps, GPS_INS aimGps)
+{
+
+
+
+    double l=2.95;//轴距
+    double x_0 = 0, y_0 = 0.5;
+    double x_1, y_1;//车起点坐标
+    double ange1;//车航向角弧度
+    double x_2, y_2;//另一条与车直线在angle2和R_M 固定情况下过坐标点，第二个近切点
+    double real_rad;;//另一条直线的航向角弧度
+    double angle_3;//垂直平分线弧度
+    double x_3, y_3;//垂直平分线交点
+    double x_4, y_4;//另一条直线的远切点坐标，第二个远切点，已知
+    double x_o_1, y_o_1;//圆形1坐标
+    double x_o_2, y_o_2;//圆形2坐标
+    double x_t_n, y_t_n, x_t_f, y_t_f;//近切点和远切点
+    double min_rad;
+    double R_M; //后轴中点的转弯半径
+    double steering_angle;
+
+
+
+
+    GaussProjCal(aimGps.gps_lng, aimGps.gps_lat, &aimGps.gps_x, &aimGps.gps_y);
+    Point2D pt = Coordinate_Transfer(nowGps.gps_x, nowGps.gps_y, aimGps);
+    x_1=pt.x;
+    y_1=pt.y;
+    ange1=getQieXianAngle(nowGps,aimGps);
+
+    min_rad_zhuanxiang(&R_M , &min_rad);
+    qiedian_n(x_1,y_1,R_M,min_rad,&x_2 , &y_2, &real_rad);//计算另一条与车直线在angle2和R_M 固定情况下近切点：x_2, y_2
+    liangzhixian_jiaodian( x_1, y_1,  x_2, y_2,ange1,real_rad,&x_3 , &y_3);
+    chuizhipingfenxian_xielv( x_1, y_1, ange1, real_rad, min_rad,&angle_3);
+    yuanxin( x_2, y_2, x_3, y_3, real_rad, angle_3, R_M,&x_o_1,&y_o_1,&x_o_2,&y_o_2);
+    yuanxin_qiedian( ange1, x_o_1, y_o_1,  x_o_2, y_o_2,
+                     x_1, y_1, x_2, y_2, x_3, y_3, real_rad, angle_3, R_M,&x_t_n,&y_t_n,&x_t_f, &y_t_f);
+    steering_angle = atan2(l, R_M);
+    x_4 = 0.5;
+    y_4 = 0;
+    //for (int i = 0; i < 4; i++)
+    //{
+    //for (int j = 0; j < 2; j++)
+    //{
+    //	cout << t[i][j] << endl;
+    //}
+    //}
+    //cout << "min_rad:" << min_rad<< endl;
+    //cout << "jiaodian：x=" << x_3 << endl;
+    //cout << "jiaodian：y=" << y_3 << endl;
+    // cout << "R-M：" << R_M << endl;
+    cout << "x_0:" << x_0 << endl;
+    cout << "y_0:" << y_0 << endl;
+    cout << "x_2:" << x_2 << endl;
+    cout << "y_2:" << y_2 << endl;
+    cout << "近切点：x_t_n="<< x_t_n << endl;
+    cout << "近切点：y_t_n=" << y_t_n << endl;
+    cout << "远切点：x_t_f=" << x_t_f << endl;
+    cout << "远切点：y_t_f=" << y_t_f << endl;
+    //cout << "航向角：" << steering_angle << endl;
+    //cout << "圆心1横坐标=" << x_o_1 << endl;
+    //cout << "圆心1纵坐标=" << y_o_1 << endl;
+    //cout << "圆心2横坐标=" << x_o_2 << endl;
+    //cout << "圆心2纵坐标=" << y_o_2 << endl;
+    //cout << "平分线弧度=" << angle_3 << endl;
+    //cout << " min_rad=" << min_rad << endl;
+    //cout << " real_rad=" << real_rad << endl;
+    //   system("PAUSE");
+
+
+
+    dTpoint0=Coordinate_UnTransfer(x_t_n, y_t_n, aimGps);
+    dTpoint1 = Coordinate_UnTransfer(x_t_f, y_t_f, aimGps);
+    dTpoint2 = Coordinate_UnTransfer(x_2, y_2, aimGps);
+    dTpoint3 = Coordinate_UnTransfer(x_0, y_0, aimGps);
+    dBocheAngle = steering_angle*180/PI;
+
+    double disA = GetDistance(aimGps,nowGps);
+
+    if(pt.y>y_t_n && x_t_f<x_2 && y_t_f>y_2&&disA<40){
+        return 1;
+    }
+    return 0;
+
+}
+
+
+double iv::decition::Compute00::min_rad_zhuanxiang(double *R_M, double *min_rad) {
+    double L_c = 4.749;//车长
+    double rad_1;
+    double rad_2;
+    double L_k = 1.931;//车宽
+    double L = 2.95;//轴距
+    double L_f =1.2 ;//前悬
+    double L_r =0.7 ;//后悬
+    double R_min =6.5 ;//最小转弯半径
+    *R_M = fabs(sqrt(R_min*R_min - (L + L_f)*(L + L_f))) - L_k*0.5;//double	R_M  ;//后轴中点的转弯半径
+    //rad_1 = atan2(sqrt(R_min*R_min - (R_M - L_k*0.5)*(R_M - L_k*0.5)), R_M - L_k*0.5);
+    //rad_2 = atan2(L + L_f, R_M + L_k*0.5);
+    *min_rad = 45 * PI / 180;// rad_1 - rad_2;
+    return 0;
+}
+
+
+double iv::decition::Compute00::qiedian_n(double x_1, double y_1, double R_M,double min_rad, double *x_2, double *y_2, double *real_rad ) {
+
+    if (x_1 > 0 && y_1 > 0)
+    {
+        *real_rad = PI*0.5 - min_rad;
+        *x_2 = R_M - R_M*cos(min_rad);
+        *y_2 = R_M*sin(min_rad) + 0.5;
+    }
+    else
+    {
+        *real_rad = PI*0.5 + min_rad;
+        *x_2 = R_M*cos(min_rad) - R_M;
+        *y_2 = R_M*sin(min_rad) + 0.5;
+    }
+    return 0;
+
+}
+
+
+double iv::decition::Compute00::liangzhixian_jiaodian(double x_1,double y_1,double x_2,double y_2,double ange1,double real_rad,double *x_3,double *y_3) {
+    double b1, b2;
+    double k1, k2;
+    if (ange1!=(PI*0.5))
+    {
+        k1 = tan(ange1);
+        b1 = y_1 - k1*x_1;
+        k2 = tan(real_rad);
+        b2 = y_2 - k2*x_2;
+        *x_3 = (b2 - b1) / (k1 - k2);
+        *y_3 = k2*(*x_3) + b2;
+    }
+    else
+    {
+        k2 = tan(real_rad);
+        b2 = y_2 - k2*x_2;
+        *x_3 = x_1;
+        *y_3 = k2*(*x_3) + b2;
+    }
+    return 0;
+}
+
+
+double iv::decition::Compute00::chuizhipingfenxian_xielv(double x_1,double y_1,double ange1,double real_rad,double min_rad,double *angle_3) {
+    double k1, k2;
+    double  angle_j;
+    k2 = tan(real_rad);
+    if (ange1 != (PI*0.5))
+    {
+        k1 = tan(ange1);
+        angle_j = atan(fabs((k2 - k1) / (1 + k2*k1)));//两直线夹角
+
+        if (x_1 > 0 && y_1 > 0)
+        {
+            *angle_3 = angle_j*0.5 - min_rad + PI;
+        }
+        else
+        {
+            *angle_3 = min_rad - angle_j*0.5;
+        }
+    }
+    else
+    {
+        angle_j = min_rad;//两直线夹角
+        if (x_1 > 0 && y_1 > 0)
+        {
+            *angle_3 = angle_j*0.5 - min_rad + PI;
+        }
+        else
+        {
+            *angle_3 = min_rad - angle_j*0.5;
+        }
+    }
+    return 0;
+}
+
+
+double iv::decition::Compute00::yuanxin(double x_2,double y_2,double x_3,double y_3,double real_rad,double angle_3,double R_M,
+                                        double *x_o_1,double *y_o_1,double *x_o_2,double *y_o_2) {
+    double b2, b3, k2, k3;
+    b2 = y_2 - tan(real_rad)*x_2;
+    b3 = y_3 - tan(angle_3)*x_3;
+    k2 = tan(real_rad);
+    k3 = tan(angle_3);
+    *x_o_1 = (sqrt(k2*k2 + 1)*R_M + b3 - b2) / (k2 - k3);
+    *y_o_1 = k3*(*x_o_1) + b3;
+
+    *x_o_2 = (b3 - b2 - (sqrt(k2*k2 + 1)*R_M)) / (k2 - k3);
+    *y_o_2 = k3*(*x_o_2) + b3;
+    return 0;
+}
+
+
+double iv::decition::Compute00::yuanxin_qiedian(double ange1,double x_o_1,double y_o_1, double x_o_2,double y_o_2,
+                                                double x_1,double y_1,double x_2,double y_2,double x_3,double y_3,double real_rad,double angle_3,double R_M,
+                                                double *x_t_n, double *y_t_n, double *x_t_f, double *y_t_f)
+{
+    double x_o, y_o;
+    double b2, b3, k1, k2, k3;
+    //double car_pos[3] = { x_1,y_1,k1 };
+    double parking_pos[2] = { x_2,y_2 };
+    //double t[4][2];
+    double p[4];
+    double  s1, s2; //切点与车起始位置的距离
+    double  min;
+    int  min_i;
+    double x_t_1, y_t_1, x_t_2, y_t_2;//圆形1的切点
+    double x_t_3, y_t_3, x_t_4, y_t_4;//圆形2的切点
+    double t[4][2];
+    k1 = tan(ange1);
+    b2 = y_2 - tan(real_rad)*x_2;
+    b3 = y_3 - tan(real_rad)*x_3;
+    k2 = tan(real_rad);//另一条直线斜率
+    k3 = tan(angle_3);//垂直平分线斜率
+    //圆心1和2切点*********************************************
+    if (x_1 > 0 && y_1 > 0)//第一象限
+    {
+        if (ange1 == (PI*0.5))
+        {
+            x_t_1 = x_1;
+            y_t_1 = y_o_1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            x_t_3 = x_1;
+            y_t_3 = y_o_2;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+
+
+        }
+        else
+        {
+            y_t_1 = (y_1 + k1 *x_o_1 + y_o_1*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_1 = (y_t_1 + k1*x_1 - y_1) / k1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            y_t_3 = (y_1 + k1 *x_o_2 + y_o_2*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_3 = (y_t_3 + k1*x_1 - y_1) / k1;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+
+        }
+    }
+    else
+    {
+        if (ange1 == 0)
+        {
+            x_t_1 = 0 - x_1;
+            y_t_1 = y_o_1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            x_t_3 = 0 - x_1;
+            y_t_3 = y_o_2;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+        }
+        else
+        {
+            y_t_1 = (y_1 + k1 *x_o_1 + y_o_1*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_1 = (y_t_1 + k1*x_1 - y_1) / k1;
+            y_t_2 = (y_2 + k2 *x_o_1 + y_o_1*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_2 = (y_t_2 + k2*x_2 - y_2) / k2;
+
+            y_t_3 = (y_1 + k1 *x_o_2 + y_o_2*k1*k1 - k1*x_1) / (1 + k1*k1);
+            x_t_3 = (y_t_3 + k1*x_1 - y_1) / k1;
+            y_t_4 = (y_2 + k2 *x_o_2 + y_o_2*k2*k2 - k2*x_2) / (1 + k2*k2);
+            x_t_4 = (y_t_4 + k2*x_2 - y_2) / k2;
+
+        }
+
+    }
+
+    //圆心1和2切点*********************************************
+
+    t[0][0] = x_t_1;
+    t[0][1] = y_t_1;
+    t[1][0] = x_t_2;
+    t[1][1] = y_t_2;
+    t[2][0] = x_t_3;
+    t[2][1] = y_t_3;
+    t[3][0] = x_t_4;
+    t[3][1] = y_t_4;
+    for (int i = 0; i < 4; i++)
+    {
+
+        p[i] = (t[i][0] - parking_pos[0])*(t[i][0] - parking_pos[0]) + (t[i][1] - parking_pos[1])*(t[i][1] - parking_pos[1]);
+
+    }
+    min = p[0];
+    min_i = 0;
+    for (int i = 1; i < 4; i++)
+    {
+
+        if (p[i] < min)
+        {
+            min = p[i]; min_i = i;
+        }
+    }
+    if (min_i < 2)
+    {
+        x_o = x_o_1;
+        y_o = y_o_1;
+        s1 = (x_t_1 - x_1)*(x_t_1 - x_1) + (y_t_1 - y_1)*(y_t_1 - y_1);
+        s2 = (x_t_2 - x_1)*(x_t_2 - x_1) + (y_t_2 - y_1)*(y_t_2 - y_1);
+        if (s1 < s2)
+        {
+            *x_t_n = x_t_1;
+            *y_t_n = y_t_1;
+            *x_t_f = x_t_2;
+            *y_t_f = y_t_2;
+        }
+        else
+        {
+            *x_t_n = x_t_2;
+            *y_t_n = y_t_2;
+            *x_t_f = x_t_1;
+            *y_t_f = y_t_1;
+
+        }
+    }
+    else
+    {
+        x_o = x_o_2;
+        y_o = y_o_2;
+        s1 = (x_t_3 - x_1)*(x_t_3 - x_1) + (y_t_3 - y_1)*(y_t_3 - y_1);
+        s2 = (x_t_4 - x_1)*(x_t_4 - x_1) + (y_t_4 - y_1)*(y_t_4 - y_1);
+
+        if (s1 < s2)
+        {
+
+            *x_t_n = x_t_3;
+            *y_t_n = y_t_3;
+            *x_t_f = x_t_4;
+            *y_t_f = y_t_4;
+        }
+        else
+        {
+            *x_t_n = x_t_4;
+            *y_t_n = y_t_4;
+            *x_t_f = x_t_3;
+            *y_t_f = y_t_3;
+        }
+
+
+
+    }
+
+    return 0;
+
+}
+
+
+int iv::decition::Compute00::getNoAngleNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap)
+{
+    int index = -1;
+    int startIndex = 0;     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = gpsMap.size() - 1;
+    float minDis=20;
+
+    for (int j = startIndex; j < endIndex; j++)
+    {
+        int i = (j + gpsMap.size()) % gpsMap.size();
+        double tmpdis = GetDistance(rp, (*gpsMap[i]));
+
+        if (tmpdis < minDis)
+        {
+            index = i;
+            minDis=tmpdis;
+        }
+    }
+    return index;
+}
+
+
+double iv::decition::Compute00::getObsSpeedByFrenet(Point2D obsPoint, double realSecSpeed,const vector<Point2D>& gpsTrace, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps) {
+    double obsSpeed = 0 - realSecSpeed;
+    double minDis = iv::MaxValue;
+    FrenetPoint esr_obs_F_point;
+    for (int i = 0; i < 64; i++)
+        if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && ServiceCarStatus.obs_radar[i].valid)
+        {
+            double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+            double yyy = ServiceCarStatus.obs_radar[i].nomal_y + Esr_Y_Offset;
+
+            if (abs(xxx - obsPoint.x) < 4 && abs(yyy - obsPoint.y) < 2)
+            {
+                double tmpDis = sqrt((xxx - obsPoint.x) * (xxx - obsPoint.x) + (yyy - obsPoint.y) * (yyy - obsPoint.y));
+                if (tmpDis < minDis)
+                {
+                    minDis = tmpDis;
+//                    esr_obs_F_point = iv::decition::FrenetPlanner::XY2Frenet(xxx, yyy, gpsTrace);
+                    esr_obs_F_point = iv::decition::FrenetPlanner::getFrenetfromXY(xxx, yyy, gpsTrace,gpsMap,pathpoint,nowGps);
+//                    obsSpeed = ServiceCarStatus.obs_radar[i].speed_y;
+                    double speedx=ServiceCarStatus.obs_radar[i].speed_x;  //障碍物相对于车辆x轴的速度
+                    double speedy=ServiceCarStatus.obs_radar[i].speed_y;  //障碍物相对于车辆y轴的速度
+                    double speed_combine = sqrt(speedx*speedx+speedy*speedy);    //将x、y轴两个方向的速度求矢量和
+                    //障碍物的速度方向与道路方向的夹角。用于将速度分解到s方向和d方向。
+                    //所谓道路方向是指，道路上离障碍物的最近的点沿道路弧线的切线方向。
+                    double Etheta = esr_obs_F_point.tangent_Ang - atan2(speedy,speedx);
+
+                    obsSpeed = speed_combine*cos(Etheta);  //由speed_combine分解的s轴方向上的速度
+                }
+            }
+        }
+
+    return obsSpeed;
+}
+
+
+int iv::decition::Compute00::getEsrIndexByFrenet(const std::vector<Point2D>& gpsTrace, FrenetPoint &esrObsPoint, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps){
+    double minDistance = numeric_limits<double>::max();
+    int minDis_index=-1;
+
+    for(int i=0; i<64; ++i){
+        if ((ServiceCarStatus.obs_radar[i].nomal_y) != 0 && (ServiceCarStatus.obs_radar[i].valid)){
+            //毫米波在车头，故要加上毫米波与惯导的相对距离。(xxx,yyy)才是障碍物在 车辆坐标系下的坐标。
+            double xxx = ServiceCarStatus.obs_radar[i].nomal_x + Esr_Offset;
+            double yyy = ServiceCarStatus.obs_radar[i].nomal_y+ Esr_Y_Offset;
+
+            //将毫米波障碍物位置转换到frenet坐标系下
+//            esrObsPoint = iv::decition::FrenetPlanner::XY2Frenet(xxx,yyy,gpsTrace);
+            esrObsPoint = iv::decition::FrenetPlanner::getFrenetfromXY(xxx,yyy,gpsTrace,gpsMap,pathpoint,nowGps);
+
+            //如果障碍物与道路的横向距离d<=3.0*Veh_Width / 4.0，则认为道路上有障碍物。
+            //s则可理解为障碍物距离。为障碍物与车辆沿着道路方向的距离，而不是空间上的x或y坐标或者直线距离。
+            //minDistance、minDis_index用来统计最近的障碍物信息。
+            if(abs(esrObsPoint.d)<=(3.0*Veh_Width / 4.0+DecideGps00().xiuzhengCs)){
+                if(esrObsPoint.s<minDistance){
+                    minDistance = esrObsPoint.s;
+                    minDis_index = i;
+                }
+            }
+        }
+    }
+    return minDis_index;
+}
+
+
+
+
+std::vector<std::vector<iv::GPSData>> gmapsL;
+std::vector<std::vector<iv::GPSData>> gmapsR;

src/decition/decition_brain/decision/compute_00.h

@@ -0,0 +1,96 @@
+#pragma once
+#ifndef _IV_DECITION_COMPUTE_00_
+#define _IV_DECITION_COMPUTE_00_
+
+#include <common/gps_type.h>
+#include <common/obstacle_type.h>
+#include <decision/decition_type.h>
+#include <vector>
+#include <decision/decide_gps_00.h>
+
+namespace iv {
+    namespace decition {
+    //根据传感器传输来的信息作出决策
+        class Compute00 {
+        public:
+            Compute00();
+            ~Compute00();
+
+            static   double maxAngle;
+            static	 double angleLimit;  //角度限制
+            static	 double lastEA;      //上一次角度误差
+            static	 double lastEP;      //上一次位置误差
+            static	 double decision_Angle;  //决策角度
+            static	 double lastAng;         //上次角度
+            static   int lastEsrID;          //上次毫米波障碍物ID
+            static   int  lastEsrCount;      //毫米波障碍物累计次数
+
+            static   int lastEsrIDAvoid;          //上次毫米波障碍物ID Avoid
+            static   int  lastEsrCountAvoid;      //毫米波障碍物累计次数 Avoid
+
+            static iv::GPS_INS nearTpoint, farTpoint,dTpoint0,dTpoint1,dTpoint2,dTpoint3;
+            static double bocheAngle,dBocheAngle;
+
+            static	int getNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle);
+            static	int getFirstNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, double mindis, double maxAngle);
+
+            static double getDecideAngle(std::vector<Point2D>  gpsTrace, double realSpeed);
+            static double getAveDef(std::vector<Point2D> farTrace);
+            static int getSpeedPointIndex(std::vector<Point2D> gpsTrace, double realSpeed);
+            static Point2D getLidarObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr);
+            static Point2D getLidarRearObsPoint(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr);
+
+
+            static Point2D getLidarObsPointAvoid(std::vector<Point2D> gpsTrace, iv::LidarGridPtr lidarGridPtr);
+            static int getEsrIndex(std::vector<Point2D> gpsTrace , int roadNum, int *esrPathpoint);
+            static int getEsrIndexAvoid(std::vector<Point2D> gpsTrace);
+
+            static double getObsSpeed(Point2D obsPoint, double realSecSpeed);
+
+            static double getAvoidAveDef(std::vector<Point2D> farTrace, double avoidX);
+            static double getDecideAvoidAngle(std::vector<Point2D>  gpsTrace, double realSpeed, float avoidX);
+
+            static std::vector<GPSData>  getBesideGpsMapLine(iv::GPS_INS now_gps_ins, std::vector<iv::GPSData>gpsMapLine, float avoidX);
+
+            static double getDecideAngleByLane(double realSpeed);
+
+            static double getDecideAngleByLanePID(double realSpeed);
+
+            static double bocheCompute(GPS_INS nowGps, GPS_INS aimGps);
+
+            static	double pingfenxian_xielv(double x_1, double y_1, double x_2, double y_2, double angle_1);
+
+            static double getQieXianAngle(GPS_INS nowGps, GPS_INS aimGps);
+
+            static int bocheDirectCompute(GPS_INS nowGps, GPS_INS aimGps);
+
+            static double min_rad_zhuanxiang(double *R_M, double *min_rad);
+            static double qiedian_n(double x_1,double y_1,double R_M,double min_rad,
+                                    double *x_2, double *y_2, double *real_rad);
+            static double liangzhixian_jiaodian(double x_1,double y_1,double x_2,double y_2,
+                                                double ange1,double real_rad,double *x_3, double *y_3);
+            static double chuizhipingfenxian_xielv(double x_1,double y_1,double ange1,double real_rad,
+                                                   double min_rad,double *angle_3);
+            static double yuanxin(double x_2,double y_2,double x_3,double y_3,double real_rad,
+                                  double angle_3,double R_M,double *x_o_1, double *y_o_1, double *x_o_2, double *y_0_2);
+            static double yuanxin_qiedian(double angel,double x_o_1,double y_o_1, double x_o_2,double y_o_2,
+                                          double x_1,double y_1,double x_2,double y_2,double x_3,double y_3,
+                                          double real_rad,double angle_3,double R_M,
+                                          double *x_t_n, double *y_t_n, double *x_t_f, double *y_t_f);
+
+            static int getNoAngleNearestPointIndex(GPS_INS rp, const std::vector<GPSData> gpsMap);
+    		static int getEsrIndexByFrenet(const std::vector<Point2D>& gpsTrace,FrenetPoint &esrObsPoint, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps);
+    		double getObsSpeedByFrenet(Point2D obsPoint, double realSecSpeed,const std::vector<Point2D>& gpsTrace, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps);
+        private:
+
+        };
+    }
+}
+extern std::vector<std::vector<iv::GPSData>> gmapsL;
+extern std::vector<std::vector<iv::GPSData>> gmapsR;
+
+extern std::vector<int> lastEsrIdVector;
+extern std::vector<int> lastEsrCountVector;
+
+#endif // !_IV_DECITION_COMPUTE_00_
+

src/decition/decition_brain/decision/decide_from_gps.cpp

@@ -0,0 +1,605 @@
+#include <decition/decition_maker.h>
+#include <decition/gps_distance.h>
+#include <decition/decition_type.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+using namespace std;
+
+
+iv::decition::DecitionMaker::DecitionMaker() {
+
+}
+iv::decition::DecitionMaker::~DecitionMaker() {
+
+}
+
+
+
+
+
+
+/* void iv::decition::DecitionMaker::decideFromGPS(Decition & gps_decition, iv::GPSData gps_data, const std::vector<iv::GPSData> navigation_data)
+{
+	//可直接获取车速  方法咨询张庆余
+
+	//样例
+	//输入数据类型
+	gps_data->gps_x;
+	gps_data->gps_y;
+	gps_data->gps_z;
+	gps_data->ins_heading_angle;	//航向角
+	gps_data->ins_pitch_angle;		//俯仰角
+	gps_data->ins_roll_angle;		//横滚角
+
+									//导航数据
+	navigation_data[0]->gps_x;
+	navigation_data[1]->gps_y;
+	for (std::vector<iv::GPSData>::const_iterator it = navigation_data.cbegin(); it != navigation_data.cend(); it++) {
+		//std::cout << (*it)->gps_x << std::endl;
+	}
+
+	//输出
+	gps_decition->speed = 30;
+	gps_decition->wheel_angle = 10;
+
+}*/
+
+
+void iv::decition::DecitionMaker::adjustOriginPoint(iv::GPS_INS nowGPSIns) {
+	const double PI = 3.1415926535898;
+	if (nowGPSIns.ins_heading_angle >= 0 && nowGPSIns.ins_heading_angle <= 90) {
+		origin_x = nowGPSIns.gps_x + vehLenthAdj*sin(nowGPSIns.ins_heading_angle*PI / 180);
+		origin_y = nowGPSIns.gps_y + vehLenthAdj*cos(nowGPSIns.ins_heading_angle*PI / 180);
+	}
+	else if (nowGPSIns.ins_heading_angle >= 90 && nowGPSIns.ins_heading_angle <= 180)
+	{
+		origin_x = nowGPSIns.gps_x + vehLenthAdj*sin((180 - nowGPSIns.ins_heading_angle)*PI / 180);
+		origin_y = nowGPSIns.gps_y - vehLenthAdj*cos((180 - nowGPSIns.ins_heading_angle)*PI / 180);
+	}
+	else  if (nowGPSIns.ins_heading_angle >= 180 && nowGPSIns.ins_heading_angle <= 270)
+	{
+		origin_x = nowGPSIns.gps_x - vehLenthAdj*sin((nowGPSIns.ins_heading_angle - 180)*PI / 180);
+		origin_y = nowGPSIns.gps_y - vehLenthAdj*cos((nowGPSIns.ins_heading_angle - 180)*PI / 180);
+	}
+	else if (nowGPSIns.ins_heading_angle >= 270 && nowGPSIns.ins_heading_angle <= 360)
+	{
+		origin_x = nowGPSIns.gps_x - vehLenthAdj*sin((360 - nowGPSIns.ins_heading_angle)*PI / 180);
+		origin_y = nowGPSIns.gps_y + vehLenthAdj*cos((360 - nowGPSIns.ins_heading_angle)*PI / 180);
+	}
+
+}
+
+
+
+
+/*
+	开启自动驾驶模式时，先获取离汽车距离最近的路径点
+*/
+
+ void iv::decition::DecitionMaker::getStartPoint(iv::GPS_INS nowGPSIns, const std::vector<iv::GPSData> navigation_data) {
+	 double minDistance,distance;
+	 for (int i = lastNearPointNum; i < navigation_data.size(); i++)
+	 {
+		 distance = DirectDistance(origin_x, origin_y,(navigation_data[i])->gps_x, (navigation_data[i])->gps_y);
+//		 distance = CalcDistance(gps_ins.gps_lat, gps_ins.gps_lng, (navigation_data[i])->gps_lat, (navigation_data[i])->gps_lng);
+		 if (i==0)
+		 {
+			 minDistance = distance;
+		 }
+		 else {
+			 if (distance<minDistance)
+			 {
+				 minDistance = distance;
+				 lastNearPointNum = i;
+                 std::cout << "lastnearestpoint: %d\n" << lastNearPointNum << std::endl;
+//				 ODS("minDistance: %d\n", minDistance);
+			 }
+		 }
+	 }
+
+}
+
+
+
+ /*
+     根据GPS坐标计算两点距离
+ */
+
+double iv::decition::DecitionMaker::getDistanceDeviation(iv::GPS_INS nowGPSIns, iv::GPS_INS nearestGPSIns) {
+	return	CalcDistance((nearestGPSIns).gps_lat, (nearestGPSIns).gps_lng, (nowGPSIns).gps_lat, (nowGPSIns).gps_lng);
+}
+
+
+/*
+    根据GPS坐标计算汽车与目标点之间的角度
+*/
+
+double iv::decition::DecitionMaker::getCrossAngle(iv::GPS_INS nowGPSIns, iv::GPS_INS nearestGPSIns) {
+	const double PI = 3.1415926535898;
+	double hypo = CalcDistance((nearestGPSIns).gps_lat, (nearestGPSIns).gps_lng, (nowGPSIns).gps_lat, (nowGPSIns).gps_lng);
+	double hor = CalcDistance((nearestGPSIns).gps_lat, (nearestGPSIns).gps_lng, (nearestGPSIns).gps_lat, (nowGPSIns).gps_lng);
+	double ang = asin(hor / hypo) / PI * 180;
+	double guideAng;
+	double crossAng; //顺时针是正直，逆时针是负值
+	if (((nearestGPSIns).gps_lat - (nowGPSIns).gps_lat >= 0) && ((nearestGPSIns).gps_lng - (nowGPSIns).gps_lng >= 0)) {
+		guideAng = ang;
+		//ang = 90 - ang;
+	}
+	else if (((nearestGPSIns).gps_lat - (nowGPSIns).gps_lat >= 0) && ((nearestGPSIns).gps_lng - (nowGPSIns).gps_lng <= 0))
+	{
+		guideAng = 360 - ang;
+		//ang = ang + 90;
+		
+	}
+	else if (((nearestGPSIns).gps_lat - (nowGPSIns).gps_lat <= 0) && ((nearestGPSIns).gps_lng - (nowGPSIns).gps_lng >= 0))
+	{
+		guideAng = 180 - ang;
+		//ang = ang - 90;
+	}
+	else  if (((nearestGPSIns).gps_lat - (nowGPSIns).gps_lat <= 0) && ((nearestGPSIns).gps_lng - (nowGPSIns).gps_lng <= 0))
+	{
+		guideAng = 180 + ang;
+		//ang = -90 - ang;
+	}
+
+	crossAng = guideAng - nowGPSIns.ins_heading_angle;
+	if (crossAng<-180)
+	{
+		crossAng = crossAng + 360;
+	}
+	else if (crossAng > 180) {
+		crossAng = crossAng - 360;
+	}
+	
+	
+	return crossAng;
+
+}
+
+/*
+	根据直角坐标计算汽车与目标点之间的角度
+*/
+
+double iv::decition::DecitionMaker::getDirectCrossAngle(iv::GPS_INS nowGPSIns, iv::GPS_INS objGPSIns) {
+
+	//double ang = DirectAngle(nowGPSIns.gps_x, nowGPSIns.gps_y,objGPSIns.gps_x,objGPSIns.gps_y);
+	double ang = DirectAngle(origin_x, origin_y, objGPSIns.gps_x, objGPSIns.gps_y);
+	double guideAng; //追随目标所需航向角
+	double crossAng; //顺时针是正直，逆时针是负值
+	if (((objGPSIns).gps_y - origin_y >= 0) && ((objGPSIns).gps_x - origin_x >= 0)) {
+		guideAng = 90 - ang;
+		//ang = 90 - ang;
+	}
+	else if (((objGPSIns).gps_y - origin_y >= 0) && ((objGPSIns).gps_x - origin_x <= 0))
+	{
+		guideAng = 270 - ang;
+		//ang = ang + 90;
+
+	}
+	else if (((objGPSIns).gps_y - origin_y <= 0) && ((objGPSIns).gps_x - origin_x >= 0))
+	{
+		guideAng = 90 - ang;
+		//ang = ang - 90;
+	}
+	else  if (((objGPSIns).gps_y - origin_y <= 0) && ((objGPSIns).gps_x - origin_x <= 0))
+	{
+		guideAng = 270 - ang;
+		//ang = -90 - ang;
+	}
+
+	crossAng = guideAng - nowGPSIns.ins_heading_angle;
+	if (crossAng<-180)
+	{
+		crossAng = crossAng + 360;
+	}
+	else if (crossAng > 180) {
+		crossAng = crossAng - 360;
+	}
+	return crossAng;
+}
+
+
+
+
+
+/*
+		根据GPS坐标搜索最近的车前路径点
+*/
+
+iv::GPS_INS iv::decition::DecitionMaker::getNearestGpsIns(iv::GPS_INS gps_ins, const std::vector<iv::GPSData> navigation_data) {
+	
+	GPS_INS lastNearPoint = *(navigation_data[lastNearPointNum]);
+
+	int count = navigation_data.size();
+
+	if ((lastNearPoint).ins_heading_angle <= 45 || (lastNearPoint).ins_heading_angle >= 315) {
+		for (int i = lastNearPointNum; i < count; i++) {
+			GPS_INS nearGNS = *(navigation_data[i]);
+
+			if ((nearGNS).gps_y>origin_y)
+			{
+				lastNearPointNum = i;
+				return nearGNS;
+			}
+		}
+	}
+	else if ((lastNearPoint).ins_heading_angle >= 45 && (lastNearPoint).ins_heading_angle <= 135) {
+
+		for (int i = lastNearPointNum; i < count; i++)
+		{
+			GPS_INS nearGNS = *(navigation_data[i]);
+
+			if ((nearGNS).gps_x>origin_x)
+			{
+				lastNearPointNum = i;
+				return nearGNS;
+			}
+		}
+
+	}
+	else if ((lastNearPoint).ins_heading_angle >= 135 && (lastNearPoint).ins_heading_angle <= 225) {
+
+		for (int i = lastNearPointNum; i < count; i++)
+		{
+			GPS_INS nearGNS = *(navigation_data[i]);
+
+			if ((nearGNS).gps_y<origin_y)
+			{
+				lastNearPointNum = i;
+				return nearGNS;
+			}
+		}
+
+	}
+	else if ((lastNearPoint).ins_heading_angle >= 225 && (lastNearPoint).ins_heading_angle <= 315) {
+
+		for (int i = lastNearPointNum; i < count; i++)
+		{
+			GPS_INS nearGNS = *(navigation_data[i]);
+
+			if ((nearGNS).gps_x<origin_x)
+			{
+				lastNearPointNum = i;
+				return nearGNS;
+			}
+		}
+
+	}
+
+	return lastNearPoint;
+}
+
+
+/*
+  判断是否到达终点
+*/
+
+bool iv::decition::DecitionMaker::checkComplete(GPS_INS nowGPSIns, const std::vector<iv::GPSData> navigation_data) {
+	if (lastNearPointNum < navigation_data.size() - 1) {
+		return false;
+	}
+	
+	GPS_INS lastNearPoint = *(navigation_data[lastNearPointNum]);
+
+	if ((lastNearPoint).ins_heading_angle <= 45 || (lastNearPoint).ins_heading_angle >= 315) {
+		if (origin_y>=lastNearPoint.gps_y)
+		{
+			return true;
+		}
+	}
+	else if ((lastNearPoint).ins_heading_angle >= 45 && (lastNearPoint).ins_heading_angle <= 135) {
+		if (origin_x >= lastNearPoint.gps_x)
+		{
+			return true;
+		}
+		
+
+	}
+	else if ((lastNearPoint).ins_heading_angle >= 135 && (lastNearPoint).ins_heading_angle <= 225) {
+
+		if (origin_y <= lastNearPoint.gps_y)
+		{
+			return true;
+		}
+
+	}
+	else if ((lastNearPoint).ins_heading_angle >= 225 && (lastNearPoint).ins_heading_angle <= 315) {
+
+		if (origin_x <= lastNearPoint.gps_x)
+		{
+			return true;
+		}
+
+	}
+
+	return false;
+
+}
+
+
+
+
+
+
+/*
+	计算输出车速
+*/
+
+float iv::decition::DecitionMaker::getSpeedObj(GPS_INS nowGPSIns, GPS_INS objGPSIns) {
+	float speed;
+	int speedMode = objGPSIns.speed_mode;
+	/*switch (speedMode)
+	{
+	case 0:
+		nearSpeed = 0;
+		break;
+	case 1:
+		nearSpeed = 0;
+		break;
+	case 2:
+		nearSpeed = 0;
+		break;
+	case 3:
+		nearSpeed = 0;
+		break;
+	case 4:
+		nearSpeed = 0;
+		break;
+	case 5:
+		nearSpeed = 0;
+		break;
+	case 6:
+		nearSpeed = 0;
+		break;
+	case 7:
+		nearSpeed = 0;
+		break;
+	case 8:
+		nearSpeed = 0;
+		break;
+	default:
+		break;
+	}*/
+
+	float objSpeed = objGPSIns.speed;
+	float nowSpeed = nowGPSIns.speed;
+	if (objSpeed >nowSpeed) {
+		speed = nowGPSIns.speed + 1;
+	}
+	else if (objSpeed<nowSpeed)
+	{
+		speed = nowGPSIns.speed - 1;
+	}
+	else
+	{
+		speed = objSpeed;
+	}
+	return speed;
+}
+
+/*
+   检验车与目标轨迹距离是否偏大
+*/
+
+void iv::decition::DecitionMaker::checkDistance(GPS_INS nowGPSIns, const std::vector<iv::GPSData> navigation_data,double maxDistance) {
+	  double distanceF = DirectDistance(nowGPSIns.gps_x, nowGPSIns.gps_y, (navigation_data[lastNearPointNum])->gps_x, (navigation_data[lastNearPointNum])->gps_y);	
+	  if (distanceF>maxDistance)
+	  {
+        std::cout << "您已远离目标路线\n" << std::endl;
+	  }
+}
+
+
+string getTime()
+{
+	time_t timep;
+	time(&timep);
+	char tmp[64];
+	strftime(tmp, sizeof(tmp), "%Y-%m-%d %H:%M:%S", localtime(&timep));
+	return tmp;
+}
+
+/*
+	给出GPS决策Decition
+*/
+iv::decition::Decition iv::decition::DecitionMaker::getDecideForGPS(iv::GPS_INS now_gps_ins, const std::vector<iv::GPSData> navigation_data) {
+	Decition gps_decition(new DecitionBasic);
+	//DecitionBasic decitionBasic;
+	int aheadNum;
+	if (now_gps_ins.speed_mode>2)
+	{
+		aheadNum = 48;
+	}
+	else {
+		aheadNum = 48;
+	}
+	origin_x = now_gps_ins.gps_x;
+	origin_y = now_gps_ins.gps_y;
+	adjustOriginPoint(now_gps_ins);
+	
+	if (isFirstRun)
+	{
+		getStartPoint(now_gps_ins, navigation_data);
+		isFirstRun = false;
+	}
+	nearestGpsIns = getNearestGpsIns(now_gps_ins, navigation_data);
+    std::cout << "\nlast :%d\t%f\t%f \n" << lastNearPointNum << now_gps_ins.gps_lat << now_gps_ins.gps_lng << std::endl;
+    std::cout << "nearest index: %d\t%f\t%f\n" << nearestGpsIns.index << nearestGpsIns.gps_lat << nearestGpsIns.gps_lng <<std::endl;
+	if (!checkComplete(now_gps_ins, navigation_data))
+	{
+		objPointNum = lastNearPointNum+aheadNum;
+		if (objPointNum > navigation_data.size()-1)
+			objPointNum = aheadNum -1;
+		objGpsIns = *(navigation_data[objPointNum]);
+		double angle = getDirectCrossAngle(now_gps_ins, objGpsIns);
+
+	//	checkDistance(now_gps_ins, navigation_data, 5000);
+
+		gps_decition->speed = getSpeedObj(now_gps_ins, nearestGpsIns);
+		if (angle>5||angle<-5)
+		{
+			gps_decition->wheel_angle = angle;
+		}
+		else
+		{
+			gps_decition->wheel_angle = 0;
+		}
+		//string time = getTime();
+		//ODS("当前时间: %s\n", lastNearPointNum);
+		gps_decition->wheel_angle = 0 - gps_decition->wheel_angle*40;
+		if (gps_decition->wheel_angle > 4000) {
+			gps_decition->wheel_angle = 4000;
+		}
+		if (gps_decition->wheel_angle < -4000) {
+			gps_decition->wheel_angle = -4000;
+		}
+	}
+	else {
+		gps_decition->wheel_angle = 0;
+		gps_decition->speed = 0;
+	}
+	
+	return gps_decition;
+
+}
+
+
+//string iv::decition::DecitionMaker::getTime()
+// {
+//	     time_t timep;
+//	     time(&timep);
+//	     char tmp[64];
+//	     strftime(tmp, sizeof(tmp), "%Y-%m-%d %H:%M:%S", localtime(&timep));
+//	    return tmp;
+//}
+
+
+/*iv::GPS_INS iv::decition::DecitionMaker::getNearestGpsIns(iv::GPS_INS gps_ins) {
+
+GPS_INS lastNearPoint = vec_Gps_Group[lastNearPointNum];
+
+int count = vec_Gps_Group.size();
+
+if ((lastNearPoint).ins_heading_angle <= 45 || (lastNearPoint).ins_heading_angle >= 315) {
+for (int i = lastNearPointNum; i < count;i++) {
+GPS_INS objGD = vec_Gps_Group[i];
+
+if ((objGD).gps_lat>(gps_ins).gps_lat)
+{
+lastNearPointNum = i;
+return objGD;
+}
+}
+}
+else if ((lastNearPoint).ins_heading_angle >= 45 && (lastNearPoint).ins_heading_angle <= 135) {
+
+for (int i = lastNearPointNum; i < count;i++)
+{
+GPS_INS objGD = vec_Gps_Group[i];
+
+if ((objGD).gps_lng>(gps_ins).gps_lng)
+{
+lastNearPointNum = i;
+return objGD;
+}
+}
+
+}
+else if ((lastNearPoint).ins_heading_angle >= 135 && (lastNearPoint).ins_heading_angle <= 225) {
+
+for (int i = lastNearPointNum; i < count;i++)
+{
+GPS_INS objGD = vec_Gps_Group[i];
+
+if ((objGD).gps_lat<(gps_ins).gps_lat)
+{
+lastNearPointNum = i;
+return objGD;
+}
+}
+
+}
+else if ((lastNearPoint).ins_heading_angle >= 225 && (lastNearPoint).ins_heading_angle <= 315) {
+
+for (int i = lastNearPointNum; i < count;i++)
+{
+GPS_INS objGD = vec_Gps_Group[i];
+
+if ((objGD).gps_lng<(gps_ins).gps_lng)
+{
+lastNearPointNum = i;
+return objGD;
+}
+}
+
+}
+
+return lastNearPoint;
+}*/
+
+
+
+/*iv::decition::Decition iv::decition::DecitionMaker::getDecideForGPS(iv::GPS_INS now_gps_ins) {
+	Decition gps_decition(new DecitionBasic);
+	//DecitionBasic decitionBasic;
+	nearestGpsIns = getNearestGpsIns(now_gps_ins);
+	double angle = getCrossAngle(now_gps_ins, nearestGpsIns);
+
+	gps_decition->speed = getSpeedObj(now_gps_ins, nearestGpsIns);
+	gps_decition->wheel_angle = angle;
+	return gps_decition;
+
+}*/
+
+
+/*void iv::decition::DecitionMaker::readFromText() {
+
+	ifstream infile;
+	infile.open("D:\\auto_car\\gps_trace.txt");
+	if (!infile) cout << "error" << endl;
+	string str;
+	int t1 = 0;
+	
+	
+	while (getline(infile, str))   //按行读取,遇到换行符结束
+	{
+
+		
+		cout << str << endl;
+		GPS_INS gps_Ins;
+
+		while (infile >> str)
+		{
+			// ODS("%s\n", str);
+			
+			cout << str << endl;
+			t1++;
+			if (t1 == 2)
+			{
+				gps_Ins.gps_lng = stod(str);
+			}
+			else if (t1 == 3)
+			{
+				gps_Ins.gps_lat = stod(str);
+			}
+			else if (t1 == 4)
+			{
+				gps_Ins.speed = stod(str);
+			}
+			else if (t1 == 6)
+			{
+				gps_Ins.ins_heading_angle = stod(str);
+				vec_Gps_Group.push_back(gps_Ins);
+				t1 = 0;
+			}
+		}
+		
+		
+	}
+	infile.close();
+}*/
+
+
+
+

src/decition/decition_brain/decision/decide_gps_00.cpp

@@ -0,0 +1,3923 @@
+#include <decision/decide_gps_00.h>
+#include <decision/adc_tools/compute_00.h>
+#include <decision/adc_tools/gps_distance.h>
+#include <decision/decition_type.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/obs_predict.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+#include <control/can.h>
+#include <time.h>
+#include <decision/adc_controller/base_controller.h>
+#include <decision/adc_controller/pid_controller.h>
+#include <decision/adc_planner/lane_change_planner.h>
+#include <decision/adc_planner/frenet_planner.h>
+#include <QTime>
+
+using namespace std;
+
+#include "ivlog.h"
+extern iv::Ivlog * givlog;
+
+#define PI (3.1415926535897932384626433832795)
+
+iv::decition::DecideGps00::DecideGps00() {
+
+}
+iv::decition::DecideGps00::~DecideGps00() {
+
+}
+
+float iv::decition::DecideGps00::xiuzhengCs=0;
+
+int iv::decition::DecideGps00::PathPoint = -1;
+double iv::decition::DecideGps00::minDis = iv::MaxValue;
+double iv::decition::DecideGps00::maxAngle = iv::MinValue;
+//int iv::decition::DecideGps00::lastGpsIndex = iv::MaxValue;
+int iv::decition::DecideGps00::lastGpsIndex = 0;
+double iv::decition::DecideGps00::controlSpeed = 0;
+double iv::decition::DecideGps00::controlBrake = 0;
+double iv::decition::DecideGps00::controlAng = 0;
+double iv::decition::DecideGps00::Iv = 0;
+double iv::decition::DecideGps00::lastU = 0;
+double iv::decition::DecideGps00::lastVt = 0;
+double iv::decition::DecideGps00::lastEv = 0;
+
+int iv::decition::DecideGps00::gpsLineParkIndex = 0;
+int iv::decition::DecideGps00::gpsMapParkIndex = 0;
+double iv::decition::DecideGps00::lastDistance = MaxValue;
+double iv::decition::DecideGps00::lastPreObsDistance = MaxValue;
+double iv::decition::DecideGps00::obsDistance = -1;
+double iv::decition::DecideGps00::obsSpeed=0;
+double iv::decition::DecideGps00::obsDistanceAvoid = -1;
+double iv::decition::DecideGps00::lastDistanceAvoid = -1;
+
+double iv::decition::DecideGps00::lidarDistance = -1;
+double iv::decition::DecideGps00::myesrDistance = -1;
+double iv::decition::DecideGps00::lastLidarDis = -1;
+
+bool iv::decition::DecideGps00::parkMode = false;
+bool iv::decition::DecideGps00::readyParkMode = false;
+
+bool iv::decition::DecideGps00::zhucheMode = false;
+bool iv::decition::DecideGps00::readyZhucheMode = false;
+bool iv::decition::DecideGps00::hasZhuched = false;
+
+double iv::decition::DecideGps00::lastLidarDisAvoid = -1;
+double iv::decition::DecideGps00::lidarDistanceAvoid = -1;
+
+int iv::decition::DecideGps00::finishPointNum = -1;
+int iv::decition::DecideGps00::zhuchePointNum = 0;
+
+///kkcai, 2020-01-03
+bool iv::decition::DecideGps00::isFirstRun = true;
+//////////////////////////////////////////////
+
+float iv::decition::DecideGps00::minDecelerate=0;
+//bool iv::decition::DecideGps00::startingFlag = true;//起步标志，在起步时需要进行frenet规划。
+
+double offset_real = 0;
+double realspeed;
+double dSpeed;
+double dSecSpeed;
+double secSpeed;
+double ac;
+
+
+iv::Point2D obsPoint(-1, -1);
+iv::Point2D obsPointAvoid(-1, -1);
+
+
+int esrIndex = -1;
+int esrIndexAvoid = -1;
+double obsSpeedAvoid = 0;
+
+double esrDistance = -1;
+double esrDistanceAvoid = -1;
+int obsLostTime = 0;
+int obsLostTimeAvoid = 0;
+
+// double avoidTime = 0;
+
+
+double avoidX =0;
+float roadWidth = 3.5;
+int roadSum =10;
+int roadNow = 0;
+int roadOri =0;
+int roadPre = -1;
+int lastRoadOri = 0;
+
+int lightTimes = 0;
+
+
+int lastRoadNum=1;
+
+int stopCount = 0;
+
+int gpsMissCount = 0;
+
+bool rapidStop = false;
+
+bool hasTrumpeted = false;
+
+
+bool changeRoad=false;
+//实验手刹
+bool handFirst = true;
+double handTimeSpan = 0;
+double handStartTime = 0;
+double handLastTime = 0;
+bool handPark = false;
+long handParkTime=10000;
+
+//喇叭
+bool trumpetFirstCount=true;
+double trumpetTimeSpan = 0;
+double trumpetStartTime = 0;
+double trumpetLastTime = 0;
+
+//过渡
+bool transferFirstCount=true;
+double transferTimeSpan = 0;
+double transferStartTime = 0;
+double transferLastTime = 0;
+
+bool busMode = false;
+bool parkBesideRoad=false;
+
+bool chaocheMode = false;
+bool specialSignle = false;
+
+double offsetX = 0;
+
+double steerSpeed=9000;
+
+bool transferPieriod;
+bool transferPieriod2;
+double traceDevi;
+
+bool startingFlag = true;  //起步标志，在起步时需要进行frenet规划。
+bool useFrenet = false;    //标志是否启用frenet算法避障
+bool useOldAvoid = true;   //标志是否用老方法避障
+
+enum VehState { normalRun, park, readyPark, stopObs, avoidObs, preAvoid, avoiding, backOri,preBack,
+                waitAvoid ,shoushaTest,justRun, changingRoad, chaoche, chaocheBack, reverseCar,reversing, reverseCircle, reverseDirect,reverseArr,
+                dRever,dRever0,dRever1,dRever2,dRever3,dRever4} vehState;
+
+
+std::vector<iv::Point2D>  gpsTraceAim; //记录变道后的目标路径，若车辆经frenet规划行驶至该路径上后，就关闭frenet规划
+std::vector<iv::Point2D>  gpsTraceAvoid,gpsTraceNow,gpsTraceBack,gpsTracePre,gpsTraceOri,gpsTraceRear;
+
+std::vector<double> esrDisVector(roadSum, -1);
+std::vector<double> lidarDisVector(roadSum, -1);
+std::vector<double> obsDisVector(roadSum,-1);
+std::vector<double> obsSpeedVector(roadSum, 0);
+
+std::vector<int> obsLostTimeVector(roadSum, 0);
+
+std::vector<double> lastLidarDisVector(roadSum, -1);
+std::vector<double> lastDistanceVector(roadSum, -1);
+
+bool qiedianCount = false;
+//日常展示
+
+iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_gps_ins,
+                                                                   const std::vector<GPSData> gpsMapLine,
+                                                                   iv::LidarGridPtr lidarGridPtr,
+                                                                   std::vector<iv::Perception::PerceptionOutput> lidar_per,
+                                                                   iv::TrafficLight trafficLight)
+{
+    //   QTime xTime;
+    //    xTime.start();
+    //39.14034649083606 117.0863975920476 20507469.630314853  4334165.046101382 353
+    Decition gps_decition(new DecitionBasic);
+    //    vector<iv::Point2D> fpTraceTmp;
+
+
+    //如果useFrenet、useOldAvoid两者不互为相异，则采用原来的方法。“^”为异或运算符。
+    if(!(useFrenet^useOldAvoid)){
+        useFrenet = false;
+        useOldAvoid = true;
+    }
+
+    //    //如果useFrenet、useOldAvoid两者均为真或均为假，则采用原来的方法
+    //    if(useFrenet&&useOldAvoid || !useFrenet&&!useOldAvoid){
+    //        useFrenet = false;
+    //        useOldAvoid = true;
+    //    }
+
+    //  ServiceCarStatus.group_control=false;
+
+
+
+
+    //    GPS_INS gps= Coordinate_UnTransfer(0,1.5,now_gps_ins);
+    //    now_gps_ins.gps_x=gps.gps_x;
+    //    now_gps_ins.gps_y=gps.gps_y;
+
+    //    GaussProjInvCal(now_gps_ins.gps_x, now_gps_ins.gps_y,&now_gps_ins.gps_lng, &now_gps_ins.gps_lat);
+
+
+    if (isFirstRun)
+    {
+        initMethods();
+        vehState = normalRun;
+        startAvoid_gps_ins = now_gps_ins;
+        init();
+        PathPoint = Compute00().getFirstNearestPointIndex(now_gps_ins, gpsMapLine,
+                                                          DecideGps00::lastGpsIndex,
+                                                          DecideGps00::minDis,
+                                                          DecideGps00::maxAngle);
+        DecideGps00::lastGpsIndex = PathPoint;
+
+        if(ServiceCarStatus.speed_control==true){
+            Compute00().getDesiredSpeed(gpsMapLine);   //add by zj
+        }
+
+        //	ServiceCarStatus.carState = 1;
+        //        roadOri = gpsMapLine[PathPoint]->roadOri;
+        //        roadNow = roadOri;
+        //        roadSum = gpsMapLine[PathPoint]->roadSum;
+        //  busMode = false;
+        //  vehState = dRever;
+
+        double dis =  GetDistance(*gpsMapLine[0], *gpsMapLine[gpsMapLine.size()-1]);
+        if(dis<15){
+            circleMode=true;  //201200102
+        }else{
+            circleMode=false;
+        }
+        //     circleMode = true;
+
+
+        getV2XTrafficPositionVector(gpsMapLine);
+        //        group_ori_gps=*gpsMapLine[0];
+        ServiceCarStatus.bocheMode=false;
+        ServiceCarStatus.daocheMode=false;
+        parkMode=false;
+        readyParkMode=false;
+        finishPointNum=-1;
+        isFirstRun = false;
+    }
+
+
+    if(ServiceCarStatus.msysparam.gpsOffset_x!=0 || ServiceCarStatus.msysparam.gpsOffset_y!=0 ){
+        GPS_INS gpsOffset = Coordinate_UnTransfer(ServiceCarStatus.msysparam.gpsOffset_x, ServiceCarStatus.msysparam.gpsOffset_y, now_gps_ins);
+        now_gps_ins.gps_x=gpsOffset.gps_x;
+        now_gps_ins.gps_y=gpsOffset.gps_y;
+        GaussProjInvCal(now_gps_ins.gps_x,  now_gps_ins.gps_y, &now_gps_ins.gps_lng, &now_gps_ins.gps_lat);
+    }
+
+    //1227
+    //  ServiceCarStatus.daocheMode=true;
+
+    //1220
+    changingDangWei=false;
+
+    minDecelerate=0;
+    if(now_gps_ins.gps_lat<0||now_gps_ins.gps_lat>90){
+        //  int a=0;
+        gps_decition->wheel_angle = 0;
+        gps_decition->speed = dSpeed;
+
+        gps_decition->accelerator = -0.5;
+        gps_decition->brake=10;
+        return gps_decition;
+    }
+
+
+
+
+
+    //1220
+
+
+    if(ServiceCarStatus.daocheMode){
+
+        now_gps_ins.ins_heading_angle=now_gps_ins.ins_heading_angle+180;
+        if( now_gps_ins.ins_heading_angle>=360)
+            now_gps_ins.ins_heading_angle= now_gps_ins.ins_heading_angle-360;
+    }
+    //1220 end
+
+
+
+    //1125 traficc
+    traffic_light_gps.gps_lat=ServiceCarStatus.iTrafficeLightLat;
+    traffic_light_gps.gps_lng=ServiceCarStatus.iTrafficeLightLon;
+    GaussProjCal(traffic_light_gps.gps_lng,traffic_light_gps.gps_lat, &traffic_light_gps.gps_x, &traffic_light_gps.gps_y);
+
+
+    //xiesi
+    ///kkcai, 2020-01-03
+    //ServiceCarStatus.busmode=true;
+    //ServiceCarStatus.busmode=false;//20200102
+    ///////////////////////////////////////////////////
+
+
+    //busMode = ServiceCarStatus.busmode;
+    nearStation=false;
+
+    gps_decition->leftlamp = false;
+    gps_decition->rightlamp = false;
+    //    qDebug("heading is %g",now_gps_ins.ins_heading_angle);
+
+
+    aim_gps_ins.gps_lat= ServiceCarStatus.mfParkLat;
+    aim_gps_ins.gps_lng= ServiceCarStatus.mfParkLng;
+
+    aim_gps_ins.ins_heading_angle= ServiceCarStatus.mfParkHeading;
+
+
+
+
+    GaussProjCal(aim_gps_ins.gps_lng,aim_gps_ins.gps_lat, &aim_gps_ins.gps_x, &aim_gps_ins.gps_y);
+    is_arrivaled = false;
+
+
+
+
+    //  xiuzhengCs=-0.8;  //1026
+
+    xiuzhengCs=0;
+    //    if (parkMode)
+    //    {
+
+
+    //        handBrakePark(gps_decition,10000,now_gps_ins);
+    //        return gps_decition;
+    //    }
+
+
+
+
+
+    realspeed = now_gps_ins.speed;
+
+    secSpeed = realspeed / 3.6;
+
+
+
+
+    //sidePark
+
+    if(ServiceCarStatus.mnParkType==1){
+
+        if( vehState!=dRever &&  vehState!=dRever0  &&  vehState!=dRever1 &&  vehState!=dRever2  &&  vehState!=dRever3 && vehState!=dRever4 && vehState!=reverseArr ){
+            int bocheEN=Compute00().bocheDirectCompute(now_gps_ins, aim_gps_ins);
+            if(bocheEN==1){
+                ServiceCarStatus.bocheEnable=1;
+            }else if(bocheEN==0){
+                ServiceCarStatus.bocheEnable=0;
+            }
+        }else{
+            ServiceCarStatus.bocheEnable=2;
+        }
+
+
+
+        if(ServiceCarStatus.bocheMode && vehState!=dRever &&  vehState!=dRever0  &&  vehState!=dRever1 &&
+                vehState!=dRever2  &&  vehState!=dRever3 && vehState!=dRever4&&  vehState!=reverseArr ){
+            if(abs(realspeed)>0.1){
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+                gps_decition->wheel_angle=0;
+                return gps_decition;
+            }else{
+                if(trumpet()>3000){
+                    trumpetFirstCount=true;
+                    vehState=dRever;
+                }
+
+            }
+            //         ServiceCarStatus.bocheMode=false;
+        }
+
+    }
+
+
+    //chuizhiPark
+
+    if(ServiceCarStatus.mnParkType==0){
+        if( vehState!=reverseCar &&  vehState!=reversing  &&  vehState!=reverseCircle &&  vehState!=reverseDirect &&  vehState!=reverseArr ){
+            int bocheEN=Compute00().bocheCompute(now_gps_ins, aim_gps_ins);
+            if(bocheEN==1){
+                ServiceCarStatus.bocheEnable=1;
+            }else if(bocheEN==0){
+                ServiceCarStatus.bocheEnable=0;
+            }
+        }else{
+            ServiceCarStatus.bocheEnable=2;
+        }
+
+
+
+        if(ServiceCarStatus.bocheMode && vehState!=reverseCar &&  vehState!=reversing  &&  vehState!=reverseCircle &&  vehState!=reverseDirect&&  vehState!=reverseArr ){
+
+            if(abs(realspeed)>0.1){
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+                gps_decition->wheel_angle=0;
+                return gps_decition;
+            }else{
+                if(trumpet()>3000){
+                    trumpetFirstCount=true;
+                    vehState=reverseCar;
+                }
+
+            }
+            //     ServiceCarStatus.bocheMode=false;
+
+        }
+    }
+    // ChuiZhiTingChe
+    if (vehState == reverseCar)
+    {
+        Compute00().bocheCompute(now_gps_ins, aim_gps_ins);
+
+        vehState = reversing;
+        qiedianCount=true;
+
+
+    }
+    if (vehState == reversing)
+    {
+        double dis = GetDistance(now_gps_ins, Compute00().nearTpoint);
+        if (dis<2.0)//0.5
+        {
+            vehState = reverseCircle;
+            qiedianCount = true;
+            cout<<"到达近切点+++++++++++++++++++++++++++++++++"<<endl;
+        }
+        else {
+            controlAng = 0;
+            dSpeed = 2;
+            dSecSpeed = dSpeed / 3.6;
+            gps_decition->wheel_angle = 0;
+            gps_decition->speed = dSpeed;
+            obsDistance=-1;
+            phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            //	gps_decition->accelerator = 0;
+            return gps_decition;
+        }
+    }
+
+    if (vehState == reverseCircle)
+    {
+        double dis = GetDistance(now_gps_ins, Compute00().farTpoint);
+        double angdis =abs(now_gps_ins.ins_heading_angle - aim_gps_ins.ins_heading_angle);
+        if((((angdis<5)||(angdis>355)))&&(dis<3.0))
+            //       if((((angdis<4)||(angdis>356)))&&(dis<2.0))
+        {
+            vehState = reverseDirect;
+            qiedianCount = true;
+            cout<<"到达远切点+++++++++++++++++++++++++++++++++"<<endl;
+
+        }
+        else {
+            if (qiedianCount && trumpet()<0)
+                //         if (qiedianCount && trumpet()<1500)
+            {
+
+                //                gps_decition->brake = 10;
+                //                gps_decition->torque = 0;
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+            else
+            {
+                qiedianCount = false;
+                trumpetFirstCount = true;
+
+
+                dSpeed = 2;
+                dSecSpeed = dSpeed / 3.6;
+                gps_decition->speed = dSpeed;
+                obsDistance=-1;
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+
+            }
+
+            controlAng = Compute00().bocheAngle*16.5;
+            gps_decition->wheel_angle = 0 - controlAng*1.05;
+
+            cout<<"farTpointDistance================"<<dis<<endl;
+
+            return gps_decition;
+        }
+    }
+
+    if (vehState == reverseDirect)
+    {
+        //	double dis = GetDistance(now_gps_ins, aim_gps_ins);
+        Point2D pt = Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y, aim_gps_ins);
+
+        if ((pt.y)<0.5)
+        {
+
+            qiedianCount=true;
+            vehState=reverseArr;
+            cout<<"到达泊车点+++++++++++++++++++++++++++++++++"<<endl;
+            //            gps_decition->accelerator = -3;
+            //            gps_decition->brake = 10;
+            //            gps_decition->torque = 0;
+            gps_decition->wheel_angle=0;
+            dSpeed=0;
+            minDecelerate=min(minDecelerate,-0.5f);
+            phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            return gps_decition;
+
+
+
+
+        }
+        else {
+
+            //if (qiedianCount && trumpet()<0)
+            if (qiedianCount && trumpet()<1000)
+            {
+
+                //                gps_decition->brake = 10;
+                //                gps_decition->torque = 0;
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+            else
+            {
+                qiedianCount = false;
+                trumpetFirstCount = true;
+                dSpeed = 1;
+                dSecSpeed = dSpeed / 3.6;
+                gps_decition->speed = dSpeed;
+                obsDistance=-1;
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+
+
+
+            controlAng = 0;
+
+            gps_decition->wheel_angle = 0;
+
+            return gps_decition;
+        }
+    }
+
+
+
+    if (vehState == reverseArr)
+    {
+        //
+
+        ServiceCarStatus.bocheMode=false;
+        if (qiedianCount && trumpet()<1500)
+        {
+
+            //            gps_decition->brake = 10;
+            //            gps_decition->torque = 0;
+            dSpeed=0;
+            minDecelerate=min(minDecelerate,-0.5f);
+            phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            ServiceCarStatus.bocheMode=false;
+        }
+        else
+        {
+            qiedianCount = false;
+            trumpetFirstCount = true;
+            ServiceCarStatus.bocheEnable=0;
+            vehState=normalRun;
+            ServiceCarStatus.mbRunPause=true;
+            ServiceCarStatus.mnBocheComplete=100;
+            cout<<"泊车daowei mbRunPause+++++++++++++++++++++++++++++++++"<<endl;
+        }
+
+
+        gps_decition->wheel_angle = 0 ;
+
+
+
+        return gps_decition;
+
+    }
+
+
+
+    //ceFangWeiBoChe
+
+    if (vehState == dRever)
+    {
+        GaussProjCal(aim_gps_ins.gps_lng, aim_gps_ins.gps_lat, &aim_gps_ins.gps_x, &aim_gps_ins.gps_y);
+
+        Compute00().bocheDirectCompute(now_gps_ins, aim_gps_ins);
+
+        vehState = dRever0;
+        qiedianCount=true;
+
+
+        std::cout<<"enter side boche mode"<<std::endl;
+
+
+
+    }
+    if (vehState == dRever0)
+    {
+        double dis = GetDistance(now_gps_ins, Compute00().dTpoint0);
+        if (dis<2.0)
+        {
+            vehState = dRever1;
+            qiedianCount = true;
+            cout<<"到达近切点+++++++++++++++++++++++++++++++++"<<endl;
+        }
+        else {
+            controlAng = 0;
+            dSpeed = 2;
+            dSecSpeed = dSpeed / 3.6;
+            gps_decition->wheel_angle = 0;
+            gps_decition->speed = dSpeed;
+            obsDistance=-1;
+            phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            //	gps_decition->accelerator = 0;
+            return gps_decition;
+        }
+    }
+
+
+    if (vehState == dRever1)
+    {
+        double dis = GetDistance(now_gps_ins, Compute00().dTpoint1);
+
+        if(dis<2.0)
+        {
+            vehState = dRever2;
+            qiedianCount = true;
+            cout<<"到达远切点+++++++++++++++++++++++++++++++++"<<endl;
+
+        }
+        else {
+            if (qiedianCount && trumpet()<1000)
+
+            {
+
+                //                gps_decition->brake = 10;
+                //                gps_decition->torque = 0;
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+            else
+            {
+                qiedianCount = false;
+                trumpetFirstCount = true;
+
+
+                dSpeed = 2;
+                dSecSpeed = dSpeed / 3.6;
+                gps_decition->speed = dSpeed;
+                obsDistance=-1;
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+
+            }
+
+            controlAng = Compute00().dBocheAngle*16.5;
+            gps_decition->wheel_angle = 0 - controlAng;
+
+            cout<<"farTpointDistance================"<<dis<<endl;
+
+            return gps_decition;
+        }
+    }
+
+
+    if (vehState == dRever2)
+    {
+        double dis = GetDistance(now_gps_ins, Compute00().dTpoint2);
+        Point2D pt1 = Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y, aim_gps_ins);
+        Point2D pt2 = Coordinate_Transfer(Compute00().dTpoint2.gps_x,Compute00().dTpoint2.gps_y, aim_gps_ins);
+        double xx= (pt1.x-pt2.x);
+        // if(xx>0)
+        if(xx>-0.5)
+        {
+            GaussProjCal(aim_gps_ins.gps_lng, aim_gps_ins.gps_lat, &aim_gps_ins.gps_x, &aim_gps_ins.gps_y);
+            Point2D ptt = Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y, aim_gps_ins);
+            double xxx=ptt.x;
+            double yyy =ptt.y;
+            //            if(xxx<-1.5||xx>1){
+            //                int a=0;
+            //            }
+            vehState = dRever3;
+            qiedianCount = true;
+            cout<<"到达远切点+++++++++++++++++++++++++++++++++"<<endl;
+            cout<<"xxx+++++++++++++++++++++++++++++++++"<<xxx<<endl;
+            cout<<"yyy+++++++++++++++++++++++++++++++++"<<yyy<<endl;
+
+
+        }
+        else {
+            if (qiedianCount && trumpet()<1000)
+
+            {
+
+                /*  gps_decition->brake = 10;
+                gps_decition->torque = 0;  */
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+            else
+            {
+                qiedianCount = false;
+                trumpetFirstCount = true;
+
+
+                dSpeed = 2;
+                dSecSpeed = dSpeed / 3.6;
+                gps_decition->speed = dSpeed;
+                obsDistance=-1;
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+
+            }
+
+
+            gps_decition->wheel_angle = 0 ;
+
+            cout<<"farTpointDistance================"<<dis<<endl;
+
+            return gps_decition;
+        }
+    }
+
+
+    if (vehState == dRever3)
+    {
+        double dis = GetDistance(now_gps_ins, Compute00().dTpoint3);
+        double angdis =abs(now_gps_ins.ins_heading_angle - aim_gps_ins.ins_heading_angle);
+        if((((angdis<5)||(angdis>355)))&&(dis<10.0))
+        {
+            vehState = dRever4;
+            qiedianCount = true;
+            cout<<"到达远切点+++++++++++++++++++++++++++++++++"<<endl;
+
+        }
+        else {
+            if (qiedianCount && trumpet()<1000)
+
+            {
+
+                //                gps_decition->brake = 10;
+                //                gps_decition->torque = 0;
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+            else
+            {
+                qiedianCount = false;
+                trumpetFirstCount = true;
+
+
+                dSpeed = 2;
+                dSecSpeed = dSpeed / 3.6;
+                gps_decition->speed = dSpeed;
+                obsDistance=-1;
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+
+            }
+
+            controlAng = 0-Compute00().dBocheAngle*16.5;
+            gps_decition->wheel_angle = 0 - controlAng*0.95;
+
+            cout<<"farTpointDistance================"<<dis<<endl;
+
+            return gps_decition;
+        }
+    }
+
+
+
+    if (vehState == dRever4)
+    {
+        //	double dis = GetDistance(now_gps_ins, aim_gps_ins);
+        Point2D pt = Coordinate_Transfer(now_gps_ins.gps_x,now_gps_ins.gps_y, aim_gps_ins);
+
+        if ((pt.y)<0.5)
+        {
+
+            qiedianCount=true;
+            vehState=reverseArr;
+            cout<<"到达泊车点+++++++++++++++++++++++++++++++++"<<endl;
+            //            gps_decition->accelerator = -3;
+            //            gps_decition->brake =10 ;
+            dSpeed=0;
+            minDecelerate=min(minDecelerate,-0.5f);
+            phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+
+            gps_decition->wheel_angle=0;
+            return gps_decition;
+
+
+
+
+        }
+        else {
+
+            //if (qiedianCount && trumpet()<0)
+            if (qiedianCount && trumpet()<1000)
+            {
+
+                //                gps_decition->brake = 10;
+                //                gps_decition->torque = 0;
+                dSpeed=0;
+                minDecelerate=min(minDecelerate,-0.5f);
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+            else
+            {
+                qiedianCount = false;
+                trumpetFirstCount = true;
+                dSpeed = 2;
+                dSecSpeed = dSpeed / 3.6;
+                gps_decition->speed = dSpeed;
+                obsDistance=-1;
+                phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+            }
+
+
+
+            controlAng = 0;
+
+            gps_decition->wheel_angle = 0;
+
+            return gps_decition;
+        }
+    }
+
+
+
+    if (vehState == reverseArr)
+    {
+        //
+        ServiceCarStatus.bocheMode=false;
+
+        if (qiedianCount && trumpet()<1500)
+        {
+
+            //            gps_decition->brake = 10;
+            //            gps_decition->torque = 0;
+            dSpeed=0;
+            minDecelerate=min(minDecelerate,-0.5f);
+            phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
+        }
+        else
+        {
+            qiedianCount = false;
+            trumpetFirstCount = true;
+            ServiceCarStatus.bocheEnable=0;
+            vehState=normalRun;
+            ServiceCarStatus.mbRunPause=true;
+            ServiceCarStatus.mnBocheComplete=100;
+            cout<<"泊车daowei mbRunPause+++++++++++++++++++++++++++++++++"<<endl;
+        }
+
+
+        gps_decition->wheel_angle = 0 ;
+
+
+
+        return gps_decition;
+
+    }
+
+
+
+
+
+
+
+
+
+
+
+    obsDistance = -1;
+    esrIndex = -1;
+    lidarDistance = -1;
+
+    obsDistanceAvoid = -1;
+    esrIndexAvoid = -1;
+    roadPre = -1;
+
+
+
+
+
+
+
+
+
+
+
+    gpsTraceOri.clear();
+    gpsTraceNow.clear();
+    gpsTraceAim.clear();
+    gpsTraceAvoid.clear();
+    gpsTraceBack.clear();
+
+
+
+
+
+
+
+    if (!isFirstRun)
+    {
+        //   PathPoint = Compute00().getNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
+        //    if(PathPoint<0){
+        PathPoint = Compute00().getFirstNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
+        //    }
+
+    }
+
+
+    if (PathPoint<0)
+    {
+
+        minDecelerate=-1.0;
+        phaseSpeedDecition(gps_decition, secSpeed, -1, 0,now_gps_ins);
+        return gps_decition;
+
+    }
+
+    DecideGps00::lastGpsIndex = PathPoint;
+
+
+
+
+
+
+
+
+    //2020-01-03, kkcai
+    //if(!circleMode && PathPoint>gpsMapLine.size()-200){
+    if(!circleMode && PathPoint>gpsMapLine.size()-100){
+        minDecelerate=-1.0;
+        std::cout<<"map finish brake"<<std::endl;
+    }
+
+
+
+    if(!ServiceCarStatus.inRoadAvoid){
+        roadOri = gpsMapLine[PathPoint]->roadOri;
+        roadSum = gpsMapLine[PathPoint]->roadSum;
+    }else{
+        roadOri=gpsMapLine[PathPoint]->roadOri*3+1;
+        roadSum = gpsMapLine[PathPoint]->roadSum*3;
+    }
+
+    if(ServiceCarStatus.avoidObs){
+         gpsMapLine[PathPoint]->runMode=1;
+    }else{
+         gpsMapLine[PathPoint]->runMode=0;
+    }
+
+    if(roadNowStart){
+        roadNow=roadOri;
+        roadNowStart=false;
+    }
+
+ //   avoidX = (roadOri-roadNow)*roadWidth;
+    avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+
+
+    if ( gpsMapLine[PathPoint]->runMode == 0 &&(vehState == avoidObs||vehState ==stopObs||vehState == preAvoid
+                                                ||vehState == avoiding||vehState == backOri||vehState ==preBack||vehState ==waitAvoid ) )
+    {
+        vehState = normalRun;
+        roadNow = roadOri;
+    }
+
+
+
+    //    if (PathPoint!=-1&&((now_gps_ins.rtk_status==6)||(now_gps_ins.rtk_status==5))&&GetDistance(now_gps_ins,*gpsMapLine[PathPoint])<30)
+    //    {
+    //        DecideGps00::lastGpsIndex = PathPoint;
+    //        gpsMissCount = 0;
+
+    //    }
+    //    else
+    //    {
+    //        gpsMissCount++;
+    //    }
+
+    gpsTraceOri= getGpsTrace(now_gps_ins, gpsMapLine, lastGpsIndex,circleMode);
+    //    gpsTraceOri = laneChangePlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,0,lidarGridPtr);
+    if(gpsTraceOri.empty()){
+        gps_decition->wheel_angle = 0;
+        gps_decition->speed = dSpeed;
+
+        gps_decition->accelerator = -0.5;
+        gps_decition->brake=10;
+        return gps_decition;
+    }
+
+
+
+    traceDevi=gpsTraceOri[0].x;
+
+    //起步进行frenet规划后，车辆行驶至地图路线上，起步操作完毕。
+    //如果车辆本身启动位置在地图路线上，可不用进行frenet规划。
+    //    if(GetDistance(now_gps_ins,*gpsMapLine[PathPoint]) < 1){
+    //        startingFlag = false;
+    //    }
+    startingFlag = false;
+    if(startingFlag){
+        //        gpsTraceAim = gpsTraceOri;
+        if(abs(gpsTraceOri[0].x)>1){
+            cout<<"frenetPlanner->getPath:pre"<<endl;
+            gpsTraceNow = frenetPlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,0,lidarGridPtr);
+            cout<<"frenetPlanner->getPath,gpsTraceNow.size: "<<gpsTraceNow.size()<<endl;
+            if(gpsTraceNow.size()==0){
+                gps_decition->accelerator = 0;
+                gps_decition->brake=10;
+                gps_decition->wheel_angle = lastAngle;
+                gps_decition->speed = 0;
+                return gps_decition;
+            }
+        }else{
+            startingFlag = false;
+        }
+    }
+
+
+    if(useFrenet){
+        //如果车辆在变道中，启用frenet规划局部路径
+        if(vehState == avoiding || vehState == backOri){
+            //avoidX = (roadOri - roadNow)*roadWidth;
+             avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+            gpsTraceNow = frenetPlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,avoidX,lidarGridPtr);
+            //gpsTraceAim = laneChangePlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,avoidX,lidarGridPtr);
+            gpsTraceAim = getGpsTraceOffset(gpsTraceOri, avoidX);
+            if(gpsTraceNow.size()==0){
+                gps_decition->accelerator = 0;
+                gps_decition->brake=10;
+                gps_decition->wheel_angle = lastAngle;
+                gps_decition->speed = 0;
+                return gps_decition;
+            }
+        }
+    }
+
+    if(gpsTraceNow.size()==0){
+        if (roadNow==roadOri)
+        {
+            gpsTraceNow.assign(gpsTraceOri.begin(), gpsTraceOri.end());
+            //gpsTraceNow = getGpsTrace(now_gps_ins, gpsMapLine, lastGpsIndex);
+        }else
+        {
+            //	gpsTraceNow = getGpsTrace(now_gps_ins, gmapsR[int(abs(roadWidth * 2)*(roadOri-roadNow))], lastGpsIndex);
+            gpsTraceNow = getGpsTraceOffset(gpsTraceOri, avoidX);
+            //gpsTraceNow = laneChangePlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,avoidX,lidarGridPtr);
+        }
+    }
+
+
+    //  dSpeed = getSpeed(gpsTraceNow);
+    dSpeed = 80;
+
+    //   planTrace = gpsTraceNow; //Add By YuChuli, 2020.11.26
+
+    planTrace.clear();
+    for(int i=0;i<gpsTraceNow.size();i++){
+        TracePoint pt(gpsTraceNow[i].x,gpsTraceNow[i].y);
+        planTrace.push_back(pt);
+    }
+
+
+    dSpeed = limitSpeed(controlAng, dSpeed);
+
+
+
+    controlAng= getAngle(gpsTraceNow,now_gps_ins,gps_decition);
+    if(!circleMode && PathPoint>(gpsMapLine.size()-100)){
+        controlAng=0;
+    }
+
+
+
+    //1220
+    if(ServiceCarStatus.daocheMode){
+        controlAng=0-controlAng;
+    }
+
+    //2020-0106
+    if(vehState==avoiding){
+        controlAng=max(-150.0,controlAng);
+        controlAng=min(150.0,controlAng);
+    }
+    if(vehState==backOri){
+        controlAng=max(-120.0,controlAng);
+        controlAng=min(120.0,controlAng);
+    }
+
+    //准备驻车
+
+    if (readyZhucheMode)
+    {
+
+        cout<<"ready ZHECHE STATE+++++++++++++++++++++++++++++++++"<<endl;
+        cout<<"zhuche point : "<<zhuchePointNum<<endl;
+
+        double dis = GetDistance(*gpsMapLine[zhuchePointNum], now_gps_ins);
+
+        if (dis<35)
+        {
+            Point2D pt = Coordinate_Transfer((*gpsMapLine[zhuchePointNum]).gps_x, (*gpsMapLine[zhuchePointNum]).gps_y, now_gps_ins);
+            double zhucheDistance = pt.y;
+#if 0
+
+            if (dSpeed > 15)
+            {
+                dSpeed = 15;
+            }
+
+
+
+            if (zhucheDistance < 20 && dis < 25)
+            {
+                dSpeed = min(dSpeed, 5.0);
+            }
+#else
+            if (dSpeed > 12)
+            {
+                dSpeed = 12;
+            }
+
+
+
+            if (zhucheDistance < 9 && dis < 9)
+            {
+                dSpeed = min(dSpeed, 5.0);
+            }
+#endif
+
+
+            if (zhucheDistance < 3.0 && dis < 3.5)
+            {
+                dSpeed = min(dSpeed, 5.0);
+                zhucheMode = true;
+                readyZhucheMode = false;
+                cout<<"jinru ZHECHE STATE+++++++++++++++++++++++++++++++++"<<endl;
+
+                //1125
+                //                 gps_decition->brake=20;
+                //                 gps_decition->accelerator = -3;
+                //                 gps_decition->wheel_angle = 0-controlAng;
+                //                 gps_decition->speed = 0;
+                //                 gps_decition->torque=0;
+                //                 return gps_decition;
+
+
+
+
+
+            }
+
+        }
+
+    }
+
+
+
+
+
+    if (readyParkMode)
+    {
+        double parkDis = GetDistance(now_gps_ins, *gpsMapLine[finishPointNum]);
+        hasZhuched = true;
+
+        if (parkDis < 25)
+        {
+            Point2D pt = Coordinate_Transfer((*gpsMapLine[finishPointNum]).gps_x, (*gpsMapLine[finishPointNum]).gps_y, now_gps_ins);
+            double parkDistance = pt.y;
+
+
+            if (dSpeed > 15)
+            {
+                dSpeed = 15;
+            }
+
+            //dSpeed = 15;//////////////////////////////
+
+            if (parkDistance < 15 && parkDistance >= 12.5 && parkDis<20)
+            {
+                dSpeed = min(dSpeed, 8.0);
+            }else if (parkDistance < 12.5 && parkDistance >= 8.5 && parkDis<15.0){
+                dSpeed = min(dSpeed, 5.0);
+            }else if (parkDistance < 8.5 && parkDistance >= 5.5 && parkDis<9.0){
+                dSpeed = min(dSpeed, 3.0);
+            }else if(parkDistance < 5.5 && parkDis<6.0){
+                dSpeed = min(dSpeed, 1.0);
+            }
+
+
+            //            float stopDis=2;
+            //            if(ServiceCarStatus.msysparam.mvehtype=="ge3"){
+            //                stopDis=1.6;
+            //            } else if(ServiceCarStatus.msysparam.mvehtype=="vv7"){
+            //                stopDis=1.8;
+            //            }
+
+            if (parkDistance < 1.6  && parkDis<2.0)
+            {
+                // dSpeed = 0;
+                parkMode = true;
+                readyParkMode = false;
+            }
+
+
+        }
+    }
+
+
+
+    if (gpsMapLine[PathPoint]->roadMode ==0)
+    {
+        //dSpeed = min(10.0,dSpeed);
+
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode0,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
+
+    }else  if (gpsMapLine[PathPoint]->roadMode == 5)
+    {
+        //dSpeed = min(8.0,dSpeed);
+
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode5,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
+
+    }else if (gpsMapLine[PathPoint]->roadMode == 11)
+    {
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode11,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
+
+    }else if (gpsMapLine[PathPoint]->roadMode == 14)
+    {
+        //dSpeed = min(8.0,dSpeed);
+
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode14,dSpeed);
+        gps_decition->leftlamp = true;
+        gps_decition->rightlamp = false;
+    }else if (gpsMapLine[PathPoint]->roadMode == 15)
+    {
+        //dSpeed = min(8.0,dSpeed);
+
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode15,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = true;
+    }else if (gpsMapLine[PathPoint]->roadMode == 16)
+    {
+        // dSpeed = min(10.0,dSpeed);
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode16,dSpeed);
+        //gps_decition->leftlamp = true;
+        //gps_decition->rightlamp = false;
+    }else if (gpsMapLine[PathPoint]->roadMode == 17)
+    {
+        //  dSpeed = min(10.0,dSpeed);
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode17,dSpeed);
+        //gps_decition->leftlamp = false;
+        //gps_decition->rightlamp = true;
+    }else if (gpsMapLine[PathPoint]->roadMode == 18)
+    {
+        // dSpeed = min(10.0,dSpeed);
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode18,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
+
+        /*if(gpsMapLine[PathPoint]->light_left_or_right == 1)
+        {
+            gps_decition->leftlamp = true;
+            gps_decition->rightlamp = false;
+        }
+        else if(gpsMapLine[PathPoint]->light_left_or_right == 2)
+        {
+            gps_decition->leftlamp = false;
+            gps_decition->rightlamp = true;
+        }*/
+    }else if (gpsMapLine[PathPoint]->roadMode == 1)
+    {
+        dSpeed = min(10.0,dSpeed);
+    }else if (gpsMapLine[PathPoint]->roadMode == 2)
+    {
+        dSpeed = min(15.0,dSpeed);
+    }
+    else if (gpsMapLine[PathPoint]->roadMode == 7)
+    {
+        dSpeed = min(15.0,dSpeed);
+        xiuzhengCs=1.5;
+    }else if (gpsMapLine[PathPoint]->roadMode == 4) //1220
+    {
+        dSpeed = min(4.0,dSpeed);
+
+    }else{
+        dSpeed = min(ServiceCarStatus.mroadmode_vel.mfmode0,dSpeed);
+        gps_decition->leftlamp = false;
+        gps_decition->rightlamp = false;
+
+    }
+
+
+
+
+
+    if (gpsMapLine[PathPoint]->speed_mode == 2)
+    {
+        dSpeed = min(25.0,dSpeed);
+
+    }
+
+    if((gpsMapLine[PathPoint]->speed)>0.001)
+    {
+        dSpeed = min((gpsMapLine[PathPoint]->speed*3.6),dSpeed);
+    }
+
+
+    dSecSpeed = dSpeed / 3.6;
+
+
+
+
+
+
+    std::cout<<"juecesudu2="<<dSpeed<<std::endl;
+
+
+
+
+
+
+
+    if(vehState==changingRoad){
+        if(gpsTraceNow[0].x>1.0){
+            gps_decition->leftlamp = false;
+            gps_decition->rightlamp = true;
+        }else if(gpsTraceNow[0].x<-1.0){
+            gps_decition->leftlamp = true;
+            gps_decition->rightlamp = false;
+        }else{
+            vehState==normalRun;
+        }
+    }
+
+    //    qDebug("decide0 time is %d",xTime.elapsed());
+
+    //1220
+    if(!ServiceCarStatus.daocheMode){
+        computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+    }else{
+        gpsTraceRear.clear();
+        for(int i=0;i<gpsTraceNow.size();i++){
+            Point2D pt;
+            pt.x=0-gpsTraceNow[i].x;
+            pt.y=0-gpsTraceNow[i].y;
+            gpsTraceRear.push_back(pt);
+        }
+        computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+        //  obsDistance=-1; //1227
+    }
+
+
+
+
+    //old_bz--------------------------------------------------------------------------------------------------
+
+    if (vehState == avoiding)
+    {
+        cout<<"\n==================avoiding=================\n"<<endl;
+        //  vehState=normalRun; //1025
+        if (dSpeed > 10) {
+            dSpeed = 10;
+        }
+        //若车辆到达变道后的路径，改变车辆状态，关闭frenet规划
+        if (useFrenet && abs(gpsTraceAim[0].x)<1.0) {
+            vehState = normalRun;
+            //            useFrenet = false;
+            //            useOldAvoid = true;
+        }
+        else if (useOldAvoid && abs(gpsTraceNow[0].x)<1.0) {
+            // vehState = avoidObs; 0929
+            vehState = normalRun;
+        }
+        else if (gpsTraceNow[0].x>0)
+        {
+            gps_decition->leftlamp = false;
+            gps_decition->rightlamp = true;
+        }
+        else if(gpsTraceNow[0].x<0)
+        {
+            gps_decition->leftlamp = true;
+            gps_decition->rightlamp = false;
+        }
+    }
+
+
+    if (vehState==preBack)
+    {
+        vehState = backOri;
+    }
+
+
+    if (vehState==backOri)
+    {
+        cout<<"\n================backOri===========\n"<<endl;
+        //  vehState=normalRun; //1025
+        if (dSpeed > 10) {
+            dSpeed = 10;
+        }
+
+        //若车辆到达变道后的路径，改变车辆状态，关闭frenet规划
+        if (useFrenet && abs(gpsTraceAim[0].x)<1.0) {
+            vehState = normalRun;
+            //            useFrenet = false;
+            //            useOldAvoid = true;
+        }
+        else if (useOldAvoid && abs(gpsTraceNow[0].x)<1.0) {
+            // vehState = avoidObs; 0929
+            vehState = normalRun;
+        }
+        else if (gpsTraceNow[0].x>0)
+        {
+            gps_decition->leftlamp = false;
+            gps_decition->rightlamp = true;
+        }
+        else if (gpsTraceNow[0].x<0)
+        {
+            gps_decition->leftlamp = true;
+            gps_decition->rightlamp = false;
+        }
+    }
+
+    std::cout<<"\n原始RoadOri:%d\n"<<roadOri<<endl;
+
+    cout<<"\n当前RoadNum:%d\n"<<roadNow<<endl;
+
+
+
+
+
+
+
+
+
+    //   计算回归原始路线
+
+    if (roadNow!=roadOri)
+    {
+        //        useFrenet = true;
+        //        useOldAvoid = false;
+
+        if(useFrenet){
+            if ((GetDistance(now_gps_ins, startAvoidGpsInsVector[roadOri])>max(avoidMinDistanceVector[roadOri],30.0)))
+            {
+                double offsetL = -(roadSum - 1)*roadWidth;
+                double offsetR = (roadOri - 0)*roadWidth;
+                roadPre = frenetPlanner->chooseRoadByFrenet(now_gps_ins,gpsMapLine,PathPoint,offsetL,offsetR,lidarGridPtr,roadNow);
+            }
+        }
+        else if(useOldAvoid){
+            roadPre = chooseBackRoad(lidarGridPtr, now_gps_ins, gpsMapLine,lidar_per);
+          //  avoidX = (roadOri - roadNow)*roadWidth; //1012
+             avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+        }
+    }
+    if (roadNow != roadOri && roadPre!=-1)
+    {
+
+        roadNow = roadPre;
+     //   avoidX = (roadOri - roadNow)*roadWidth;
+         avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+        gpsTraceNow.clear();
+        if(useOldAvoid){
+            gpsTraceNow = getGpsTraceOffset(gpsTraceOri, avoidX);
+        }
+        else if(useFrenet){
+            gpsTraceNow = frenetPlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,avoidX,lidarGridPtr);
+        }
+
+        vehState = backOri;
+        hasCheckedBackLidar = false;
+        //  checkBackObsTimes = 0;
+
+        cout<<"\n回归RoadNum:%d\n"<< roadNow<<endl;
+
+    }
+
+    //shiyanbizhang 0929
+    if(obsDistance>0&& (obsDistance<ServiceCarStatus.socfDis+20.0) &&(abs(realspeed)<1.0) &&
+            (vehState==normalRun||vehState==backOri || vehState==avoiding) &&(ObsTimeStart==-1)
+            && (gpsMapLine[PathPoint]->runMode==1)){
+        ObsTimeStart=GetTickCount();
+        cout<<"\n====================preAvoid time count start==================\n"<<endl;
+    }
+    if(ObsTimeStart!=-1){
+        ObsTimeEnd=GetTickCount();
+    }
+    if(ObsTimeEnd!=-1){
+        ObsTimeSpan=ObsTimeEnd-ObsTimeStart;
+    }
+    if(ObsTimeSpan>ObsTimeWidth &&(obsDistance>1.5||obsDistance<0) && (gpsMapLine[PathPoint]->runMode==1)){ //1026
+        vehState=avoidObs;
+        ObsTimeStart=-1;
+        ObsTimeEnd=-1;
+        ObsTimeSpan=-1;
+        cout<<"\n====================preAvoid time count finish==================\n"<<endl;
+    }
+
+    if(obsDistance<0 ||obsDistance>ServiceCarStatus.socfDis){
+        ObsTimeStart=-1;
+        ObsTimeEnd=-1;
+        ObsTimeSpan=-1;
+
+    }
+
+
+    //避障模式
+
+
+    if (vehState == avoidObs   || vehState==waitAvoid ) {
+
+        //      if (obsDistance <20 && obsDistance >0)
+        if (obsDistance <ServiceCarStatus.aocfDis && obsDistance >0)
+        {
+            dSpeed = min(7.0,dSpeed);
+            avoidTimes++;
+            //          if (avoidTimes>=6)
+            if (avoidTimes>=ServiceCarStatus.aocfTimes)
+            {
+                vehState = preAvoid;
+                avoidTimes = 0;
+            }
+
+        }
+        //        else if (obsDistance < 35 && obsDistance >0 && dSpeed>10)
+        //        {
+        //            dSpeed = 10;
+        //            avoidTimes = 0;
+        //        }
+        else if (obsDistance < 40 && obsDistance >0 && dSpeed>15)
+        {
+            dSpeed =  min(15.0,dSpeed);
+            avoidTimes = 0;
+        }
+        else
+        {
+            avoidTimes = 0;
+        }
+
+    }
+
+
+    if (vehState == preAvoid)
+    {
+        cout<<"\n====================preAvoid==================\n"<<endl;
+        /* if (obsDisVector[roadNow]>30)*/  //if (obsDisVector[roadNow]>30||obsDisVector[roadNow]<0)
+        if (obsDisVector[roadNow]>ServiceCarStatus.aocfDis)
+        {
+            // vehState = avoidObs; 0929
+            vehState=normalRun;
+        }
+        else
+        {
+            //roadPre = chooseAvoidRoad(lidarGridPtr, now_gps_ins,gpsMapLine);
+            if(useOldAvoid){
+                roadPre = chooseAvoidRoad(lidarGridPtr, now_gps_ins,gpsMapLine,lidar_per);
+              //  avoidX = (roadOri - roadNow)*roadWidth;  //1012
+                 avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+            }
+            else if(useFrenet){
+                double offsetL = -(roadSum - 1)*roadWidth;
+                double offsetR = (roadOri - 0)*roadWidth;
+                roadPre = frenetPlanner->chooseRoadByFrenet(now_gps_ins,gpsMapLine,PathPoint,offsetL,offsetR,lidarGridPtr,roadNow);
+            }
+
+            if (roadPre == -1 && obsDisVector[roadNow]<1.5 && obsDisVector[roadNow]>0)
+            {
+                //  vehState = waitAvoid; 0929
+                vehState = avoidObs;
+            }
+            else if (roadPre != -1)
+            {
+                if(useOldAvoid){
+                    roadNow = roadPre;
+                //    avoidX = (roadOri - roadNow)*roadWidth;
+                     avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+                    gpsTraceNow.clear();
+                    gpsTraceNow = getGpsTraceOffset(gpsTraceOri, avoidX);
+                }
+                else if(useFrenet){
+                    if(roadPre != roadNow){
+                        avoidMinDistanceVector[roadNow] = obsDisVector[roadNow] + ServiceCarStatus.msysparam.vehLenth;
+                        startAvoidGpsInsVector[roadNow] = now_gps_ins;
+                    }
+                    roadNow = roadPre;
+                 //   avoidX = (roadOri - roadNow)*roadWidth;
+                     avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+                    gpsTraceNow = frenetPlanner->getPath(now_gps_ins,gpsMapLine,PathPoint,avoidX,lidarGridPtr);
+                }
+
+
+                vehState = avoiding;
+
+                hasCheckedAvoidLidar = false;
+
+                cout<<"\n避障到RoadNum:%d\n"<<roadNow<<endl;
+
+            }
+        }
+    }
+
+    //--------------------------------------------------------------------------------old_bz_end
+
+
+
+
+
+    //TOUCHEPINGBI
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+    if (parkMode)
+    {
+        minDecelerate=-0.4;
+
+        if(finishPointNum<0||finishPointNum>=gpsMapLine.size()){
+            parkMode=false;
+        }else if(GetDistance(now_gps_ins, *gpsMapLine[finishPointNum])>4){
+            parkMode=false;
+        }
+
+    }
+
+
+
+    //驻车
+
+    if (zhucheMode)
+    {
+        int mzcTime = ServiceCarStatus.msysparam.mzhuchetime * 1000;
+
+        //        if(trumpet()<16000)
+        if (trumpet()<mzcTime)
+        {
+            //            if (trumpet()<12000){
+            cout<<"ZHECHE ING STATE+++++++++++++++++++++++++++++++++"<<endl;
+            minDecelerate=-1.0;
+            if(abs(realspeed)<0.2){
+                controlAng=0;  //tju
+            }
+        }
+        else
+        {
+            hasZhuched = true; //1125
+            zhucheMode = false;
+            trumpetFirstCount = true;
+            cout<<"ZHECHE STATE JIESHU +++++++++++++++++++++++++++++++++"<<endl;
+        }
+
+    }
+
+
+    //判断驻车标志位
+    if (hasZhuched && GetDistance(now_gps_ins,*gpsMapLine[zhuchePointNum])>20)
+    {
+        hasZhuched = false;
+    }
+
+
+
+
+
+
+
+
+
+
+
+    if ( vehState==changingRoad || vehState==chaocheBack)
+    {
+        double lastAng = 0.0 - lastAngle;
+        if (controlAng>40)
+        {
+            controlAng =40;
+        }
+        else if (controlAng<-40)
+        {
+            controlAng = - 40;
+        }
+
+
+    }
+
+
+    //速度结合角度的限制
+    controlAng = limitAngle(realspeed, controlAng);
+
+
+    std::cout << "\n呼车指令状态:%d\n" <<  ServiceCarStatus.carState << std::endl;
+
+
+
+    //1220
+    if(PathPoint+80<gpsMapLine.size()-1){
+        if(gpsMapLine[PathPoint+80]->roadMode==4  && !ServiceCarStatus.daocheMode){
+            changingDangWei=true;
+        }
+    }
+
+    if(changingDangWei){
+        if(abs(realspeed)>0.1){
+            dSpeed=0;
+        }else{
+            dSpeed=0;
+            gps_decition->dangWei=2;
+            ServiceCarStatus.daocheMode=true;
+        }
+    }
+    //1220 end
+
+
+
+
+    for(int i = 0;i<ServiceCarStatus.car_stations.size();i++)
+    {
+        GPS_INS gpsIns;
+        GaussProjCal(ServiceCarStatus.car_stations[i].longtitude, ServiceCarStatus.car_stations[i].latitude,  &gpsIns.gps_x, &gpsIns.gps_y);
+
+        double dis = GetDistance(gpsIns, now_gps_ins);
+        if(dis<20)
+            ServiceCarStatus.currentstation = ServiceCarStatus.car_stations[i].ID;
+    }
+
+
+    //  解析云平台数据
+    if(ServiceCarStatus.stationCmd.received==true)
+    {
+        std::vector<Station>  station_received;
+        Station station_aa,station_nearest;
+
+        if(ServiceCarStatus.stationCmd.has_emergencyStop)
+        {
+            if(ServiceCarStatus.stationCmd.emergencyStop==0x01)
+            {
+                //ServiceCarStatus.carState = 0;
+                //busMode=true;
+                ServiceCarStatus.emergencyStop=1;
+            }
+            else
+            {
+                //ServiceCarStatus.carState = 1;
+                //busMode=false;
+                ServiceCarStatus.emergencyStop=0;
+            }
+        }
+
+        if(ServiceCarStatus.stationCmd.has_stationStop)
+        {
+            //寻找最近站点
+            station_received.clear();
+            for(int i=0;i<ServiceCarStatus.stationCmd.stationTotalNum;i++)
+            {
+                station_aa.index=i;
+                station_aa.station_location.gps_lat=ServiceCarStatus.stationCmd.stationGps[i].gps_lat;
+                station_aa.station_location.gps_lng=ServiceCarStatus.stationCmd.stationGps[i].gps_lng;
+                GaussProjCal(station_aa.station_location.gps_lng,station_aa.station_location.gps_lat, &station_aa.station_location.gps_x, &station_aa.station_location.gps_y);
+                station_received.push_back(station_aa);
+            }
+            station_nearest=getNearestStation(now_gps_ins,station_received,gpsMapLine);
+
+            qDebug("station_nearest: %d, lat: %.7f, lon: %.7f", station_nearest.map_index, station_nearest.station_location.gps_lat, ServiceCarStatus.amilng=station_nearest.station_location.gps_lng);
+            givlog->debug("brain_v2x","station_nearest: %d, lat: %.7f, lon: %.7f",
+                          station_nearest.map_index, station_nearest.station_location.gps_lat,
+                          station_nearest.station_location.gps_lng);
+            //进入站点模式
+            if((ServiceCarStatus.stationCmd.stationStop==0x00))
+            {
+                ServiceCarStatus.carState = 2;
+                ServiceCarStatus.amilat=station_nearest.station_location.gps_lat;
+                ServiceCarStatus.amilng=station_nearest.station_location.gps_lng;
+                busMode=true;
+            }else
+            {
+                ServiceCarStatus.carState = 1;
+                busMode=false;
+                ServiceCarStatus.station_control_door=0;
+                ServiceCarStatus.station_control_door_option=false;
+            }
+        }
+        if(ServiceCarStatus.stationCmd.has_carMode)
+        {
+            if(ServiceCarStatus.stationCmd.carMode==0x00)
+            {
+                ServiceCarStatus.stationCmd.mode_manual_drive=true;
+            }else
+            {
+                ServiceCarStatus.stationCmd.mode_manual_drive=false;
+            }
+        }
+
+        ServiceCarStatus.stationCmd.received=false;
+    }
+
+
+
+
+    //carState == 0，紧急停车
+    if ((ServiceCarStatus.emergencyStop==1))  //||(adjuseultra()==true))
+    {
+        minDecelerate=-1.0;
+    }
+
+    if (ServiceCarStatus.carState == 3 && busMode)
+    {
+
+        if(realspeed<0.1){
+            ServiceCarStatus.carState=0;
+            minDecelerate=-1.0;
+        }else{
+            nearStation=true;
+            dSpeed=0;
+        }
+
+    }
+
+    //carState==2,站点停车
+    if ((ServiceCarStatus.carState==2)&&busMode)
+    {
+
+        aim_gps_ins.gps_lat=ServiceCarStatus.amilat;
+        aim_gps_ins.gps_lng=ServiceCarStatus.amilng;
+
+        GaussProjCal( aim_gps_ins.gps_lng, aim_gps_ins.gps_lat,  &aim_gps_ins.gps_x, &aim_gps_ins.gps_y);
+        double dis = GetDistance(aim_gps_ins, now_gps_ins);
+        Point2D pt = Coordinate_Transfer((aim_gps_ins).gps_x, (aim_gps_ins).gps_y, now_gps_ins);
+
+        if (dis<20 && pt.y<5 && abs(pt.x)<3)
+        {
+            dSpeed = 0;
+            nearStation=true;
+            //is_arrivaled = true;
+            //ServiceCarStatus.status[0] = true;
+            ServiceCarStatus.istostation=1;
+            minDecelerate=-1.0;
+        }
+        else if (dis<20 && pt.y<15 && abs(pt.x)<3)
+        {
+            nearStation=true;
+            dSpeed = min(8.0, dSpeed);
+        }
+        else if (dis<30 && pt.y<20 && abs(pt.x)<3)
+        {
+            dSpeed = min(15.0, dSpeed);
+        }
+        else if (dis<50 && abs(pt.x)<3)
+        {
+            dSpeed = min(20.0, dSpeed);
+        }
+
+        if((pt.y<5)&&(abs(realspeed)<0.1)&&(ServiceCarStatus.station_control_door==0))
+        {
+            ServiceCarStatus.station_control_door=1;   //open door
+        }
+
+        //站点停车log
+        givlog->debug("brain_v2x","aim_gps_ins.gps_lat: %.7f, aim_gps_ins.gps_lng: %.7f, dis: %.2f, dSpeed: %.1f",
+                      aim_gps_ins.gps_lat, aim_gps_ins.gps_lng,
+                      dis,dSpeed);
+
+    }
+
+
+    dSecSpeed = dSpeed / 3.6;
+    gps_decition->speed = dSpeed;
+
+
+
+    if (gpsMapLine[PathPoint]->runMode == 2)
+    {
+        obsDistance = -1;
+    }
+
+    std::cout<<"juecesudu0="<<dSpeed<<std::endl;
+
+    //-------------------------------traffic light----------------------------------------------------------------------------------------
+
+    if(traffic_light_gps.gps_lat!=0 && traffic_light_gps.gps_lng!=0){
+        traffic_light_pathpoint = Compute00().getNoAngleNearestPointIndex(traffic_light_gps, gpsMapLine);
+        //    traffic_light_pathpoint=130;
+        float traffic_speed=ComputeTrafficLightSpeed(ServiceCarStatus.iTrafficeLightColor,ServiceCarStatus.iTrafficeLightTime,gpsMapLine,
+                                                     traffic_light_pathpoint ,PathPoint,secSpeed,dSpeed);
+        dSpeed = min((double)traffic_speed,dSpeed);
+        if(traffic_speed==0){
+            minDecelerate=-2.0;
+        }
+    }
+    //-------------------------------traffic light  end-----------------------------------------------------------------------------------------------
+
+
+    //-------------------------------v2x traffic light-----------------------------------------------------------------------------------------
+
+
+    double v2xTrafficSpeed= ComputeV2XTrafficLightSpeed( trafficLight,  gpsMapLine, v2xTrafficVector,
+                                                         PathPoint, secSpeed, dSpeed,  circleMode);
+
+
+    dSpeed = min(v2xTrafficSpeed,dSpeed);
+
+    //------------------------------v2x traffic light end--------------------------------------------------------------------------------------
+
+
+    transferGpsMode2(gpsMapLine);
+
+
+
+    if((ServiceCarStatus.msysparam.mvehtype=="hapo")&&(abs(realspeed)<18)){
+        if(obsDistance>0 && obsDistance<6){
+            dSpeed=0;
+        }
+    }else if(obsDistance>0 && obsDistance<10){
+        dSpeed=0;
+    }
+
+    //  obsDistance=-1; //1227
+
+    if(ServiceCarStatus.group_control){
+        dSpeed = ServiceCarStatus.group_comm_speed;
+    }
+    if(dSpeed==0){
+        minDecelerate=min(-1.0f,minDecelerate);
+    }
+
+    std::cout<<"dSpeed= "<<dSpeed<<std::endl;
+
+    // givlog->debug("SPEED","dSpeed is %f",dSpeed);
+    gps_decition->wheel_angle = 0.0 - controlAng;
+    phaseSpeedDecition(gps_decition, secSpeed, obsDistance, obsSpeed,now_gps_ins);
+
+
+
+    lastAngle=gps_decition->wheel_angle;
+
+    //   qDebug("decide1 time is %d",xTime.elapsed());
+
+    for(int i=0;i<ServiceCarStatus.obsTraceLeft.size();i++){
+        givlog->debug("obs_distance","obsTraceLeftX: %f, obsTraceLeftY: %f",
+                      ServiceCarStatus.obsTraceLeft.at(i).x, ServiceCarStatus.obsTraceLeft.at(i).y);
+    }
+
+
+    return gps_decition;
+}
+
+iv::Station iv::decition::DecideGps00::getNearestStation(iv::GPS_INS now_gps_ins,std::vector<Station> station_n,std::vector<GPSData> gpsMap){
+
+    int now_index=0,front_index=0;
+    int station_size=station_n.size();
+
+    for(int i=0;i<station_size;i++)
+    {
+        int minDistance=10;
+        for (int j = 0; j < gpsMap.size(); j++)
+        {
+            double tmpdis = GetDistance(station_n[i].station_location, (*gpsMap[j]));
+            if (tmpdis < minDistance )
+            {
+                minDistance = tmpdis;
+                station_n[i].map_index=j;
+            }
+        }
+        givlog->debug("brain_v2x","stationi: %d, map_index: %d",
+                      i,station_n[i].map_index);
+
+    }
+    int minDistance=10;
+    for (int j = 0; j < gpsMap.size(); j++)
+    {
+        double tmpdis = GetDistance(now_gps_ins, (*gpsMap[j]));
+        if (tmpdis < minDistance )
+        {
+            minDistance = tmpdis;
+            now_index=j;
+        }
+    }
+
+    givlog->debug("brain_v2x","now_index: %d",
+                  now_index);
+
+    int min_index=gpsMap.size()-1;
+    int station_index=0;
+    for(int i=0;i<station_size;i++)
+    {
+        if(station_n[i].map_index>now_index)
+        {
+            front_index=station_n[i].map_index;
+            if(front_index<min_index)
+            {
+                min_index=front_index;
+                station_index=i;
+            }
+        }
+    }
+
+    qDebug("station_index:%d",station_index);
+
+    return station_n[station_index];
+
+}
+
+void iv::decition::DecideGps00::initMethods(){
+
+    pid_Controller= new PIDController();
+    ge3_Adapter = new Ge3Adapter();
+    qingyuan_Adapter = new QingYuanAdapter();
+    vv7_Adapter = new VV7Adapter();
+    zhongche_Adapter = new ZhongcheAdapter();
+    bus_Adapter = new BusAdapter();
+    hapo_Adapter = new HapoAdapter();
+    yuhesen_Adapter = new YuHeSenAdapter();
+
+
+    mpid_Controller.reset(pid_Controller);
+    mbus_Adapter.reset(bus_Adapter);
+    mhapo_Adapter.reset(hapo_Adapter);
+    myuhesen_Adapter.reset(yuhesen_Adapter);
+
+    frenetPlanner = new FrenetPlanner();
+    //    laneChangePlanner = new LaneChangePlanner();
+
+    mfrenetPlanner.reset(frenetPlanner);
+    //    mlaneChangePlanner.reset(laneChangePlanner);
+
+}
+
+
+void iv::decition::DecideGps00::phaseSpeedDecition(iv::decition::Decition  decition, double secSpeed, double obsDis, double obsSpeed, GPS_INS gpsIns ) {
+
+    pid_Controller->getControlDecition( gpsIns, gpsTraceNow,  dSpeed,  obsDis,  obsSpeed, false, true, &decition);
+
+    if(ServiceCarStatus.msysparam.mvehtype=="ge3"){
+        ge3_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }else if( ServiceCarStatus.msysparam.mvehtype=="qingyuan"){
+        qingyuan_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }else if( ServiceCarStatus.msysparam.mvehtype=="vv7"){
+        vv7_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }else if( ServiceCarStatus.msysparam.mvehtype=="zhongche"){
+        zhongche_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }else if(ServiceCarStatus.msysparam.mvehtype=="bus"){
+        bus_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }else if(ServiceCarStatus.msysparam.mvehtype=="hapo"){
+        hapo_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }
+    else if(ServiceCarStatus.msysparam.mvehtype=="yuhesen"){
+        yuhesen_Adapter->getAdapterDeciton(gpsIns, gpsTraceNow, dSpeed, obsDis,obsSpeed,  decition->accelerator,ServiceCarStatus.mfCalAcc  ,changingDangWei, &decition);
+    }
+}
+
+
+
+std::vector<iv::Point2D> iv::decition::DecideGps00::getGpsTrace(iv::GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine, int lastIndex, bool circleMode) {
+    vector<iv::Point2D> trace;
+    //	int  PathPoint = Compute00().getNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
+    /*if (PathPoint != -1)
+        lastGpsIndex = PathPoint;*/
+
+    if (gpsMapLine.size() > 600 && PathPoint >= 0) {
+        int aimIndex;
+        if(circleMode){
+            aimIndex=PathPoint+600;
+        }else{
+            aimIndex=min((PathPoint+600),(int)gpsMapLine.size());
+        }
+
+        for (int i = PathPoint; i < aimIndex; i++)
+        {
+            int index = i % gpsMapLine.size();
+            Point2D pt = Coordinate_Transfer((*gpsMapLine[index]).gps_x, (*gpsMapLine[index]).gps_y, now_gps_ins);
+            pt.x += offset_real * 0.032;
+            pt.v1 = (*gpsMapLine[index]).speed_mode;
+            pt.v2 = (*gpsMapLine[index]).mode2;
+            pt.roadMode=(*gpsMapLine[index]).roadMode;
+            if (gpsMapLine[index]->roadMode==3 && !hasZhuched)
+            {
+                readyZhucheMode = true;
+                DecideGps00::zhuchePointNum = index;
+            }
+
+
+
+            if (gpsMapLine[index]->roadMode==3 && !hasZhuched)
+            {
+                readyZhucheMode = true;
+                DecideGps00::zhuchePointNum = index;
+            }
+
+            //csvv7
+            if (gpsMapLine[index]->speed_mode==22 || gpsMapLine[index]->speed_mode==23)
+            {
+                readyParkMode = true;
+                DecideGps00::finishPointNum = index;
+            }
+
+            //			if (pt.v1 == 22 || pt.v1 == 23)
+            //			{
+            //				readyParkMode = true;
+            //				DecideGps00::finishPointNum = i;
+            //			}
+
+
+            switch (pt.v1)
+            {
+            case 0:
+                pt.speed = 80;
+                break;
+            case 1:
+                pt.speed = 25;
+                break;
+            case 2:
+                pt.speed =25;
+                break;
+            case 3:
+                pt.speed = 20;
+                break;
+            case 4:
+                pt.speed =18;
+                break;
+            case 5:
+                pt.speed = 18;
+                break;
+            case 7:
+                pt.speed = 10;
+                break;
+            case 22:
+                pt.speed = 5;
+                break;
+            case 23:
+                pt.speed = 5;
+                break;
+            default:
+                break;
+            }
+            trace.push_back(pt);
+        }
+    }
+    return trace;
+}
+
+std::vector<iv::Point2D>  iv::decition::DecideGps00::getGpsTraceOffset(std::vector<Point2D> gpsTrace, double offset) {
+
+    if (offset==0)
+    {
+        return gpsTrace;
+    }
+
+    std::vector<iv::Point2D> trace;
+    for (int j = 0; j < gpsTrace.size(); j++)
+    {
+        double sumx1 = 0, sumy1 = 0, count1 = 0;
+        double sumx2 = 0, sumy2 = 0, count2 = 0;
+        for (int k = max(0, j - 4); k <= j; k++)
+        {
+            count1 = count1 + 1;
+            sumx1 += gpsTrace[k].x;
+            sumy1 += gpsTrace[k].y;
+        }
+        for (int k = j; k <= min(gpsTrace.size() - 1, (size_t)(j + 4)); k++)
+        {
+            count2 = count2 + 1;
+            sumx2 += gpsTrace[k].x;
+            sumy2 += gpsTrace[k].y;
+        }
+        sumx1 /= count1; sumy1 /= count1;
+        sumx2 /= count2; sumy2 /= count2;
+
+        double anglevalue = atan2(sumy2 - sumy1, sumx2 - sumx1);
+
+        double carFrontx = gpsTrace[j].x;// -Form1.CarRear * Math.Cos(anglevalue);
+        double carFronty = gpsTrace[j].y;// -Form1.CarRear * Math.Sin(anglevalue);
+
+        double avoidLenth = abs(offset);
+        if (offset<0)
+        {
+            Point2D ptLeft(carFrontx + avoidLenth * cos(anglevalue + PI / 2),
+                           carFronty + avoidLenth  * sin(anglevalue + PI / 2));
+            ptLeft.speed = gpsTrace[j].speed;
+            ptLeft.v1 = gpsTrace[j].v1;
+            ptLeft.v2 = gpsTrace[j].v2;
+            trace.push_back(ptLeft);
+        }
+        else
+        {
+            Point2D ptRight(carFrontx + avoidLenth  * cos(anglevalue - PI / 2),
+                            carFronty + avoidLenth  * sin(anglevalue - PI / 2));
+            ptRight.speed = gpsTrace[j].speed;
+            ptRight.v1 = gpsTrace[j].v1;
+            ptRight.v2 = gpsTrace[j].v2;
+
+
+            trace.push_back(ptRight);
+        }
+    }
+    return trace;
+}
+
+
+double iv::decition::DecideGps00::getAngle(std::vector<Point2D> gpsTrace,GPS_INS gpsIns,iv::decition::Decition decition) {
+    double angle=0;
+    if ( abs(iv::decition::DecideGps00().minDis) < 20 && abs(iv::decition::DecideGps00().maxAngle) < 100)
+    {
+        //   angle = iv::decition::Compute00().getDecideAngle(gpsTrace, realspeed);
+        pid_Controller->getControlDecition(gpsIns, gpsTrace,  -1,  -1,  -1, true, false, &decition);
+        angle= decition->wheel_angle;
+    }
+    return angle;
+}
+
+double iv::decition::DecideGps00::getSpeed(std::vector<Point2D> gpsTrace) {
+    double speed=0;
+    int speedPoint = iv::decition::Compute00().getSpeedPointIndex(gpsTrace, max(10.0, realspeed));
+    speed = gpsTrace[speedPoint].speed;
+    for (int i = 0; i < speedPoint; i++) {
+        speed = min(speed, gpsTrace[i].speed);
+    }
+    return speed;
+}
+
+
+
+
+//void iv::decition::DecideGps00::getEsrObs(std::vector<iv::ObstacleBasic> obsRadars) {
+//
+//	if (!obsRadars.empty())
+//	{
+//		esrIndex = iv::decition::Compute00().getEsrIndex(gpsTrace, obsRadars);
+//
+//		if (esrIndex != -1)
+//		{
+//			 esrDistance = obsRadars[esrIndex].nomal_y;
+//
+//
+//
+//			obsSpeed = obsRadars[esrIndex].speed_y;
+//
+//		}
+//		else {
+//			esrDistance = -1;
+//		}
+//
+//	}
+//	else
+//	{
+//		esrIndex = -1;
+//		esrDistance = -1;
+//	}
+//	if (esrDistance < 0) {
+//		ODS("\n------------------>ESR障碍物距离:%f\n", esrDistance);
+//	}
+//	else {
+//		ODS("\n------------------>ESR障碍物距离:%f   ( %.05f , %.05f )\n", esrDistance, obsRadars[esrIndex].nomal_x, obsRadars[esrIndex].nomal_y);
+//	}
+//
+//	ODS("\n------------------>ESR障碍物速度:%f\n", obsSpeed);
+//}
+
+
+
+void iv::decition::DecideGps00::getEsrObsDistance(std::vector<Point2D> gpsTrace, int roadNum) {
+
+
+    int esrPathpoint;
+
+    esrIndex = iv::decition::Compute00().getEsrIndex(gpsTrace, roadNum, &esrPathpoint);
+
+    if (esrIndex != -1)
+    {
+        //优化
+        //        double distance = 0.0;
+        //        for(int i=0; i<esrPathpoint; ++i){
+        //            distance+=DirectDistance(gpsTrace[i].x,gpsTrace[i].y,gpsTrace[i+1].x,gpsTrace[i+1].y);
+        //        }
+        //        esrDistance = distance - Esr_Y_Offset;
+        //        if(esrDistance<=0){
+        //            esrDistance=1;
+        //        }
+
+
+        esrDistance = ServiceCarStatus.obs_radar[esrIndex].nomal_y;
+        obsSpeed = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+
+    }
+    else {
+        esrDistance = -1;
+    }
+}
+
+
+
+
+void iv::decition::DecideGps00::getEsrObsDistanceAvoid() {
+
+    esrIndexAvoid = iv::decition::Compute00().getEsrIndexAvoid(gpsTraceAvoid);
+
+    if (esrIndexAvoid != -1)
+    {
+        esrDistanceAvoid = ServiceCarStatus.obs_radar[esrIndexAvoid].nomal_y;
+        obsSpeedAvoid = ServiceCarStatus.obs_radar[esrIndexAvoid].speed_y;
+
+    }
+    else {
+        esrDistanceAvoid = -1;
+    }
+
+    if (esrDistanceAvoid < 0) {
+        std::cout << "\nESR障碍物距离Avoid:%f\n" << esrDistanceAvoid << std::endl;
+    }
+    else {
+        std::cout << "\nESR障碍物距离Avoid:%f   %d:( %.05f , %.05f ,%.05f )\n" << esrDistanceAvoid << esrIndexAvoid << ServiceCarStatus.obs_radar[esrIndexAvoid].nomal_x << ServiceCarStatus.obs_radar[esrIndexAvoid].nomal_y << std::endl;
+    }
+
+    std::cout << "\nESR障碍物速度Avoid:%f\n" << obsSpeedAvoid <<std::endl;
+}
+
+
+
+
+double iv::decition::DecideGps00::limitAngle(double speed, double angle) {
+    double preAngle = angle;
+
+    if (speed > 15)
+    {
+        if (preAngle > 350)
+        {
+            preAngle = 350;
+        }
+        if (preAngle < -350)
+        {
+            preAngle = -350;
+        }
+    }
+    if (speed > 22)
+    {
+        if (preAngle > 200)
+        {
+            preAngle = 200;
+        }
+        if (preAngle < -200)
+        {
+            preAngle = -200;
+        }
+    }
+    if (speed > 25)
+    {
+        if (preAngle > 150)
+        {
+            preAngle = 150;
+        }
+        if (preAngle < -150)
+        {
+            preAngle = -150;
+        }
+    }
+    if (speed > 30)
+    {
+        if (preAngle > 70)
+        {
+            preAngle = 70;
+        }
+        if (preAngle < -70)
+        {
+            preAngle = -70;
+        }
+    }
+    if (speed > 45)                     //20
+    {
+        if (preAngle > 15)
+        {
+            preAngle = 15;
+        }
+        if (preAngle < -15)
+        {
+            preAngle = -15;
+        }
+    }
+    return preAngle;
+}
+
+
+
+double iv::decition::DecideGps00::limitSpeed(double angle, double speed) {
+
+    if (abs(angle) > 500 && speed > 8) speed = 8;
+    else if (abs(angle) > 350 && speed > 14) speed = 14;
+    else if (abs(angle) > 200 && speed > 21) speed = 21;
+    else if (abs(angle) > 150 && speed > 24) speed = 24;
+    else if (abs(angle) > 60 && speed > 29) speed = 29;
+    else if (abs(angle) > 20 && speed > 34) speed = 34;
+    return max(0.0, speed);
+}
+
+
+bool iv::decition::DecideGps00::checkAvoidEnable(double avoidX, iv::LidarGridPtr lidarGridPtr,int roadNum) {
+
+    if ((obsDisVector[roadNum]>0 && obsDisVector[roadNum]<obsDisVector[roadNow]+ServiceCarStatus.msysparam.vehLenth)||
+            (obsDisVector[roadNum]>0 && obsDisVector[roadNum]<15))
+    {
+        return false;
+    }
+
+    if (roadNum-roadNow>1)
+    {
+        for (int i = roadNow+1; i < roadNum; i++)
+        {
+            if (obsDisVector[i] < 8 + (i-roadNow) * 2 && obsDisVector[i]>0) {
+                return false;
+            }
+        }
+
+    }
+
+    else if (roadNow-roadNum>1)
+    {
+        for (int i = roadNow-1; i >roadNum; i--)
+        {
+            if (obsDisVector[i] < 8 + (roadNow-i) * 2 && obsDisVector[i]>0) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
+
+
+bool iv::decition::DecideGps00::checkReturnEnable(double avoidX, iv::LidarGridPtr lidarGridPtr, int roadNum) {
+    //lsn
+    if (obsDisVector[roadNum]>0 && obsDisVector[roadNum]<20)
+    {
+        return false;
+    }
+    if ((obsDisVector[roadNum]>0 && obsDisVector[roadNum]<50 && obsDisVector[roadNum]< obsDisVector[roadNow]) ||
+            (obsDisVector[roadNum]>0 && obsDisVector[roadNum]<50 && obsDisVector[roadNow]<0))
+    {
+        return false;
+    }
+
+
+    if (roadNum - roadNow>1)
+    {
+        for (int i = roadNow + 1; i < roadNum; i++)
+        {
+            if (obsDisVector[i] < 8 + (i-roadNow) * 2 && obsDisVector[i]>0) {
+                return false;
+            }
+        }
+
+    }
+
+    else if (roadNow - roadNum>1)
+    {
+        for (int i = roadNow - 1; i >roadNum; i--)
+        {
+            if (obsDisVector[i] < 8 + (roadNow-i) * 2 && obsDisVector[i]>0) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
+
+void iv::decition::DecideGps00::getObsAvoid(iv::LidarGridPtr lidarGridPtr) {
+
+
+
+    if (lidarGridPtr == NULL)
+    {
+        iv::decition::DecideGps00::lidarDistanceAvoid = iv::decition::DecideGps00::lastLidarDisAvoid;
+    }
+    else {
+        obsPointAvoid = Compute00().getLidarObsPointAvoid(gpsTraceAvoid, lidarGridPtr);
+        iv::decition::DecideGps00::lastLidarDisAvoid = iv::decition::DecideGps00::lidarDistanceAvoid;
+    }
+    std::cout << "\nLidarAvoid距离:%f\n" << iv::decition::DecideGps00::lidarDistanceAvoid << std::endl;
+    getEsrObsDistanceAvoid();
+
+    //lidarDistanceAvoid = -1;   //20200103 apollo_fu
+
+    if (esrDistanceAvoid>0 && iv::decition::DecideGps00::lidarDistanceAvoid > 0)
+    {
+        if (iv::decition::DecideGps00::lidarDistanceAvoid >= esrDistanceAvoid)
+        {
+            obsDistanceAvoid = esrDistanceAvoid;
+            obsSpeedAvoid = ServiceCarStatus.obs_radar[esrIndexAvoid].speed_y;
+        }
+        else if (!ServiceCarStatus.obs_radar.empty())
+        {
+            obsDistanceAvoid = iv::decition::DecideGps00::lidarDistanceAvoid;
+            obsSpeedAvoid = Compute00().getObsSpeed(obsPointAvoid, secSpeed);
+            std::cout << "\n计算obsSpeed:%f\n" << obsSpeedAvoid << std::endl;
+        }
+        else
+        {
+            obsDistanceAvoid = iv::decition::DecideGps00::lidarDistanceAvoid;
+            obsSpeedAvoid = obsSpeedAvoid = 0 - secSpeed;;
+            std::cout << "\n毫米波无数据，计算obsSpeed:%f\n" << obsSpeedAvoid << std::endl;
+        }
+    }
+    else if (esrDistanceAvoid>0)
+    {
+        obsDistanceAvoid = esrDistanceAvoid;
+        obsSpeedAvoid = ServiceCarStatus.obs_radar[esrIndexAvoid].speed_y;
+    }
+    else if (iv::decition::DecideGps00::lidarDistanceAvoid > 0)
+    {
+        obsDistanceAvoid = iv::decition::DecideGps00::lidarDistanceAvoid;
+        obsSpeedAvoid = Compute00().getObsSpeed(obsPointAvoid, secSpeed);
+        std::cout << "\n计算obsSpeed:%f\n" << obsSpeedAvoid << std::endl;
+    }
+    else {
+        obsDistanceAvoid = esrDistanceAvoid;
+        obsSpeedAvoid = 0 - secSpeed;
+    }
+
+    std::cout << "\n最终得出的obsDistanceAvoid:%f\n" << obsDistanceAvoid << std::endl;
+
+
+
+
+
+    if (iv::decition::DecideGps00::obsDistanceAvoid <0 && obsLostTimeAvoid<4)
+    {
+        iv::decition::DecideGps00::obsDistanceAvoid = iv::decition::DecideGps00::lastDistanceAvoid;
+        obsLostTimeAvoid++;
+    }
+    else
+    {
+        obsLostTimeAvoid = 0;
+        iv::decition::DecideGps00::lastDistanceAvoid = -1;
+    }
+
+
+
+
+    if (obsDistanceAvoid>0)
+    {
+        iv::decition::DecideGps00::lastDistanceAvoid = obsDistanceAvoid;
+    }
+
+    std::cout << "\nODSAvoid距离:%f\n" << iv::decition::DecideGps00::obsDistanceAvoid << std::endl;
+}
+
+void iv::decition::DecideGps00::init() {
+    for (int i = 0; i < roadSum; i++)
+    {
+        lastEsrIdVector.push_back(-1);
+        lastEsrCountVector.push_back(0);
+        GPS_INS gps_ins;
+        gps_ins.gps_x = 0;
+        gps_ins.gps_y = 0;
+        startAvoidGpsInsVector.push_back(gps_ins);
+        avoidMinDistanceVector.push_back(0);
+    }
+}
+
+
+
+#include <QTime>
+
+void iv::decition::DecideGps00::computeObsOnRoad(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum,
+                                                 const std::vector<GPSData> gpsMapLine, std::vector<iv::Perception::PerceptionOutput> lidar_per) {
+
+    //    QTime xTime;
+    //   xTime.start();
+    //    qDebug("time 0 is %d ",xTime.elapsed());
+    double obs,obsSd;
+    if (lidarGridPtr == NULL)
+    {
+        lidarDistance = lastLidarDis;
+        //	lidarDistance = lastlidarDistance;
+
+    }
+    else {
+        obsPoint = Compute00().getLidarObsPoint(gpsTrace, lidarGridPtr);
+        float lidarXiuZheng=0;
+        if(!ServiceCarStatus.useMobileEye){
+            lidarXiuZheng=0-ServiceCarStatus.msysparam.frontGpsXiuzheng;
+        }
+        lidarDistance = obsPoint.y + lidarXiuZheng;   //激光距离推到车头  gjw20191110 lidar
+        //    lidarDistance=-1;
+        if (lidarDistance<0)
+        {
+            lidarDistance = -1;
+        }
+        lastLidarDis = lidarDistance;
+    }
+
+
+    // obsPredict start
+    if(ServiceCarStatus.useObsPredict){
+        float preObsDis=200;
+        if(!lidar_per.empty()){
+            preObsDis=PredictObsDistance(  secSpeed,  gpsTrace, lidar_per);
+            lastPreObsDistance=preObsDis;
+        }else{
+            preObsDis=lastPreObsDistance;
+        }
+        if(preObsDis<lidarDistance || lidarDistance==-1){
+            lidarDistance=preObsDis;
+        }
+    }
+    // obsPredict end
+
+    //    qDebug("time 1 is %d ",xTime.elapsed());
+    //    if(gpsMapLine[PathPoint]->roadMode==14||gpsMapLine[PathPoint]->roadMode==15){
+    //        lidarDistance=-1;
+    //    }
+
+    getEsrObsDistance(gpsTrace, roadNum);
+
+    double mobieye_ttc,mobieye_obsid,mobieye_speed,mobieye_distance;
+
+    double fveh_width = 2.0;
+#ifdef USE_MOBIEYE_OBS
+    MobieyeInst.GetObsFromMobieye(&gpsTrace,mobieye_distance,mobieye_speed,mobieye_ttc,mobieye_obsid,fveh_width);
+#endif
+    //   qDebug("time 2 is %d ",xTime.elapsed());
+    //  esrDistance=-1;
+
+    //    if(PathPoint>2992 && PathPoint<4134){
+    //        lidarDistance=-1;
+    //    }
+
+
+    //    if(PathPoint>10193 && PathPoint<10929){
+    //        esrDistance=-1;
+    //    }
+
+
+    if(lidarDistance<0){
+        lidarDistance=500;
+    }
+
+#ifdef USE_MOBIEYE_OBS
+    esrDistance = mobieye_distance;
+
+    if(esrDistance>150){
+        esrDistance=500;
+    }
+#else
+    if(esrDistance>30){
+        esrDistance=500;
+    }
+#endif
+
+
+
+    if(esrDistance<0){
+        esrDistance=500;
+    }
+
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "激光雷达距离:" << lidarDistance << std::endl;
+
+
+    //        if(esrDistance>30){
+    //            esrDistance=-1;
+    //        }
+
+
+
+    //            if(esrDistance>=15 && esrDistance<=50&& ServiceCarStatus.mLidarS>0&&ServiceCarStatus.mLidarPer>0 ){
+    //                if(abs(lidarDistance-esrDistance)>5){
+
+    //                    esrDistance=-1;
+    //                }
+
+    //            }
+
+
+
+    //            if(esrDistance>=1&& esrDistance<=50&& ServiceCarStatus.mLidarS>0&&ServiceCarStatus.mLidarPer>0
+    //                && gpsMapLine[PathPoint]->runMode == 1    ){
+    //                if(abs(lidarDistance-esrDistance)>5){
+
+    //                    esrDistance=-1;
+    //                }
+
+    //            }
+
+
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "毫米波距离:" << esrDistance << std::endl;
+    myesrDistance = esrDistance;
+
+
+
+    if(lidarDistance==500){
+        lidarDistance=-1;
+    }
+    if(esrDistance==500){
+        esrDistance=-1;
+    }
+
+
+    ServiceCarStatus.mRadarObs = esrDistance;
+    ServiceCarStatus.mLidarObs = lidarDistance;
+
+
+    //zhuanwan pingbi haomibo
+    if(gpsTraceNow[0].v1==4||gpsTraceNow[0].v1==5){
+        esrDistance=-1;
+    }
+
+    if (esrDistance>0 && lidarDistance > 0)
+    {
+        if (lidarDistance >= esrDistance)
+        {
+#ifdef USE_MOBIEYE_OBS
+            obs = esrDistance;
+            obsSd = mobieye_speed;
+#else
+            //	obsDistance = esrDistance;
+            obs = esrDistance;
+            //	obsSpeed = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+            obsSd=ServiceCarStatus.obs_radar[esrIndex].speed_y;
+#endif
+        }
+        else if (!ServiceCarStatus.obs_radar.empty())
+        {
+            //	obsDistance = lidarDistance;
+            obs = lidarDistance;
+            //	obsSpeed = Compute00().getObsSpeed(obsPoint, secSpeed);
+            obsSd = Compute00().getObsSpeed(obsPoint, secSpeed);
+            std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "计算obsSpeed:" << obsSpeed << std::endl;
+        }
+        else
+        {
+            //	obsDistance = lidarDistance;
+            obs=lidarDistance;
+            //	obsSpeed = 0 - secSpeed;
+            obsSd = 0 -secSpeed;
+            std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "毫米波无数据，计算obsSpeed:" << obsSpeed << std::endl;
+        }
+    }
+    else if (esrDistance>0)
+    {
+        //		obsDistance = esrDistance;
+        //		obsSpeed = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+
+#ifdef USE_MOBIEYE_OBS
+        obs = esrDistance;
+        obsSd = mobieye_speed;
+#else
+        obs = esrDistance;
+        obsSd = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+#endif
+    }
+    else if (lidarDistance > 0)
+    {
+        //		obsDistance = lidarDistance;
+        //		obsSpeed = Compute00().getObsSpeed(obsPoint, secSpeed);
+        obs = lidarDistance;
+        obsSd = Compute00().getObsSpeed(obsPoint, secSpeed);
+        std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "计算obsSpeed:" << obsSpeed << std::endl;
+    }
+    else {
+        //		obsDistance = esrDistance;
+        //		obsSpeed = 0 - secSpeed;
+        obs = esrDistance;
+        obsSd = 0 - secSpeed;
+    }
+
+    if(roadNum==roadNow){
+        obsDistance=obs;
+        obsSpeed=obsSd;
+    }
+
+
+    //    if (obsDistance <0 && obsLostTime<4)
+    //    {
+    //        obsDistance = lastDistance;
+    //        obsLostTime++;
+    //    }
+    //    else
+    //    {
+    //        obsLostTime = 0;
+    //        lastDistance = -1;
+    //    }
+
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "最终得出的obsDistance:" << obsDistance << std::endl;
+
+    ServiceCarStatus.mObs = obsDistance;
+    if(ServiceCarStatus.mObs>100){
+        ServiceCarStatus.mObs =-1;
+    }
+
+    if (obsDistance>0)
+    {
+        lastDistance = obsDistance;
+    }
+
+    //lsn
+    if(obs<0){
+        obsDisVector[roadNum]=500;
+    }else{
+        obsDisVector[roadNum]=obs;
+    }
+
+    givlog->debug("obs_distance","obs: %f, lidar_obs: %f, Radar_obs: %f, lidar_obs_x: %f, lidar_obs_y: %f",
+                  ServiceCarStatus.mObs, ServiceCarStatus.mLidarObs,
+                  ServiceCarStatus.mRadarObs,obsPoint.x,lidarDistance);
+
+    //   qDebug("time 3 is %d ",xTime.elapsed());
+
+}
+
+
+
+
+//1220
+void iv::decition::DecideGps00::computeRearObsOnRoad(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum,
+                                                     const std::vector<GPSData> gpsMapLine) {
+
+    double obs,obsSd;
+
+    if(!ServiceCarStatus.obs_rear_radar.empty()){
+        getRearEsrObsDistance(gpsTrace, roadNum);
+    }
+    if (lidarGridPtr == NULL)
+    {
+        lidarDistance = lastLidarDis;
+        //	lidarDistance = lastlidarDistance;
+
+    }
+    else {
+        obsPoint = Compute00().getLidarRearObsPoint(gpsTrace, lidarGridPtr);
+        float lidarXiuZheng=0;
+        if(!ServiceCarStatus.useMobileEye){
+            lidarXiuZheng = ServiceCarStatus.msysparam.rearGpsXiuzheng;
+        }
+        if(abs(obsPoint.y)>lidarXiuZheng)
+            lidarDistance = abs(obsPoint.y)-lidarXiuZheng;   //激光距离推到车头 1220
+
+        //    lidarDistance=-1;
+        if (lidarDistance<0)
+        {
+            lidarDistance = -1;
+        }
+        lastLidarDis = lidarDistance;
+    }
+
+    //    if(gpsMapLine[PathPoint]->roadMode==14||gpsMapLine[PathPoint]->roadMode==15){
+    //        lidarDistance=-1;
+    //    }
+
+    //  getEsrObsDistance(gpsTrace, roadNum);
+    esrDistance=-1;
+
+
+    //    if(PathPoint>2992 && PathPoint<4134){
+    //        lidarDistance=-1;
+    //    }
+
+
+    //    if(PathPoint>10193 && PathPoint<10929){
+    //        esrDistance=-1;
+    //    }
+
+
+    if(lidarDistance<0){
+        lidarDistance=500;
+    }
+    if(esrDistance<0){
+        esrDistance=500;
+    }
+
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "激光雷达距离:" << lidarDistance << std::endl;
+
+
+    //        if(esrDistance>30){
+    //            esrDistance=-1;
+    //        }
+
+
+
+    //            if(esrDistance>=15 && esrDistance<=50&& ServiceCarStatus.mLidarS>0&&ServiceCarStatus.mLidarPer>0 ){
+    //                if(abs(lidarDistance-esrDistance)>5){
+
+    //                    esrDistance=-1;
+    //                }
+
+    //            }
+
+
+
+    //            if(esrDistance>=1&& esrDistance<=50&& ServiceCarStatus.mLidarS>0&&ServiceCarStatus.mLidarPer>0
+    //                && gpsMapLine[PathPoint]->runMode == 1    ){
+    //                if(abs(lidarDistance-esrDistance)>5){
+
+    //                    esrDistance=-1;
+    //                }
+
+    //            }
+
+
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "毫米波距离:" << esrDistance << std::endl;
+    myesrDistance = esrDistance;
+
+
+
+    if(lidarDistance==500){
+        lidarDistance=-1;
+    }
+    if(esrDistance==500){
+        esrDistance=-1;
+    }
+
+
+    ServiceCarStatus.mRadarObs = esrDistance;
+    ServiceCarStatus.mLidarObs = lidarDistance;
+
+
+    //zhuanwan pingbi haomibo
+    if(gpsTraceNow[0].v1==4||gpsTraceNow[0].v1==5){
+        esrDistance=-1;
+    }
+
+    if (esrDistance>0 && lidarDistance > 0)
+    {
+        if (lidarDistance >= esrDistance)
+        {
+            //	obsDistance = esrDistance;
+            obs = esrDistance;
+            //	obsSpeed = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+            obsSd=ServiceCarStatus.obs_radar[esrIndex].speed_y;
+        }
+        else if (!ServiceCarStatus.obs_radar.empty())
+        {
+            //	obsDistance = lidarDistance;
+            obs = lidarDistance;
+            //	obsSpeed = Compute00().getObsSpeed(obsPoint, secSpeed);
+            obsSd = Compute00().getObsSpeed(obsPoint, secSpeed);
+            std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "计算obsSpeed:" << obsSpeed << std::endl;
+        }
+        else
+        {
+            //	obsDistance = lidarDistance;
+            obs=lidarDistance;
+            //	obsSpeed = 0 - secSpeed;
+            obsSd = 0 -secSpeed;
+            std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "毫米波无数据，计算obsSpeed:" << obsSpeed << std::endl;
+        }
+    }
+    else if (esrDistance>0)
+    {
+        //		obsDistance = esrDistance;
+        //		obsSpeed = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+        obs = esrDistance;
+        obsSd = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+    }
+    else if (lidarDistance > 0)
+    {
+        //		obsDistance = lidarDistance;
+        //		obsSpeed = Compute00().getObsSpeed(obsPoint, secSpeed);
+        obs = lidarDistance;
+        obsSd = Compute00().getObsSpeed(obsPoint, secSpeed);
+        std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "计算obsSpeed:" << obsSpeed << std::endl;
+    }
+    else {
+        //		obsDistance = esrDistance;
+        //		obsSpeed = 0 - secSpeed;
+        obs = esrDistance;
+        obsSd = 0 - secSpeed;
+    }
+
+    if(roadNum==roadNow){
+        obsDistance=obs;
+        obsSpeed=obsSd;
+    }
+
+
+    if (obsDistance <0 && obsLostTime<4)
+    {
+        obsDistance = lastDistance;
+        obsLostTime++;
+    }
+    else
+    {
+        obsLostTime = 0;
+        lastDistance = -1;
+    }
+
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "最终得出的obsDistance:" << obsDistance << std::endl;
+
+    ServiceCarStatus.mObs = obsDistance;
+    if(ServiceCarStatus.mObs>100){
+        ServiceCarStatus.mObs =-1;
+    }
+
+    if (obsDistance>0)
+    {
+        lastDistance = obsDistance;
+    }
+
+    //lsn
+    if(obs<0){
+        obsDisVector[roadNum]=500;
+    }else{
+        obsDisVector[roadNum]=obs;
+    }
+
+}
+
+
+
+void iv::decition::DecideGps00::predictObsOnRoad(std::vector<iv::Perception::PerceptionOutput> lidar_per,std::vector<Point2D> gpsTrace,double realSpeed){
+    double preObsDis;
+
+    if(!lidar_per.empty()){
+        preObsDis=PredictObsDistance(  realSpeed,  gpsTrace, lidar_per);
+        lastPreObsDistance=preObsDis;
+
+    }else{
+        preObsDis=lastPreObsDistance;
+    }
+    if(preObsDis<obsDistance){
+        obsDistance=preObsDis;
+        lastDistance=obsDistance;
+    }
+}
+
+int iv::decition::DecideGps00::chooseAvoidRoad(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per) {
+    roadPre = -1;
+
+    //    if (roadNow<roadOri)
+    //    {
+    //        for (int i = 0; i < roadNow; i++)
+    //        {
+    //            gpsTraceAvoid.clear();
+    //            //	gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsR[int(abs(roadWidth * 2)*(roadOri-i))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            //	computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+    //            computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, i,gpsMapLine,lidar_per);
+    //        }
+
+
+    //        for (int i = roadOri+1; i < roadSum; i++)
+    //        {
+    //            gpsTraceAvoid.clear();
+    //            //	gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsL[int(abs(roadWidth * 2)*(i - roadOri))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            //	bsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+    //            computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, i,gpsMapLine,lidar_per);
+    //        }
+    //    }
+    //    else if (roadNow>roadOri)
+    //    {
+    //        for (int i = 0; i < roadOri; i++)
+    //        {
+    //            gpsTraceAvoid.clear();
+    //            //	gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsR[int(abs(roadWidth * 2)*(roadOri - i))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            //	computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+    //           computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, i,gpsMapLine,lidar_per);
+    //        }
+    //        for (int i = roadNow + 1; i < roadSum; i++)
+    //        {
+    //            gpsTraceAvoid.clear();
+    //            //		gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsL[int(abs(roadWidth * 2)*(i - roadOri))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            //	computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+    //           computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, i,gpsMapLine,lidar_per);
+    //        }
+
+    //    }
+
+    //    else
+    //    {
+    //        for (int i = 0; i < roadOri; i++)
+    //        {
+    //            gpsTraceAvoid.clear();
+    //            //	gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsR[int(abs(roadWidth * 2)*(roadOri - i))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            //	computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+    //           computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+    //        }
+    //        for (int i = roadOri + 1; i < roadSum; i++)
+    //        {
+    //            gpsTraceAvoid.clear();
+    //            //		gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsL[int(abs(roadWidth * 2)*(i - roadOri))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            //	computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+    //           computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+    //        }
+
+    //    }
+
+    for (int i =  0; i < roadSum; i++)
+    {
+        gpsTraceAvoid.clear();
+        //		gpsTraceAvoid = getGpsTrace(now_gps_ins, gmapsL[int(abs(roadWidth * 2)*(i - roadOri))], lastGpsIndex);
+     //   avoidX = (roadWidth)*(roadOri - i);
+         avoidX=computeAvoidX(i,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+        gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, avoidX);
+        //	computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, roadNow + i);
+        computeObsOnRoad(lidarGridPtr, gpsTraceAvoid, i,gpsMapLine,lidar_per);
+    }
+
+
+    if (lidarGridPtr!=NULL)
+    {
+        hasCheckedAvoidLidar = true;
+    }
+
+    for(int i=0; i<roadSum;i++){
+        std::cout<<"\odsjuli====================:\n"<<i<<"chedaojuli:"<<obsDisVector[i]<<endl;
+
+    }
+
+    checkAvoidObsTimes++;
+    if (checkAvoidObsTimes<4 || hasCheckedAvoidLidar==false)
+    {
+        return - 1;
+    }
+
+
+    for (int i = 1; i < roadSum; i++)
+    {
+        if (roadNow + i < roadSum) {
+        //    avoidX = (roadOri-roadNow-i)*roadWidth;
+             avoidX=computeAvoidX(roadNow+i,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+            if (checkAvoidEnable(avoidX, lidarGridPtr, roadNow+i))
+            {
+                /*if (roadNow==roadOri)
+                {
+                    avoidRunDistance = obsDisVector[roadNow] + ServiceCarStatus.msysparam.vehLenth;
+                    startAvoid_gps_ins = now_gps_ins;
+                }	*/
+                avoidMinDistanceVector[roadNow]= obsDisVector[roadNow] + ServiceCarStatus.msysparam.vehLenth;
+                startAvoidGpsInsVector[roadNow] = now_gps_ins;
+                roadPre = roadNow + i;
+                return roadPre;
+            }
+        }
+
+        if (roadNow - i >= 0)
+        {
+         //   avoidX = (roadOri - roadNow+i)*roadWidth;
+             avoidX=computeAvoidX(roadNow-i,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+            if (checkAvoidEnable(avoidX, lidarGridPtr, roadNow - i))
+            {
+                /*if (roadNow == roadOri)
+                {
+                    avoidRunDistance = obsDisVector[roadNow] + ServiceCarStatus.msysparam.vehLenth;
+                    startAvoid_gps_ins = now_gps_ins;
+                }*/
+                avoidMinDistanceVector[roadNow] = obsDisVector[roadNow] + ServiceCarStatus.msysparam.vehLenth;
+                startAvoidGpsInsVector[roadNow] = now_gps_ins;
+                roadPre = roadNow - i;
+                return roadPre;
+            }
+        }
+
+    }
+    return roadPre;
+}
+
+int iv::decition::DecideGps00::chooseBackRoad(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per) {
+    roadPre = -1;
+
+    //   computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+
+
+
+    //    if (roadNow>=roadOri+1)
+    //    {
+    //        for (int i = roadOri+1; i < roadNow; i++)
+    //        {
+    //            gpsTraceBack.clear();
+    //            //	gpsTraceBack = getGpsTrace(now_gps_ins, gmapsL[int(abs(roadWidth * 2)*(i-roadOri))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceBack = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+    //        }
+    //    }
+    //    else if (roadNow <= roadOri - 1) {
+
+    //        for (int i = roadOri - 1; i > roadNow; i--)
+    //        {
+    //            gpsTraceBack.clear();
+    //            //	gpsTraceBack = getGpsTrace(now_gps_ins, gmapsR[int(abs(roadWidth * 2)*(roadOri-i))], lastGpsIndex);
+    //            avoidX = (roadWidth)*(roadOri - i);
+    //            gpsTraceBack = getGpsTraceOffset(gpsTraceOri, avoidX);
+    //            computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
+    //        }
+
+    //    }
+
+
+
+    for (int i =  0; i <roadSum; i++)
+    {
+        gpsTraceBack.clear();
+        //	gpsTraceBack = getGpsTrace(now_gps_ins, gmapsR[int(abs(roadWidth * 2)*(roadOri-i))], lastGpsIndex);
+     //   avoidX = (roadWidth)*(roadOri - i);
+         avoidX=computeAvoidX(i,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+        gpsTraceBack = getGpsTraceOffset(gpsTraceOri, avoidX);
+        computeObsOnRoad(lidarGridPtr, gpsTraceBack, i,gpsMapLine,lidar_per);
+    }
+
+
+
+    if (lidarGridPtr != NULL)
+    {
+        hasCheckedBackLidar = true;
+    }
+
+
+
+    checkBackObsTimes++;
+    if (checkBackObsTimes<4 || hasCheckedBackLidar == false)
+    {
+        return -1;
+    }
+
+
+
+
+
+
+
+    //if ((GetDistance(now_gps_ins, startAvoid_gps_ins)>avoidRunDistance)&&
+    //(checkReturnEnable(avoidX, lidarGridPtr,roadOri)))
+    if ((GetDistance(now_gps_ins, startAvoidGpsInsVector[roadOri])>max(avoidMinDistanceVector[roadOri],30.0)) &&
+            (checkReturnEnable(avoidX, lidarGridPtr, roadOri)))
+    {
+        roadPre = roadOri;
+        return roadPre;
+    }
+
+    if (roadNow-roadOri>1)
+    {
+        for (int i = roadOri + 1;i < roadNow;i++) {
+            if (checkReturnEnable(avoidX, lidarGridPtr, i)&&
+                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  avoidMinDistanceVector[i])&&
+                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])> 30.0))
+            {
+                roadPre = i;
+                return roadPre;
+            }
+        }
+    }
+
+    else if (roadNow <roadOri-1)
+    {
+        for (int i = roadOri - 1;i > roadNow;i--) {
+            if (checkReturnEnable(avoidX, lidarGridPtr, i)&&
+                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>avoidMinDistanceVector[i])&&
+                    (GetDistance(now_gps_ins, startAvoidGpsInsVector[i])>  30.0))
+            {
+                roadPre = i;
+                return roadPre;
+            }
+        }
+    }
+
+    return roadPre;
+}
+
+
+double iv::decition::DecideGps00::trumpet() {
+    if (trumpetFirstCount)
+    {
+        trumpetFirstCount = false;
+        trumpetLastTime= GetTickCount();
+        trumpetTimeSpan = 0.0;
+    }
+    else
+    {
+        trumpetStartTime= GetTickCount();
+        trumpetTimeSpan += trumpetStartTime - trumpetLastTime;
+        trumpetLastTime = trumpetStartTime;
+    }
+
+    return trumpetTimeSpan;
+}
+
+
+
+
+double iv::decition::DecideGps00::transferP() {
+    if (transferFirstCount)
+    {
+        transferFirstCount = false;
+        transferLastTime= GetTickCount();
+        transferTimeSpan = 0.0;
+    }
+    else
+    {
+        transferStartTime= GetTickCount();
+        transferTimeSpan += transferStartTime - transferLastTime;
+        transferLastTime = transferStartTime;
+    }
+
+    return transferTimeSpan;
+}
+
+
+
+void  iv::decition::DecideGps00::handBrakePark(iv::decition::Decition  decition, long duringTime, GPS_INS now_gps_ins) {
+
+    if (abs(now_gps_ins.speed)>0.1)
+    {
+        decition->accelerator = 0;
+        decition->brake = 20;
+        decition->wheel_angle = 0;
+
+    }
+    else
+    {
+
+        decition->accelerator = 0;
+        decition->brake = 20;
+        decition->wheel_angle = 0;
+        handPark = true;
+        handParkTime = duringTime;
+    }
+
+}
+
+
+
+
+void iv::decition::DecideGps00::getMapBeside(std::vector<iv::GPSData> navigation_data, iv::GPS_INS now_gps_ins) {
+    gmapsL.clear();
+    gmapsR.clear();
+    for (int i = 0; i < 31; i++)
+    {
+        std::vector<iv::GPSData> gpsMapLineBeside;
+        //	gpsMapLineBeside = iv::decition::ComputeUnit().getBesideGpsMapLine(*ServiceCarStatus.location, navigation_data, -0.5*i);
+        gpsMapLineBeside = iv::decition::Compute00().getBesideGpsMapLine(now_gps_ins, navigation_data, -0.5*i);
+
+        gmapsL.push_back(gpsMapLineBeside);
+    }
+
+
+    for (int i = 0; i < 31; i++)
+    {
+        std::vector<iv::GPSData> gpsMapLineBeside;
+        //		gpsMapLineBeside = iv::decition::ComputeUnit().getBesideGpsMapLine(*ServiceCarStatus.location, navigation_data, 0.5*i);
+        gpsMapLineBeside = iv::decition::Compute00().getBesideGpsMapLine(now_gps_ins, navigation_data, 0.5*i);
+
+        gmapsR.push_back(gpsMapLineBeside);
+    }
+
+}
+
+
+bool iv::decition::DecideGps00::checkChaoCheBack(iv::LidarGridPtr lidarGridPtr) {
+
+    if (lidarGridPtr == NULL)
+    {
+        return false;
+        //	lidarDistance = lastlidarDistance;
+
+    }
+    else {
+
+
+
+
+        obsPoint = Compute00().getLidarObsPoint(gpsTraceOri, lidarGridPtr);
+        double lidarDistance = obsPoint.y - 2.5;   //激光距离推到车头
+        //     ODS("\n超车雷达距离:%f\n", lidarDistance);
+        if (lidarDistance >-20 && lidarDistance<35)
+        {
+            checkChaoCheBackCounts = 0;
+            return false;
+        }
+        else {
+            checkChaoCheBackCounts++;
+        }
+
+        if (checkChaoCheBackCounts>2) {
+            checkChaoCheBackCounts = 0;
+            return true;
+        }
+    }
+
+    return false;
+
+}
+
+void iv::decition::DecideGps00::updateGroupDate(GPS_INS now_gps_ins,float realspeed,float theta,float s){
+    Point2D pt = Coordinate_Transfer( now_gps_ins.gps_x, now_gps_ins.gps_y, group_ori_gps);
+
+    ServiceCarStatus.group_x_local=pt.x;
+    //  ServiceCarStatus.group_y_local=pt.y;
+    ServiceCarStatus.group_y_local=s;
+    if(realspeed<0.36){
+        ServiceCarStatus.group_velx_local=0;
+        ServiceCarStatus.group_vely_local=0;
+    }else{
+        ServiceCarStatus.group_velx_local=realspeed*sin(theta)/3.6;
+        ServiceCarStatus.group_vely_local=realspeed*cos(theta)/3.6;
+    }
+
+
+    ServiceCarStatus.group_pathpoint=PathPoint;
+
+}
+
+
+
+float  iv::decition::DecideGps00::ComputeTrafficLightSpeed(int traffic_light_color, int traffic_light_time,  const std::vector<GPSData> gpsMapLine,int traffic_light_pathpoint,
+                                                           int pathpoint,float secSpeed,float dSpeed){
+    float traffic_speed=200;
+    float traffic_dis=0;
+    float passTime;
+    float passSpeed;
+    bool passEnable=false;
+
+    if(abs(secSpeed)<0.1){
+        secSpeed=0;
+    }
+
+
+
+    if(pathpoint <= traffic_light_pathpoint){
+        for(int i=pathpoint;i<traffic_light_pathpoint;i++){
+            traffic_dis +=GetDistance(*gpsMapLine[i],*gpsMapLine[i+1]);
+        }
+    }else{
+        for(int i=pathpoint;i<gpsMapLine.size()-1;i++){
+            traffic_dis +=GetDistance(*gpsMapLine[i],*gpsMapLine[i+1]);
+        }
+        for(int i=0;i<traffic_light_pathpoint;i++){
+            traffic_dis+=GetDistance(*gpsMapLine[i],*gpsMapLine[i+1]);
+        }
+    }
+
+    //    if(traffic_light_color != 0)
+    //    {
+    //        int a = 3;
+    //    }
+
+
+    if(traffic_light_color==0 && traffic_dis<10){
+        traffic_speed=0;
+    }
+    //    else   //20200108
+    //    {
+    //        traffic_speed=10;
+    //    }
+    return  traffic_speed;
+
+    passSpeed = min((float)(dSpeed/3.6),secSpeed);
+    passTime = traffic_dis/(dSpeed/3.6);
+
+
+
+
+
+    switch(traffic_light_color){
+    case 0:
+        if(passTime>traffic_light_time+1 && traffic_dis>10){
+            passEnable=true;
+        }else{
+            passEnable=false;
+        }
+        break;
+    case 1:
+        if(passTime<traffic_light_time-1 && traffic_dis<10){
+            passEnable=true;
+        }else{
+            passEnable = false;
+        }
+        break;
+    case 2:
+        if(passTime<traffic_light_time){
+            passEnable= true;
+        }else{
+            passEnable=false;
+        }
+        break;
+
+
+    default:
+        break;
+    }
+
+    if(!passEnable){
+        if(traffic_dis<5){
+            traffic_speed=0;
+        }else if(traffic_dis<10){
+            traffic_speed=5;
+        }else if(traffic_dis<20){
+            traffic_speed=15;
+        }else if(traffic_dis<30){
+            traffic_speed=25;
+        }else if(traffic_dis<50){
+            traffic_speed=30;
+        }
+    }
+    return traffic_speed;
+
+}
+
+void iv::decition::DecideGps00::computeObsOnRoadByFrenet(iv::LidarGridPtr lidarGridPtr, const std::vector<Point2D>& gpsTrace, double & obs, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps)
+{
+    //    Point2D obsCombinePoint = Point2D(-1,-1);
+    iv::decition::FrenetPoint car_now_frenet_point = iv::decition::FrenetPlanner::getFrenetfromXY(0,0,gpsTrace,gpsMap,pathpoint,nowGps);
+    double obsSd;
+    if (lidarGridPtr == NULL)
+    {
+        lidarDistance = lastLidarDis;
+        //	lidarDistance = lastlidarDistance;
+    }
+    else {
+        obsPoint = Compute00().getLidarObsPoint(gpsTrace, lidarGridPtr);
+        //        lidarDistance = obsPoint.y-2.5;   //激光距离推到车头
+        iv::decition::FrenetPoint lidarFPointTmp = iv::decition::FrenetPlanner::getFrenetfromXY(this->obsPoint.x,this->obsPoint.y,gpsTrace,gpsMap,pathpoint,nowGps);
+        lidarDistance = lidarFPointTmp.s - car_now_frenet_point.s - 2.5;
+
+        //    lidarDistance=-1;
+        if (lidarDistance<0)
+        {
+            lidarDistance = -1;
+        }
+        lastLidarDis = lidarDistance;
+    }
+
+    FrenetPoint esr_obs_frenet_point;
+    getEsrObsDistanceByFrenet(gpsTrace, car_now_frenet_point,esr_obs_frenet_point,gpsMap,pathpoint,nowGps);
+
+    if(lidarDistance<0){
+        lidarDistance=500;
+    }
+    if(esrDistance<0){
+        esrDistance=500;
+    }
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "激光雷达距离:" << lidarDistance << std::endl;
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "毫米波距离:" << esrDistance << std::endl;
+    myesrDistance = esrDistance;
+
+    if(lidarDistance==500){
+        lidarDistance=-1;
+    }
+    if(esrDistance==500){
+        esrDistance=-1;
+    }
+
+    ServiceCarStatus.mRadarObs = esrDistance;
+    ServiceCarStatus.mLidarObs = lidarDistance;
+
+    //    //zhuanwan pingbi haomibo
+    //    if(gpsTraceNow[0].v1==4||gpsTraceNow[0].v1==5){
+    //        esrDistance=-1;
+    //    }
+
+    if (esrDistance>0 && lidarDistance > 0)
+    {
+        if (lidarDistance >= esrDistance)
+        {
+            obs = esrDistance;
+            //            obsSd=ServiceCarStatus.obs_radar[esrIndex].speed_y;
+            obsSd = obsSpeed;
+            //障碍物信息使用毫米波采集的。其位置坐标加上偏移量，转换成相对于惯导的位置，即转换成车辆坐标系下的位置坐标。
+            //            obsCombinePoint = Point2D(ServiceCarStatus.obs_radar[esrIndex].nomal_x+Esr_Offset,ServiceCarStatus.obs_radar[esrIndex].nomal_y+Esr_Y_Offset);
+        }
+        else if (!ServiceCarStatus.obs_radar.empty())
+        {
+            obs = lidarDistance;
+            //            obsCombinePoint = obsPoint;
+            //            obsSd = Compute00().getObsSpeedByFrenet(obsPoint, secSpeed,gpsTrace);
+            obsSd = Compute00().getObsSpeedByFrenet(obsPoint, secSpeed,gpsTrace,gpsMap,pathpoint,nowGps);
+            std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "计算obsSpeed:" << obsSpeed << std::endl;
+        }
+        else
+        {
+            obs=lidarDistance;
+            //            obsCombinePoint = obsPoint;
+            obsSd = 0 -secSpeed*cos(car_now_frenet_point.tangent_Ang-PI/2);
+            std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "毫米波无数据，计算obsSpeed:" << obsSpeed << std::endl;
+        }
+    }
+    else if (esrDistance>0)
+    {
+        obs = esrDistance;
+        //        obsSd = ServiceCarStatus.obs_radar[esrIndex].speed_y;
+        obsSd = obsSpeed;
+        //障碍物信息使用毫米波采集的。其位置坐标加上偏移量，转换成相对于惯导的位置，即转换成车辆坐标系下的位置坐标。
+        //        obsCombinePoint = Point2D(ServiceCarStatus.obs_radar[esrIndex].nomal_x+Esr_Offset,ServiceCarStatus.obs_radar[esrIndex].nomal_y+Esr_Y_Offset);
+    }
+    else if (lidarDistance > 0)
+    {
+        obs = lidarDistance;
+        //        obsCombinePoint = obsPoint;
+        obsSd = Compute00().getObsSpeedByFrenet(obsPoint, secSpeed,gpsTrace,gpsMap,pathpoint,nowGps);
+        std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "计算obsSpeed:" << obsSpeed << std::endl;
+    }
+    else {
+        obs = esrDistance;
+        //        obsCombinePoint = Point2D(ServiceCarStatus.obs_radar[esrIndex].nomal_x+Esr_Offset,ServiceCarStatus.obs_radar[esrIndex].nomal_y+Esr_Y_Offset);
+        obsSd = 0 - secSpeed*cos(car_now_frenet_point.tangent_Ang-PI/2);
+    }
+
+    obsDistance=obs;
+    obsSpeed=obsSd;
+
+    std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "最终得出的obsDistance:" << obsDistance << std::endl;
+
+    ServiceCarStatus.mObs = obsDistance;
+    if(ServiceCarStatus.mObs>100){
+        ServiceCarStatus.mObs =-1;
+    }
+
+    if (obsDistance>0)
+    {
+        lastDistance = obsDistance;
+    }
+
+    if(obs<0){
+        obsDistance=500;
+    }else{
+        obsDistance=obs;
+    }
+}
+
+void iv::decition::DecideGps00::getRearEsrObsDistance(std::vector<Point2D> gpsTrace, int roadNum) {
+
+
+    esrIndex = iv::decition::Compute00().getRearEsrIndex(gpsTrace, roadNum);
+
+    if (esrIndex != -1)
+    {
+        esrDistance = ServiceCarStatus.obs_rear_radar[esrIndex].nomal_y;
+        obsSpeed = ServiceCarStatus.obs_rear_radar[esrIndex].speed_y;
+
+    }
+    else {
+        esrDistance = -1;
+    }
+}
+
+void iv::decition::DecideGps00::getEsrObsDistanceByFrenet(const std::vector<Point2D>& gpsTrace, const FrenetPoint car_now_frenet_point, FrenetPoint &esrObs_F_Point, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps) {
+
+    esrIndex = iv::decition::Compute00().getEsrIndexByFrenet(gpsTrace,esrObs_F_Point,gpsMap,pathpoint,nowGps);
+
+    if (esrIndex != -1)
+    {
+        //障碍物的距离，是障碍物和车辆沿道路上的距离，即s。并不直接是它的x坐标或y坐标或两点直线坐标。
+        //严格来说应是 esrDistance=障碍物的s - 车辆的s - Esr_Y_Offset，但这是根据车辆位置实时搜索路径，故车辆的s极其小。
+        esrDistance = esrObs_F_Point.s - car_now_frenet_point.s - Esr_Y_Offset;  //-Esr_Y_Offset是把距离推到车头，换算frenet坐标时，把它加上了的。故需减去。
+
+        double speedx=ServiceCarStatus.obs_radar[esrIndex].speed_x;  //障碍物相对于车辆x轴的速度
+        double speedy=ServiceCarStatus.obs_radar[esrIndex].speed_y;  //障碍物相对于车辆y轴的速度
+        double speed_combine = sqrt(speedx*speedx+speedy*speedy);    //将x、y轴两个方向的速度求矢量和
+        //障碍物的速度方向与道路方向的夹角。用于将速度分解到s方向和d方向。
+        //所谓道路方向是指，道路上离障碍物的最近的点沿道路弧线的切线方向。
+        double Etheta = esrObs_F_Point.tangent_Ang - atan2(speedy,speedx);
+
+        obsSpeed = speed_combine*cos(Etheta);  //由speed_combine分解的s轴方向上的速度
+    }
+    else {
+        esrDistance = -1;
+    }
+}
+
+void iv::decition::DecideGps00::getV2XTrafficPositionVector(const std::vector<GPSData> gpsMapLine){
+    v2xTrafficVector.clear();
+    for (int var = 0; var < gpsMapLine.size(); var++) {
+        if(gpsMapLine[var]->roadMode==6 || gpsMapLine[var]->mode2==1000001){
+            v2xTrafficVector.push_back(var);
+        }
+    }
+}
+
+float iv::decition::DecideGps00::ComputeV2XTrafficLightSpeed(iv::TrafficLight trafficLight, const std::vector<GPSData> gpsMapLine,std::vector<int> v2xTrafficVector,
+                                                             int pathpoint,float secSpeed,float dSpeed, bool circleMode){
+    float trafficSpeed=200;
+    int nearTraffixPoint=-1;
+    float nearTrafficDis=0;
+    int traffic_color=0;
+    int traffic_time=0;
+    bool passThrough=false;
+    float dSecSpeed=dSpeed/3.6;
+
+    if(v2xTrafficVector.empty()){
+        return trafficSpeed;
+    }
+    if(!circleMode){
+        if(pathpoint>v2xTrafficVector.back()){
+            return trafficSpeed;
+        }else {
+            for(int i=0; i< v2xTrafficVector.size();i++){
+                if (pathpoint<= v2xTrafficVector[i]){
+                    nearTraffixPoint=v2xTrafficVector[i];
+                    break;
+                }
+            }
+        }
+    }else if(circleMode){
+        if(pathpoint>v2xTrafficVector.back()){
+            nearTraffixPoint=v2xTrafficVector[0];
+        }else {
+            for(int i=0; i< v2xTrafficVector.size();i++){
+                if (pathpoint<= v2xTrafficVector[i]){
+                    nearTraffixPoint=v2xTrafficVector[i];
+                    break;
+                }
+            }
+        }
+    }
+
+
+    if(nearTraffixPoint!=-1){
+        for(int i=pathpoint;i<nearTraffixPoint;i++){
+            nearTrafficDis +=GetDistance(*gpsMapLine[i],*gpsMapLine[i+1]);
+        }
+    }
+
+    if(nearTrafficDis>50){
+        return trafficSpeed;
+    }
+
+
+    int roadMode = gpsMapLine[pathpoint]->roadMode;
+    if(roadMode==14 || roadMode==16){
+        traffic_color=trafficLight.leftColor;
+        traffic_time=trafficLight.leftTime;
+    }else if(roadMode==15 ||roadMode==17){
+        traffic_color=trafficLight.rightColor;
+        traffic_time=trafficLight.rightTime;
+    }else {
+        traffic_color=trafficLight.straightColor;
+        traffic_time=trafficLight.straightTime;
+    }
+
+
+    passThrough=computeTrafficPass(nearTrafficDis,traffic_color,traffic_time,secSpeed,dSecSpeed);
+    if(passThrough){
+        return trafficSpeed;
+    }else{
+        trafficSpeed=computeTrafficSpeedLimt(nearTrafficDis);
+        if(nearTrafficDis<6){
+            float decelerate =0-( secSpeed*secSpeed*0.5/nearTrafficDis);
+            minDecelerate=min(minDecelerate,decelerate);
+        }
+        return trafficSpeed;
+    }
+
+    return trafficSpeed;
+}
+
+bool iv::decition::DecideGps00::computeTrafficPass(float trafficDis,int trafficColor,float trafficTime,float realSecSpeed,float dSecSpeed){
+    float passTime=0;
+    if (trafficColor==2 || trafficColor==3){
+        return false;
+    }else if(trafficColor==0){
+        return true;
+    }else{
+        passTime=trafficDis/dSecSpeed;
+        if(passTime+1< trafficTime){
+            return true;
+        }else{
+            return false;
+        }
+
+    }
+
+}
+
+float iv::decition::DecideGps00::computeTrafficSpeedLimt(float trafficDis){
+    float limit=200;
+    if(trafficDis<10){
+        limit = 0;
+    }else if(trafficDis<15){
+        limit = 5;
+    }else if(trafficDis<20){
+        limit=10;
+    }else if(trafficDis<30){
+        limit=15;
+    }
+    return limit;
+}
+
+
+
+bool iv::decition::DecideGps00::adjuseultra(){
+    bool front=false,back=false,left=false,right=false;
+    for(int i=1;i<=13;i++)
+    {
+        if((i==2)||(i==3)||(i==4)||(i==5))   //front
+        {
+            if(ServiceCarStatus.ultraDistance[i]<100)
+            {
+                front=true;
+            }
+        }else if((i==1)||(i==12)||(i==6)||(i==7))   //left,right
+        {
+            if(ServiceCarStatus.ultraDistance[i]<30)
+            {
+                left=true;
+            }
+        }else if((i==8)||(i==9)||(i==10)||(i==11))   //back
+        {
+            if(ServiceCarStatus.ultraDistance[i]<10)
+            {
+                back=true;
+            }
+        }
+    }
+
+    if(front||left||back)
+        return true;
+    else
+        return false;
+
+}
+
+void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gpsMapLine){
+    if(  gpsMapLine[PathPoint]->mode2==3000){
+        if(obsDistance>5){
+            obsDistance=200;
+        }
+        dSpeed=min(dSpeed,5.0);
+    }
+}
+float iv::decition::DecideGps00::computeAvoidX(int roadAim,int roadOri,GPSData gps,float vehWidth){
+    if(roadAim==roadOri){
+        return 0;
+    }
+    float x=0;
+    float veh_to_roadSide=(gps->mfRoadWidth- ServiceCarStatus.msysparam.vehWidth)*0.5;
+    float roadSide_to_roadSide=ServiceCarStatus.msysparam.vehWidth;
+    if(!ServiceCarStatus.inRoadAvoid){
+        x= (roadOri-roadAim)*gps->mfRoadWidth;
+    }else{
+        int num=roadOri-roadAim;
+        switch (abs(num%3)) {
+        case 0:
+            x=(num/3)*gps->mfRoadWidth;
+            break;
+        case 1:
+            if(num>0){
+                x=(num/3)*gps->mfRoadWidth +veh_to_roadSide;
+            }else{
+                x=(num/3)*gps->mfRoadWidth -veh_to_roadSide;
+            }
+            break;
+        case 2:
+            if(num>0){
+                x=(num/3)*gps->mfRoadWidth +veh_to_roadSide+roadSide_to_roadSide;
+            }else{
+                x=(num/3)*gps->mfRoadWidth -veh_to_roadSide-roadSide_to_roadSide;
+            }
+
+            break;
+        default:
+            break;
+        }
+    }
+
+    return x;
+}

src/decition/decition_brain/decision/decide_gps_00.h

@@ -0,0 +1,261 @@
+#pragma once
+#ifndef _IV_DECITION__DECIDE_GPS_00_
+#define _IV_DECITION__DECIDE_GPS_00_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_planner/frenet_planner.h>
+#include <decision/adc_controller/pid_controller.h>
+#include <decision/adc_adapter/ge3_adapter.h>
+#include <decision/adc_adapter/qingyuan_adapter.h>
+#include <decision/adc_adapter/vv7_adapter.h>
+#include <decision/adc_adapter/zhongche_adapter.h>
+#include <decision/adc_adapter/bus_adapter.h>
+#include <decision/adc_adapter/hapo_adapter.h>
+#include <decision/adc_adapter/zhongche_adapter.h>
+#include <decision/adc_adapter/yuhesen_adapter.h>
+#include "perception/perceptionoutput.h"
+#include "ivlog.h"
+#include <memory>
+
+#include "obs_mobieye.h"
+
+namespace iv {
+namespace decition {
+//根据传感器传输来的信息作出决策
+class DecideGps00 {
+public:
+    DecideGps00();
+    ~DecideGps00();
+
+    static double minDis;
+    static double maxAngle;
+    static int lastGpsIndex;
+    static double lidarDistance;
+    static double myesrDistance;
+    static double lastLidarDis;
+    static double lastLidarDisAvoid;
+
+    static double lastPreObsDistance;
+
+    static int gpsLineParkIndex;
+    static int gpsMapParkIndex;
+
+    static double lastDistance;
+
+    static float xiuzhengCs;
+
+    static double controlAng;
+    double laneAng;
+    static double controlSpeed;
+    static double controlBrake;
+
+    static bool parkMode;
+    static bool readyParkMode;
+
+    static bool zhucheMode;
+    static bool readyZhucheMode;
+    static bool hasZhuched;
+    static double Iv;
+    static double lastEv;
+    static double lastVt;
+    static double lastU;
+    static double obsDistance;
+    static double obsSpeed;
+    static double lidarDistanceAvoid;
+    static double obsDistanceAvoid;
+    static double lastDistanceAvoid;
+
+    GPS_INS group_ori_gps;
+    GPS_INS startAvoid_gps_ins;
+    static int finishPointNum;
+    static int zhuchePointNum;
+    double avoidRunDistance=0;
+
+    std::vector<iv::GPS_INS> startAvoidGpsInsVector;
+    std::vector<double> avoidMinDistanceVector;
+    std::vector<int> v2xTrafficVector;
+
+    ///kkcai, 2020-01-03
+    //bool isFirstRun = true;
+    static bool isFirstRun;
+    /////////////////////////////////////
+
+//    static bool startingFlag;//起步标志，在起步时需要进行frenet规划。
+    static float minDecelerate;
+
+
+    double startTime = 0;
+    double firstTime = 0;
+
+    bool circleMode=false;
+
+    int avoidTimes = 0;
+    int backTimes = 0;
+
+    int checkAvoidObsTimes = 0;
+    int checkBackObsTimes = 0;
+
+    bool hasCheckedAvoidLidar=false;
+    bool hasCheckedBackLidar=false;
+
+    bool personWaited = false;
+    bool roadLightWaited = false;
+
+    double decision_Angle = 0;
+    double lastAngle=0;
+
+    iv::Point2D obsPoint;
+
+    int checkAvoidTimes=0;
+    int checkBackTimes=0;
+    int chaocheCounts=0;
+
+    static int PathPoint;
+    float lastGroupOffsetX=0.0;
+
+    GPS_INS traffic_light_gps;
+    int traffic_light_pathpoint;
+
+    bool changingDangWei=false;
+
+    BaseController *pid_Controller;
+    BaseAdapter *ge3_Adapter;
+    BaseAdapter *qingyuan_Adapter;
+    BaseAdapter *vv7_Adapter;
+    BaseAdapter *zhongche_Adapter;
+    BaseAdapter *bus_Adapter;
+    BaseAdapter *hapo_Adapter;
+    BaseAdapter *yuhesen_Adapter;
+
+    std::shared_ptr<BaseController> mpid_Controller;
+    std::shared_ptr<BaseAdapter> mge3_Adapter;
+    std::shared_ptr<BaseAdapter> mqingyuan_Adapter;
+    std::shared_ptr<BaseAdapter> mvv7_Adapter;
+    std::shared_ptr<BaseAdapter> mzhongche_Adapter;
+    std::shared_ptr<BaseAdapter> mbus_Adapter;
+    std::shared_ptr<BaseAdapter> mhapo_Adapter;
+    std::shared_ptr<BaseAdapter> myuhesen_Adapter;
+
+	FrenetPlanner *frenetPlanner;
+//    BasePlanner *laneChangePlanner;
+	
+	std::shared_ptr<FrenetPlanner> mfrenetPlanner;
+//    std::shared_ptr<BasePlanner> mlaneChangePlanner;
+
+
+    Decition getDecideFromGPS(GPS_INS gpsIns, const std::vector<GPSData> navigation_data, iv::LidarGridPtr lidarGridPtr,
+                              std::vector<iv::Perception::PerceptionOutput> lidar_per,iv::TrafficLight trafficLight);
+
+    void initMethods();
+    static std::vector<Point2D> getGpsTrace(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex, bool circleMode);
+
+
+    static double getAngle(std::vector<Point2D> gpsTrace);
+    double getAngle(std::vector<Point2D> gpsTrace, GPS_INS gpsIns,iv::decition::Decition decition);
+    static double getSpeed(std::vector<Point2D> gpsTrace);
+
+    static void getEsrObsDistance(std::vector<Point2D> gpsTrace, int roadNum);
+    static void getRearEsrObsDistance(std::vector<Point2D> gpsTrace, int roadNum);
+    static void getEsrObsDistanceAvoid();
+
+    void getObsAvoid(iv::LidarGridPtr lidarGridPtr);
+    void phaseSpeedDecition(iv::decition::Decition decition, double secSpeed, double obsDis, double obsSpeed, GPS_INS gpsIns );
+
+    double limitAngle(double speed, double angle);
+    double limitSpeed(double angle, double speed);
+
+    bool checkAvoidEnable(double avoidX, iv::LidarGridPtr lidarGridPtr, int roadNum);
+    bool checkReturnEnable(double avoidX, iv::LidarGridPtr lidarGridPtr, int roadNum);
+
+    void computeObsOnRoad(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum,const std::vector<GPSData> gpsMapLine, std::vector<iv::Perception::PerceptionOutput> lidar_per);
+    static void getEsrObsDistanceByFrenet(const std::vector<Point2D>& gpsTrace, iv::decition::FrenetPoint car_now_frenet_point,iv::decition::FrenetPoint &esrObs_F_Point, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps);
+
+    void computeRearObsOnRoad(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum,const std::vector<GPSData> gpsMapLine);
+    void computeObsOnRoadByFrenet(iv::LidarGridPtr lidarGridPtr,const std::vector<Point2D>& gpsTrace, double & obs, const std::vector<iv::GPSData>& gpsMap,int pathpoint,GPS_INS nowGps);
+
+    void predictObsOnRoad(std::vector<iv::Perception::PerceptionOutput> lidar_per,std::vector<Point2D> gpsTrace,double realSpeed);
+
+    int chooseAvoidRoad(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins,std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per);
+    int chooseBackRoad(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per);
+
+    void getMapBeside(std::vector<iv::GPSData> navigation_data, iv::GPS_INS now_gps_ins);
+
+    void  handBrakePark(iv::decition::Decition  decition, long duringTime, GPS_INS now_gps_ins);
+
+    bool checkChaoCheBack(iv::LidarGridPtr);
+    double trumpet();
+    double transferP();
+
+    bool nearStation;
+
+    void updateGroupDate(GPS_INS now_gps_ins,float realspeed,float theta,float s);
+    void init();
+
+    std::vector<Point2D>  getGpsTraceOffset(std::vector<Point2D> gpsTrace, double offset);
+
+    std::vector<iv::Point2D> getGpsTraceBackExa(iv::GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine, int pathpo);
+
+    float ComputeTrafficLightSpeed(int traffic_light_color, int traffic_light_time,  const std::vector<GPSData> gpsMapLine,int traffic_light_pathpoint,
+                                   int pathpoint,float secSpeed,float dSpeed);
+    void getV2XTrafficPositionVector( const std::vector<GPSData> gpsMapLine);
+    float ComputeV2XTrafficLightSpeed(iv::TrafficLight TrafficLight, const std::vector<GPSData> gpsMapLine,std::vector<int> v2xTrafficVector,
+                                   int pathpoint,float secSpeed,float dSpeed,bool circleMode);
+    float getTrafficLightSpeed(int traffic_light_color, int traffic_light_time, float dis);
+
+    bool computeTrafficPass(float trafficDis,int trafficColor,float trafficTime,float realSecSpeed,float dSecSpeed);
+    float computeTrafficSpeedLimt(float trafficDis);
+
+    float computeAvoidX(int roadAim,int roadOri,GPSData gps,float vehWidth);
+
+    bool adjuseultra();
+
+    iv::Station getNearestStation(iv::GPS_INS now_gps_ins,std::vector<Station> station_n,std::vector<GPSData> gpsMap);
+
+    void transferGpsMode2( const std::vector<GPSData> gpsMapLine);
+    GPS_INS aim_gps_ins;
+    GPS_INS chaoche_start_gps;
+    bool is_arrivaled=false;
+
+    double chaocheObsDis = 0;
+    double preChaocheDis = 0;
+    double aimObsSpeed = 0;
+    double followSpeed = 30;
+    double chaocheSpeed = 50;
+    int checkChaoCheBackCounts = 0;
+
+    float lastTorque=0;
+    float splimit=-1;
+
+    float  ObsTimeSpan=-1;
+    double ObsTimeStart=-1;
+    double ObsTimeEnd=-1;
+    float ObsTimeWidth=1500;
+    std::vector<iv::TracePoint> planTrace;
+    bool roadNowStart=true;
+private:
+    //  void changeRoad(int roadNum);
+
+
+};
+
+}
+}
+
+extern bool handPark;
+extern long handParkTime;
+extern bool rapidStop;
+extern int gpsMissCount;
+extern bool changeRoad;
+extern double avoidX;
+extern bool parkBesideRoad;
+extern double steerSpeed;
+extern bool transferPieriod;
+extern bool transferPieriod2;
+extern double traceDevi;
+#endif // !  _IV_DECITION__DECIDE_GPS_00_
+
+

src/decition/decition_brain/decision/decide_line_00.h

@@ -0,0 +1,252 @@
+#pragma once
+#ifndef _IV_DECITION__DECIDE_LINE_00_
+#define _IV_DECITION__DECIDE_LINE_00_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include <common/obstacle_type.h>
+#include <vector>
+#include <decision/gnss_coordinate_convert.h>
+#include <decision/decide_gps_00.h>
+
+
+
+namespace iv {
+	namespace decition {
+		//根据传感器传输来的信息作出决策
+        class DecideLine00 {
+		public:
+            DecideLine00();
+            ~DecideLine00();
+
+			static  double minDis;
+			static double maxAngle;
+			static   int lastGpsIndex;
+			static double lidarDistance;
+            static double myesrDistance;
+			static double lastLidarDis;
+			static double lastLidarDisAvoid;
+
+			
+			
+
+			static  int gpsLineParkIndex;
+			static  int gpsMapParkIndex;
+
+
+			static double lastDistance;
+
+		
+
+			
+
+
+
+			static double controlAng;
+			static double controlSpeed;
+			static double controlBrake;
+
+			static bool parkMode;
+			static bool readyParkMode;
+
+			static bool zhucheMode;
+			static bool readyZhucheMode;
+			static bool hasZhuched;
+			static double Iv;
+			static double lastEv;
+			static double lastVt;
+			static double lastU;
+			static double obsDistance;
+			static double lidarDistanceAvoid;
+			static double obsDistanceAvoid;
+			static double lastDistanceAvoid;
+
+			GPS_INS startAvoid_gps_ins;
+			static int finishPointNum;
+			static int zhuchePointNum;
+			double avoidRunDistance=0;
+
+			std::vector<iv::GPS_INS> startAvoidGpsInsVector;
+			std::vector<double> avoidMinDistanceVector;
+
+
+			bool isFirstRun = true;
+			double startTime = 0;
+			double firstTime = 0;
+
+			int avoidTimes = 0;
+			int backTimes = 0;
+
+			int checkAvoidObsTimes = 0;
+			int checkBackObsTimes = 0;
+
+			bool hasCheckedAvoidLidar=false;
+			bool hasCheckedBackLidar=false;
+
+			bool personWaited = false;
+			bool roadLightWaited = false;
+
+			double decision_Angle = 0;
+            double lastAngle=0;
+
+			iv::Point2D obsPoint;
+
+			int checkAvoidTimes=0;
+			int checkBackTimes=0;
+
+			 static int PathPoint;
+//             float dSpeed=0;
+//             float dSecSpeed=0;
+
+			//		Decition getDecideFromGPS(GPS_INS gpsIns, const std::vector<GPSData> navigation_data, std::vector<ObstacleBasic> obsRadars, iv::LidarGridPtr lidarGridPtr);
+
+            Decition getDecideFromGPS(GPS_INS gpsIns, const std::vector<GPSData> navigation_data, iv::LidarGridPtr lidarGridPtr,std::vector<iv::Perception::PerceptionOutput> lidar_per);
+
+			static std::vector<Point2D> getGpsTrace(GPS_INS rp, const std::vector<GPSData> gpsMap, int lastIndex);
+             std::vector<Point2D> getGpsTraceByMobileEye(float a,float b, float c);
+		
+
+			static double getAngle(std::vector<Point2D> gpsTrace);
+			static double getSpeed(std::vector<Point2D> gpsTrace);
+
+			//		static void getEsrObs(std::vector<iv::ObstacleBasic> obsRadars);
+			static void getEsrObsDistance(std::vector<Point2D> gpsTrace, int roadNum);
+			static void getEsrObsDistanceAvoid();
+
+			void getObsAvoid(iv::LidarGridPtr lidarGridPtr);
+
+            void phaseSpeedDecition(iv::decition::Decition decition, double secSpeed, double obsDistance, double obsSpeed, GPS_INS gpsIns );
+
+			double limitAngle(double speed, double angle);
+			double limitSpeed(double angle, double speed);
+
+			bool checkAvoidEnable(double avoidX, iv::LidarGridPtr lidarGridPtr, int roadNum);
+			bool checkReturnEnable(double avoidX, iv::LidarGridPtr lidarGridPtr, int roadNum);
+
+			void computeObsOnRoad(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum);
+
+			int chooseAvoidRoad(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins);
+			int chooseBackRoad(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, std::vector<GPSData> gpsMapLine);
+			
+
+			void getMapBeside(std::vector<iv::GPSData> navigation_data, iv::GPS_INS now_gps_ins);
+
+			void  handBrakePark(iv::decition::Decition  decition, long duringTime, GPS_INS now_gps_ins);
+
+
+			double trumpet();
+
+			void init();
+
+			std::vector<Point2D>  getGpsTraceOffset(std::vector<Point2D> gpsTrace, double offset);
+
+			GPS_INS aim_gps_ins;
+			bool is_arrivaled=false;
+
+
+
+
+
+            double offset_real = 0;
+            double realspeed;
+            double dSpeed;
+            double dSecSpeed;
+            double secSpeed;
+            double ac;
+
+
+
+
+
+
+            int esrLineIndex = -1;
+            int esrIndexAvoid = -1;
+            double obsSpeed = 0;
+            double obsSpeedAvoid = 0;
+
+            double esrLineDistance = -1;
+            double esrDistanceAvoid = -1;
+            int obsLostTime = 0;
+            int obsLostTimeAvoid = 0;
+
+
+
+
+            // double avoidTime = 0;
+
+
+            double avoidX =0;
+            float roadWidth = 4;
+            int roadSum =4;
+            int roadNow = 3;
+            int roadOri =3;
+            int roadPre = -1;
+            int lastRoadOri = 3;
+
+            int lightTimes = 0;
+
+
+            int lastRoadNum=1;
+
+            int stopCount = 0;
+
+            int gpsMissCount = 0;
+
+            bool rapidStop = false;
+
+            bool hasTrumpeted = false;
+
+
+            bool changingDangWei=false;
+
+            //实验手刹
+            bool handFirst = true;
+            double handTimeSpan = 0;
+            double handStartTime = 0;
+            double handLastTime = 0;
+            bool handPark = false;
+            long handParkTime=10000;
+
+            //喇叭
+            bool trumpetFirstCount=true;
+            double trumpetTimeSpan = 0;
+            double trumpetStartTime = 0;
+            double trumpetLastTime = 0;
+
+            bool busMode = false;
+
+            enum VehState { normalRun, park, readyPark, stopObs, avoidObs, preAvoid, avoiding, backOri,preBack,
+                waitAvoid ,shoushaTest,justRun} vehState;
+
+
+
+            std::vector<iv::Point2D>  gpsTraceAvoid,gpsTraceNow,gpsTraceBack,gpsTracePre,gpsTraceOri;
+
+
+            float  outGarageDistance=0;
+            double outGarageTimeLast=-1;
+            double outGarageTimeNow=-1;
+            float outGarageLong=10;
+
+            double waitGpsTimeStart=-1;
+            double waitGpsTimeNow=-1;
+            float waitGpsTimeSpan=-1;
+            float waitGpsTimeWidth=5000;
+            bool waitGps=false;
+
+
+		private:
+               iv::decition::DecideGps00* decitionGpstool ;			//决策器
+               std::shared_ptr<DecideGps00> mdecitionGpstool;
+		};
+
+	}
+}
+
+extern bool handPark;
+extern long handParkTime;
+extern bool rapidStop;
+extern int gpsMissCount;
+#endif // !  _IV_DECITION__DECIDE_LINE_00_
+
+

src/decition/decition_brain/decision/decide_line_00_.cpp

@@ -0,0 +1,979 @@
+#include <decision/decide_line_00.h>
+#include <decision/compute_00.h>
+#include <decision/gps_distance.h>
+#include <decision/decition_type.h>
+#include <decision/transfer.h>
+#include <common/constants.h>
+#include <common/car_status.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+#include <control/can.h>
+#include <time.h>
+using namespace std;
+
+#define PI (3.1415926535897932384626433832795)
+
+iv::decition::DecideLine00::DecideLine00() {
+      decitionGpstool = new iv::decition::DecideGps00();
+      mdecitionGpstool.reset(decitionGpstool);
+}
+iv::decition::DecideLine00::~DecideLine00() {
+
+}
+
+
+int iv::decition::DecideLine00::PathPoint = -1;
+double iv::decition::DecideLine00::minDis = iv::MaxValue;
+double iv::decition::DecideLine00::maxAngle = iv::MinValue;
+//int iv::decition::DecideLine00::lastGpsIndex = iv::MaxValue;
+int iv::decition::DecideLine00::lastGpsIndex = 0;
+double iv::decition::DecideLine00::controlSpeed = 0;
+double iv::decition::DecideLine00::controlBrake = 0;
+double iv::decition::DecideLine00::controlAng = 0;
+double iv::decition::DecideLine00::Iv = 0;
+double iv::decition::DecideLine00::lastU = 0;
+double iv::decition::DecideLine00::lastVt = 0;
+double iv::decition::DecideLine00::lastEv = 0;
+
+int iv::decition::DecideLine00::gpsLineParkIndex = 0;
+int iv::decition::DecideLine00::gpsMapParkIndex = 0;
+double iv::decition::DecideLine00::lastDistance = MaxValue;
+double iv::decition::DecideLine00::obsDistance = -1;
+double iv::decition::DecideLine00::obsDistanceAvoid = -1;
+double iv::decition::DecideLine00::lastDistanceAvoid = -1;
+
+double iv::decition::DecideLine00::lidarDistance = -1;
+double iv::decition::DecideLine00::myesrDistance = -1;
+double iv::decition::DecideLine00::lastLidarDis = -1;
+
+bool iv::decition::DecideLine00::parkMode = false;
+bool iv::decition::DecideLine00::readyParkMode = false;
+
+bool iv::decition::DecideLine00::zhucheMode = false;
+bool iv::decition::DecideLine00::readyZhucheMode = false;
+bool iv::decition::DecideLine00::hasZhuched = false;
+
+double iv::decition::DecideLine00::lastLidarDisAvoid = -1;
+double iv::decition::DecideLine00::lidarDistanceAvoid = -1;
+
+int iv::decition::DecideLine00::finishPointNum = 0;
+int iv::decition::DecideLine00::zhuchePointNum = 0;
+
+
+
+
+
+//日常展示
+
+iv::decition::Decition    iv::decition::DecideLine00::getDecideFromGPS(GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine, iv::LidarGridPtr lidarGridPtr,
+                                                                       std::vector<iv::Perception::PerceptionOutput> lidar_per) {
+
+	Decition gps_decition(new DecitionBasic);
+
+
+	if (isFirstRun)
+	{
+		vehState = normalRun;	
+		startAvoid_gps_ins = now_gps_ins;
+
+
+		ServiceCarStatus.carState = 1;
+		/*roadOri = gpsMapLine[PathPoint]->roadOri;
+		roadNow = roadOri;*/
+		busMode = false;
+
+
+       waitGpsTimeWidth= ServiceCarStatus.waitGpsTimeWidth;
+        outGarageLong=ServiceCarStatus.outGarageLong;
+		isFirstRun = false;
+	}
+    busMode=ServiceCarStatus.busmode;
+    ServiceCarStatus.useMobileEye=true;
+	gps_decition->leftlamp = false;
+	gps_decition->rightlamp = false;
+
+	
+	is_arrivaled = false;
+	
+
+
+	
+
+
+	
+
+	if (parkMode)
+	{
+
+		
+		handBrakePark(gps_decition,10000,now_gps_ins);
+		return gps_decition;
+	}
+
+
+	//驻车
+
+	if (zhucheMode)
+	{
+
+		if (trumpet()<5000)
+		{
+			gps_decition->brake=20;
+			gps_decition->accelerator = 0;
+			gps_decition->wheel_angle = 0;
+			gps_decition->speed = 0;
+			return gps_decition;
+		}
+		else
+		{
+			hasZhuched = true;
+			zhucheMode = false;
+			trumpetFirstCount = true;
+		}
+
+	}
+
+
+	//判断驻车标志位
+	if (hasZhuched && GetDistance(now_gps_ins,*gpsMapLine[zhuchePointNum])>20)
+	{
+		hasZhuched = false;
+	}
+
+
+
+	obsDistance = -1;
+    esrLineIndex = -1;
+	lidarDistance = -1;
+
+
+	roadPre = -1;
+
+
+
+    //realspeed = now_gps_ins.speed;
+    realspeed = ServiceCarStatus.vehSpeed_st;
+	secSpeed = realspeed / 3.6;
+
+
+    std::cout << "\n#############realspeed:\n" <<  realspeed << std::endl;
+
+	avoidX = (roadOri-roadNow)*roadWidth;
+
+	gpsTraceOri.clear();
+	gpsTraceNow.clear();
+	gpsTraceAvoid.clear();
+	gpsTraceBack.clear();
+
+
+    gpsTraceOri=getGpsTraceByMobileEye(ServiceCarStatus.Lane.curvature,ServiceCarStatus.Lane.heading,
+                                       (ServiceCarStatus.aftermarketLane.dist_to_lane_l+ServiceCarStatus.aftermarketLane.dist_to_lane_r)*0.5);
+     controlAng = iv::decition::Compute00().getDecideAngleByLanePID(realspeed);
+  //  controlAng = iv::decition::Compute00().getDecideAngle(gpsTraceOri, realspeed);
+    if(outGarageTimeLast!=-1){
+        outGarageTimeNow=GetTickCount();
+    }
+    if(outGarageTimeNow!=-1){
+        outGarageDistance+= (outGarageTimeNow-outGarageTimeLast)*secSpeed*0.001;
+         std::cout << "使用mobileEye决策————outGarageDistance:"<<outGarageDistance<< std::endl;
+    }
+    if(outGarageDistance>outGarageLong && !waitGps){
+        waitGps=true;
+
+        outGarageTimeLast=-1;
+        outGarageTimeNow=-1;
+        outGarageDistance=0;
+
+
+    }
+
+    if(ServiceCarStatus.m_bOutGarage && !waitGps){
+        outGarageTimeLast=GetTickCount();
+    }
+
+    if(waitGps){
+         std::cout << "使用mobileEye决策————waitGps"<< std::endl;
+        if(waitGpsTimeStart==-1){
+            waitGpsTimeStart=GetTickCount();
+        }
+        if(waitGpsTimeStart!=-1){
+            waitGpsTimeNow=GetTickCount();
+        }
+        if(waitGpsTimeNow!=-1){
+            waitGpsTimeSpan=waitGpsTimeNow-waitGpsTimeStart;
+            std::cout << "使用mobileEye决策————waitGps————waitGpsTimeSpan："<<waitGpsTimeSpan <<std::endl;
+        }
+        if(waitGpsTimeSpan>waitGpsTimeWidth){
+            waitGps=false;
+            waitGpsTimeStart=-1;
+            waitGpsTimeNow=-1;
+            waitGpsTimeSpan=0;
+             ServiceCarStatus.m_bOutGarage=false;
+               std::cout << "使用mobileEye决策————waitGps————退出"<< std::endl;
+        }
+
+        gps_decition->accelerator =0;
+        gps_decition->torque = 0;
+        gps_decition->brake=0.8;
+        gps_decition->wheel_angle = 0.0 - controlAng;
+        //           gps_decition->wheel_angle = 0;
+
+        return gps_decition;
+
+    }
+
+	
+
+
+
+	
+
+		
+
+  //  controlAng = iv::decition::Compute00().getDecideAngleByLane(realspeed);
+
+
+	if (readyParkMode)
+	{
+		double parkDis = GetDistance(now_gps_ins, *gpsMapLine[finishPointNum]);
+
+	
+		if (parkDis < 25)
+		{
+			Point2D pt = Coordinate_Transfer((*gpsMapLine[finishPointNum]).gps_x, (*gpsMapLine[finishPointNum]).gps_y, now_gps_ins);
+			double parkDistance = pt.y;
+
+
+			if (dSpeed > 15)
+			{
+				dSpeed = 15;
+			}
+
+
+			
+			if (parkDistance < 5 && parkDistance >= 4)
+			{
+                dSpeed = min(dSpeed, 8.0);
+			}
+
+
+
+			if (parkDistance < 1.5)
+			{
+				dSpeed = 0;
+				parkMode = true;
+				readyParkMode = false;
+			}
+
+
+		}
+	}
+
+
+
+	//准备驻车
+
+	if (readyZhucheMode)
+	{
+		double dis = GetDistance(*gpsMapLine[zhuchePointNum], now_gps_ins);
+
+		if (dis<25)
+		{
+			Point2D pt = Coordinate_Transfer((*gpsMapLine[zhuchePointNum]).gps_x, (*gpsMapLine[zhuchePointNum]).gps_y, now_gps_ins);
+			double zhucheDistance = pt.y;
+
+
+			if (dSpeed > 15)
+			{
+				dSpeed = 15;
+			}
+
+
+
+			if (zhucheDistance < 5 && zhucheDistance >= 4)
+			{
+                dSpeed = min(dSpeed, 8.0);
+			}
+
+
+
+			if (zhucheDistance < 3)
+			{
+				dSpeed = 0;
+				zhucheMode = true;
+				readyZhucheMode = false;
+			}
+
+		}
+		
+		
+
+	}
+
+
+
+
+
+    dSpeed=15;
+
+
+	//速度结合角度的限制
+	controlAng = limitAngle(realspeed, controlAng);
+	dSpeed = limitSpeed(controlAng, dSpeed);
+
+	gps_decition->speed = dSpeed;
+
+
+	dSecSpeed = dSpeed / 3.6;
+	//	 ac = 2 * max(10, realspeed) / ((dSecSpeed*dSecSpeed) - (secSpeed*secSpeed));
+
+
+
+
+
+	/* if (obsDistance <0 && ac<0 && ac >= -0.5)
+	{
+	gps_decition->accelerator = 0;
+	gps_decition->brake = 0;
+	}
+	else {*/
+
+	
+
+
+
+
+
+
+
+
+        std::cout << "\n呼车指令状态:%d\n" <<  ServiceCarStatus.carState << std::endl;
+		
+		//停车
+        if (ServiceCarStatus.carState == 0 && busMode)  //stop
+        {
+
+            gps_decition->accelerator =0;
+            gps_decition->torque = 0;
+            gps_decition->brake=0.5;
+            gps_decition->wheel_angle = 0.0 - controlAng;
+            //           gps_decition->wheel_angle = 0;
+
+            return gps_decition;
+
+        }
+
+
+
+        if (ServiceCarStatus.carState == 3 && busMode)   //  lin stop
+        {
+
+            ServiceCarStatus.carState=0;
+            gps_decition->accelerator = 0;
+            gps_decition->torque = 0;
+            gps_decition->brake=0.5;
+            gps_decition->wheel_angle = 0.0 - controlAng;
+            return gps_decition;
+
+
+        }
+
+
+
+
+
+
+
+        if (ServiceCarStatus.carState == 2 && busMode)  // dao zhan dian
+        {
+            dSpeed=3;
+        }
+
+
+
+
+                if (now_gps_ins.ins_status !=4 ) {
+
+                    dSpeed = min(15.0, dSpeed);
+
+                }
+
+
+        dSpeed=3;
+		dSecSpeed = dSpeed / 3.6;
+		gps_decition->speed = dSpeed;
+
+
+        decitionGpstool->computeObsOnRoad(lidarGridPtr,gpsTraceOri,0,gpsMapLine,lidar_per);
+
+        int confL=ServiceCarStatus.aftermarketLane.lane_conf_left;
+         int confR=ServiceCarStatus.aftermarketLane.lane_conf_right;
+         int conf=min(confL,confR);
+         if(conf<=1){
+
+         }
+
+        phaseSpeedDecition(gps_decition, secSpeed, decitionGpstool->obsDistance, decitionGpstool->obsSpeed,now_gps_ins);
+
+    gps_decition->wheel_angle = 0.0 - controlAng;
+
+    lastAngle=gps_decition->wheel_angle;
+
+	
+	return gps_decition;
+
+
+}
+
+
+
+void iv::decition::DecideLine00::phaseSpeedDecition(iv::decition::Decition  decition, double secSpeed, double obsDistance, double obsSpeed, GPS_INS gpsIns) {
+
+    //      obsDistance = -1;
+
+
+    std::cout << "\n计算用obs速度:%f\n" << obsSpeed << std::endl;
+    std::cout << "\n计算用obs距离:%f\n" << obsDistance << std::endl;
+
+
+
+    //  double acc = gpsIns.accel_y;
+    //    if(dSpeed>0)
+    //    dSpeed=dSpeed;
+    if(obsDistance<5 && obsDistance>0){
+        dSpeed=0;
+    }
+
+    dSecSpeed = dSpeed / 3.6;
+
+    double vt = dSecSpeed;
+    double vs = secSpeed;
+
+
+    if (abs(vs) < 0.05) vs = 0;
+    if (abs(obsSpeed) < 0.05) obsSpeed = 0;
+
+
+
+
+    double vl = vs + obsSpeed;
+    double vh = vs;
+    double dmax = 150;
+
+    //车距滤波
+    if (obsDistance < 0||obsDistance>100) {
+        obsDistance = 500;
+        obsSpeed=0;
+    }
+    if (obsDistance < 1) obsDistance = 1;
+
+    if (obsDistance > 150) vl = 25; //25m/s
+
+    if (obsSpeed <-15) obsDistance = obsDistance * 0.25 + lastDistance * 0.75;
+    else obsDistance = obsDistance * 0.5 + lastDistance * 0.5;
+
+
+
+    //TTC计算
+    double ds = 0.2566 * vl * vl + 5;
+    double ttcr = (vh - vl) / obsDistance;
+    double ttc = 15;
+    if (15 * (vh - vl) > obsDistance)
+        ttc = obsDistance / (vh - vl);
+
+
+    ServiceCarStatus.mfttc = ttc;
+
+
+    if (obsDistance <= dmax)
+    {
+        if (ttc > 10)
+        {
+            if (obsDistance > ds + 5)
+            {
+                double dds = min(30.0, obsDistance - (ds + 5));
+                vt = vt * dds / 30 + vl * (1 - dds / 30);
+            }
+            else
+            {
+                vt = min(vt, vl);
+            }
+        }
+        else
+        {
+            vt = min(vt, vl);
+        }
+    }
+
+    //   vt=min(vt,dSecSpeed);
+    vt=dSecSpeed;
+    std::cout << "\nvt:%f\n" << vt << std::endl;
+    //速度控制
+
+
+
+
+
+    double Id = 0;
+
+
+
+
+    double ed = ds - obsDistance;
+    if (obsDistance > 150) ed = 0;
+    double ev = vs - vt;
+    double u = 0;
+
+    if (ttc>10)  //if (ttc>10)
+    {
+
+        double kp = 0.5;        //double kp = 0.5;
+        double kd = 0.3;       //kd = 0.03
+        double k11 = 0.18;      //double k11 = 0.025;
+        double k12 = 0.000125;
+
+
+        double dev = (ev - lastEv) / 0.1;
+
+        Iv = 0.925 * Iv + ev;
+
+        Id = 0.85 * Id + ed;
+
+        if (abs(vh) < 2.0&& abs(vl) < 2.0)
+        {
+            Iv = 0.0; Id = 0.0;
+        }
+
+        /*u = kp * ev + kd * dev + k11 * Iv + k12 * Id;*/
+        u = kp * ev + kd * dev;
+    }
+
+
+    else if (ttc < 1.6 || (ttc <= 10 && obsDistance <= 0.75 * ds))
+    {
+        //AEB控制
+        Id = 0; Iv = 0;
+
+        u = 0;
+        if (ttc < 0.8) u = 7;
+        else if (ttc < 1.6) u = 3 + 5 * (1.6 - ttc);
+        else
+        {
+            u = (10 - ttc) * (10 - ttc) / 23.52;
+        }
+
+    }
+    else
+    {
+        //制动控制
+        Id = 0; Iv = 0;
+
+        if (obsDistance > 1.25 * ds)
+        {
+            double rev_ed = 1 / ed;
+
+            u = -0.5 * obsDistance * obsDistance * rev_ed * ttcr * ttcr;
+        }
+        else
+        {
+            if (abs(vl) > 2.0)
+                u = 0;
+            else
+                u = max(lastU, 1.0);
+        }
+    }
+
+    if (abs(vl) < 1.0 && abs(vh) < 1.0
+            && obsDistance < 2 * ds)
+    {
+        u = 0.5;
+    }
+
+
+
+
+
+
+    //u 限值
+    if (gpsIns.ins_pitch_angle>4&&u<-2.0)
+    {
+        u = -2.0;
+    }else if(ttc<3 && u<-0.2){
+        u=-0.2;
+    }
+    else
+    {
+
+        //     if (u < -0.7) u = -0.7;
+        if (u < -1.5) u = -1.5;
+    }
+
+    //        if (ttc > 8)
+    //        {
+    //            if (u > 0.8) u = 0.8;
+    //        }
+
+    if (u >= 0 && lastU <= 0)
+    {
+        if (u > 0.5) u = 0.5;
+    }
+    else if (u >= 0 && lastU >= 0)
+    {
+        if (u > lastU + 0.5) u = lastU + 0.5;
+    }
+    else if (u <= 0 && lastU >= 0)
+    {
+        if (u < -0.04) u = -0.04;
+    }
+    else if (u <= 0 && lastU <= 0)
+    {
+        if (u < lastU - 0.04) u = lastU - 0.04;
+    }
+
+
+
+
+    lastU = u;
+    lastEv = ev;
+    lastVt = vt;
+
+    //brakeValue start
+    if (u > 0)
+    {
+
+        decition->torque=0;
+        controlBrake=u; //102
+        if(obsDistance>0 && obsDistance<10){
+            controlBrake=u*1.5;
+        }
+        if(abs(dSpeed-realspeed)<3 &&(obsDistance>40 || obsDistance<0)&&ttc>8 && dSpeed>0){
+            controlBrake=0;
+            decition->torque=max(0.0,ServiceCarStatus.torque_st-10.0);
+        }
+        //0110
+        if(changingDangWei){
+            controlBrake=max(0.3,controlBrake);
+        }
+
+    } //brakeValue end
+    else
+    {
+        controlBrake = 0;
+
+        if(ServiceCarStatus.torque_st==0){
+            decition->torque = (u*(-16)+((0-u)-ServiceCarStatus.mfVehAcc)*10)*0.7; //*1.0
+            decition->torque =max( decition->torque,1.0f);
+
+        }else{
+            decition->torque= ServiceCarStatus.torque_st+((0-u)-ServiceCarStatus.mfVehAcc)*10;//1115    *10
+            }
+
+        if(((gpsIns.ins_pitch_angle>-2.5 && ServiceCarStatus.daocheMode)||
+            (gpsIns.ins_pitch_angle<2.5 && !ServiceCarStatus.daocheMode))){
+            if(realspeed<5  ){
+                decition->torque=min((float)25.0,decition->torque); //youmenxianxiao  30
+            }else if(realspeed<10){
+                decition->torque=min((float)25.0,decition->torque);  //40
+            }
+        }
+        decition->torque = min((float)(ServiceCarStatus.torque_st+5.0),decition->torque); //1115 5.0
+
+
+        // 斜坡加大油门   0217 lsn
+
+
+
+
+        if(((gpsIns.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+            (gpsIns.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+                && abs(realspeed)<1.0){
+            decition->torque=max((float)20.0,decition->torque);
+            decition->torque=min((float)40.0,decition->torque);
+        }
+
+
+
+       else if(((gpsIns.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
+            (gpsIns.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
+                && abs(realspeed)<10.0){
+                decition->torque=min((float)40.0,decition->torque); //youmenxianxiao  30
+        }
+
+
+
+
+        // 斜坡加大油门  end
+
+        decition->torque=min((float)100.0,decition->torque);
+        decition->torque=max((float)0.0,decition->torque);
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+    //if (vt<2)                                                    //怠速
+    //{
+    //	controlSpeed = 0;
+    //}
+
+
+
+
+
+
+    //刹车限制
+
+    int BrakeIntMax = 10;
+    if (vs < 10.0 / 3.6) BrakeIntMax = 4;
+    else if (vs < 20.0 / 3.6) BrakeIntMax = 6;
+
+    //`
+    if(ttc>10){
+        BrakeIntMax = 2;
+    }else if(ttc>6){
+        BrakeIntMax = 3;
+    }else if(ttc>3){
+        BrakeIntMax = 4;
+    }else if(ttc>1.6){
+        BrakeIntMax = 5;
+    }else if(ttc>0.8){
+        BrakeIntMax = 8;
+    }else{
+        BrakeIntMax = 10;
+    }
+    if(obsDistance>0 && obsDistance<10){
+        BrakeIntMax=max(BrakeIntMax,3);
+    }
+
+    if (controlBrake > BrakeIntMax) controlBrake = BrakeIntMax;
+
+
+
+
+    //    if((obsDistance<0 || obsDistance>40)&&abs(dSpeed-realspeed)<3 && controlBrake>0){
+    //        controlBrake=0;
+    //        controlSpeed = max(ServiceCarStatus.torque_st-1.0,0.0); //1115
+    //    }
+    if((obsDistance<0 || obsDistance>40)&&abs(dSpeed-realspeed)<3 && controlBrake>0 && dSpeed>10){
+        controlBrake=0;
+        controlSpeed = max(ServiceCarStatus.torque_st-1.0,1.0); //1115
+    }
+
+
+
+    decition->brake = controlBrake;
+    decition->brake=min(100.0,double(decition->brake));
+    //   decition->torque = controlSpeed;
+
+    if (obsDistance>0)
+    {
+        iv::decition::DecideGps00::lastDistance = obsDistance;
+    }
+    else
+    {
+        iv::decition::DecideGps00::lastDistance = 200;
+    }
+
+
+
+    //1115
+
+    //        if(decition->torque>0){
+    //            if(decition->torque>lastTorque){
+    //                decition->torque=min(float(lastTorque+1.0),decition->torque);
+    //            }
+    ////            else if(decition->torque<lastTorque){
+    ////                decition->torque=max(float(lastTorque-5.0), decition->torque);
+    ////            }
+    //        }
+
+    //        lastTorque=decition->torque;
+
+    //斜坡刹车加大 lsn 0217
+    if (abs(gpsIns.ins_pitch_angle)>2.5 &&(decition->brake>0||dSpeed==0)){
+        decition->brake=max(2.0f,decition->brake);
+    }
+    //斜坡刹车加大 end
+
+
+    //0227 10m nei xianzhi shache
+    if(obsDistance<10 &&obsDistance>0){
+        decition->torque=0;
+        decition->brake=max(decition->brake,0.8f);
+    }
+
+
+
+
+
+    decition->accelerator=decition->torque;
+
+
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+double iv::decition::DecideLine00::limitAngle(double speed, double angle) {
+	double preAngle = angle;
+
+	if (speed > 15)
+	{
+		if (preAngle > 350)
+		{
+			preAngle = 350;
+		}
+		if (preAngle < -350)
+		{
+			preAngle = -350;
+		}
+	}
+	if (speed > 22)
+	{
+		if (preAngle > 200)
+		{
+			preAngle = 200;
+		}
+		if (preAngle < -200)
+		{
+			preAngle = -200;
+		}
+	}
+	if (speed > 25)
+	{
+		if (preAngle > 150)
+		{
+			preAngle = 150;
+		}
+		if (preAngle < -150)
+		{
+			preAngle = -150;
+		}
+	}
+	if (speed > 30)
+	{
+		if (preAngle > 70)
+		{
+			preAngle = 70;
+		}
+		if (preAngle < -70)
+		{
+			preAngle = -70;
+		}
+	}
+	if (speed > 45)                     //20
+	{
+		if (preAngle > 15)
+		{
+			preAngle = 15;
+		}
+		if (preAngle < -15)
+		{
+			preAngle = -15;
+		}
+	}
+	return preAngle;
+}
+
+
+
+double iv::decition::DecideLine00::limitSpeed(double angle, double speed) {
+
+	if (abs(angle) > 500 && speed > 8) speed = 8;
+	else if (abs(angle) > 350 && speed > 14) speed = 14;
+	else if (abs(angle) > 200 && speed > 21) speed = 21;
+	else if (abs(angle) > 150 && speed > 24) speed = 24;
+	else if (abs(angle) > 60 && speed > 29) speed = 29;
+	else if (abs(angle) > 20 && speed > 34) speed = 34;
+    return max(0.0, speed);
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+double iv::decition::DecideLine00::trumpet() {
+	if (trumpetFirstCount)
+	{
+		trumpetFirstCount = false;
+		trumpetLastTime= GetTickCount();
+        trumpetTimeSpan = 0.0;
+	}
+	else
+	{
+		trumpetStartTime= GetTickCount();
+		trumpetTimeSpan += trumpetStartTime - trumpetLastTime;
+		trumpetLastTime = trumpetStartTime;
+	}
+	
+	return trumpetTimeSpan;
+}
+
+
+void  iv::decition::DecideLine00::handBrakePark(iv::decition::Decition  decition, long duringTime, GPS_INS now_gps_ins) {
+
+	if (abs(now_gps_ins.speed)>0.1)
+	{
+		decition->accelerator = 0;
+		decition->brake = 20;
+		decition->wheel_angle = 0;
+	
+	}
+	else
+	{
+
+		decition->accelerator = 0;
+		decition->brake = 20;
+		decition->wheel_angle = 0;
+		handPark = true;
+		handParkTime = duringTime;		
+	}
+
+}
+
+
+
+std::vector<iv::Point2D> iv::decition::DecideLine00::getGpsTraceByMobileEye(float a,float b, float c){
+    vector<iv::Point2D> trace;
+    for(int i=0; i<600;i++){
+       float y=0.1*i;
+       float x=(a*y*y+b*y+c);
+       iv::Point2D pt;
+        pt.x=x;
+        pt.y=y;
+        trace.push_back(pt);
+    }
+    return trace;
+}
+

src/decition/decition_brain/decition/decition.pri → src/decition/decition_brain/decision/decision.pri

@@ -1,4 +1,5 @@
-HEADERS += \  
+HEADERS += \
+    $$PWD/obs_mobieye.h   \
     $$PWD/decition_type.h \
     $$PWD/decition_maker.h \
     $$PWD/decide_gps_00.h \
@@ -31,6 +32,7 @@ SOURCES += \
     $$PWD/decide_gps_00.cpp \
     $$PWD/brain.cpp \
     $$PWD/decide_line_00_.cpp \
+    $$PWD/obs_mobieye.cpp \
     $$PWD/obs_predict.cpp \
     $$PWD/adc_tools/transfer.cpp \
     $$PWD/adc_tools/gps_distance.cpp \

src/decition/decition_brain/decision/decition_maker.h

@@ -0,0 +1,62 @@
+#pragma once
+#ifndef _IV_DECITION_DECITION_MAKER_
+#define _IV_DECITION_DECITION_MAKER_
+
+#include <common/gps_type.h>
+#include <decision/decition_type.h>
+#include<vector> 
+
+namespace iv {
+	namespace decition {
+		//根据传感器传输来的信息作出决策
+		class DecitionMaker
+		{
+		public:
+			DecitionMaker();
+			~DecitionMaker();
+
+            bool isFirstRun = true;                      //第一次找点标志
+            bool isComplete = false;
+			std::vector<iv::GPS_INS> vec_Gps_Group;
+			double angleDeviation;
+			double distanceDeviation;
+			double speedDeviation;
+			double origin_x;
+			double origin_y;
+			long lastNearPointNum = 0;
+			long objPointNum = 0;
+			GPS_INS startPoint;                          //起始位置最近点
+			GPS_INS nearestGpsIns;                       //最近车前路径点
+			GPS_INS nowGpsIns;                           //当前车位置点
+			GPS_INS objGpsIns;                           //跟踪目标点
+
+			float vehLenthAdj = 0;                       //实时定位点调整长度
+
+			GPS_INS getNearestGpsIns(iv::GPS_INS gps_ins, const std::vector<iv::GPSData> navigation_data);
+
+			iv::decition::Decition getDecideForGPS(iv::GPS_INS gpsIns, const std::vector<iv::GPSData> navigation_data);
+
+			void getStartPoint(iv::GPS_INS gps_ins, const std::vector<iv::GPSData> navigation_data);
+
+			void adjustOriginPoint(iv::GPS_INS gps_ins);
+
+			double getDistanceDeviation(GPS_INS nowGPSIns, GPS_INS nearestGPSIns);
+
+			double getCrossAngle(GPS_INS nowGPSIns, GPS_INS nearestGPSIns);
+
+			double getDirectCrossAngle(iv::GPS_INS nowGPSIns, iv::GPS_INS nearestGPSIns);
+
+			float getSpeedObj(GPS_INS nowGPSIns, GPS_INS nearestGPSIns);
+
+			void checkDistance(GPS_INS nowGPSIns, const std::vector<iv::GPSData> navigation_data,double maxDistance);
+			
+            bool checkComplete(GPS_INS nowGPSIns, const std::vector<iv::GPSData> navigation_data);
+
+		private:
+
+		};
+
+	}
+}
+
+#endif // !_IV_DECITION_DECITION_MAKER_

src/decition/decition_brain/decision/decition_type.h

@@ -0,0 +1,61 @@
+#pragma once
+#ifndef _IV_DECITION_DECITION_TYPE_
+#define _IV_DECITION_DECITION_TYPE_
+#include <common/boost.h>
+namespace iv {
+namespace decition {
+struct DecitionBasic {
+    float speed;				//车速
+    float wheel_angle;			//转向角度
+    float brake;				//刹车
+    float accelerator;			//油门
+    float torque;               //力矩
+    bool leftlamp;				//左转向灯
+    bool rightlamp;				//右转向灯
+
+    int  engine;
+    int  grade;
+    int  mode;
+    int handBrake;
+    bool speak;
+    bool door;
+    bool bright;
+    int dangWei;
+
+    float angSpeed;
+    int brakeType :1;
+    char brakeEnable;  //add by fjk
+    bool left;         //add by fjk
+    bool right;        //add by fjk
+
+    bool angleEnable;
+    bool speedEnable;
+    bool dangweiEnable;
+    int  driveMode;
+
+    int directLight;
+    int brakeLight;
+    int backLight;
+    int topLight;
+
+    int farLight;
+    int nearLight;
+
+
+
+    bool   air_enable ;                  //空调使能
+    bool   air_on;
+    float   air_temp ;                  //空调温度
+    float   air_mode ;                  //空调模式
+    float   wind_level ;                  //空调风力
+    float   roof_light ;                  //顶灯
+    float   home_light ;                  //日光灯
+    float   air_worktime ;                  //空调工作时间
+    float   air_offtime ;                  //空调关闭时间
+
+};
+typedef boost::shared_ptr<DecitionBasic> Decition;	//决策
+}
+}
+#endif // !_IV_DECITION_DECITION_TYPE_
+

src/decition/decition_brain/decision/decition_voter.cpp

@@ -0,0 +1,22 @@
+#include <decition/decition_voter.h>
+
+
+iv::decition::DecitionVoter::DecitionVoter()
+{
+}
+
+iv::decition::DecitionVoter::~DecitionVoter()
+{
+}
+
+void iv::decition::DecitionVoter::decideFromAll(iv::decition::Decition & decition_final, iv::decition::Decition & decition_lidar, iv::decition::Decition & decition_radar, iv::decition::Decition & decition_camera, iv::decition::Decition & decition_gps, iv::decition::Decition & decition_localmap)
+{
+    //todo 按照优先级决定采用谁的决策  或融合采用
+    if (decition_gps != NULL) {
+        decition_final->speed = decition_gps->speed;
+        decition_final->wheel_angle = decition_gps->wheel_angle;
+        decition_final->accelerator = decition_gps->accelerator;
+        decition_final->brake = decition_gps->brake;
+    }
+
+}

src/decition/decition_brain/decision/decition_voter.h

@@ -0,0 +1,28 @@
+#pragma once
+//对来自不同传感器所作出的决策进行加权判断  得出最终的决策（速度、角度)
+//障碍物信息-激光雷达
+//障碍物信息-毫米波雷达
+//障碍物信息-摄像头
+//局部地图规划出的路线
+//GPS 惯导和导航数据计算得出的路线
+#ifndef _IV_DECITION_VOTER_
+#define _IV_DECITION_VOTER_
+
+#include <decision/decition_type.h>
+
+namespace iv {
+	namespace decition {
+		class DecitionVoter
+		{
+		public:
+			DecitionVoter();
+			~DecitionVoter();
+
+			void decideFromAll(iv::decition::Decition & decition_final,iv::decition::Decition & decition_lidar, iv::decition::Decition & decition_radar, iv::decition::Decition & decition_camera, iv::decition::Decition & decition_gps, iv::decition::Decition & decition_localmap);
+
+		private:
+
+		};
+	}
+}
+#endif // !_IV_DECITION_VOTER_

src/decition/decition_brain/decision/fanyaapi.cpp

@@ -0,0 +1,58 @@
+#include "fanyaapi.h"
+#include <QMutex>
+
+QMutex gMutexDecison;
+qint64 gTimeDecision = 0;
+double gdecision[3];
+
+using namespace fanya;
+
+
+
+void ListenDecision(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    if(nSize < 3*sizeof(double))return;
+    gMutexDecison.lock();
+    memcpy(gdecision,strdata,3*sizeof(double));
+    gTimeDecision = QDateTime::currentMSecsSinceEpoch();
+    gMutexDecison.unlock();
+}
+
+fanyaapi::fanyaapi()
+{
+    mpa = iv::modulecomm::RegisterRecv("mpcdecision",ListenDecision);
+    mpb = iv::modulecomm::RegisterSend("GPS",1000,1);
+    mpc = iv::modulecomm::RegisterSend("MAP",10000000,1);
+    mpd = iv::modulecomm::RegisterSend("desiredspeed",1000,1);
+
+}
+
+int  fanyaapi::GetDecision(double &speed, double &decison, double &wheel)
+{
+    qint64 now = QDateTime::currentMSecsSinceEpoch();
+    if((now - gTimeDecision)> 1000)
+    {
+        return -1;
+    }
+    gMutexDecison.lock();
+    speed = gdecision[0];
+    decison = gdecision[1];
+    wheel = gdecision[2];
+    gMutexDecison.unlock();
+    return 0;
+}
+
+void fanyaapi::SetGPS(GPS_INS xgps)
+{
+    iv::modulecomm::ModuleSendMsg(mpb,(char *)&xgps,sizeof(GPS_INS));
+}
+
+void fanyaapi::SetMAP(std::vector<MAP_DATA> xvectorMAP)
+{
+    iv::modulecomm::ModuleSendMsg(mpc,(char *)xvectorMAP.data(),xvectorMAP.size() *sizeof(MAP_DATA));
+}
+
+void fanyaapi::SetDesiredspeed(double fspeed)
+{
+    iv::modulecomm::ModuleSendMsg(mpd,(char *)&fspeed,sizeof(fspeed));
+}

src/decition/decition_brain/decision/fanyaapi.h

@@ -0,0 +1,38 @@
+#ifndef FANYAAPI_H
+#define FANYAAPI_H
+
+#include <vector>
+#include "modulecomm.h"
+
+namespace fanya {
+struct GPS_INS        //惯导数据结构体
+{
+    double  gps_lat;  //纬度
+    double  gps_lng;  //经度
+    double  ins_heading; //航向
+    double  speed_y;   //纵向速度
+};
+struct MAP_DATA        //地图数据结构体
+{
+    double  gps_lat;  //纬度
+    double  gps_lng;  //经度
+    double  ins_heading; //航向
+};
+
+}
+
+
+class fanyaapi
+{
+public:
+    fanyaapi();
+    void SetGPS(fanya::GPS_INS xgps);
+    void SetMAP(std::vector<fanya::MAP_DATA> xvectorMAP);
+    void SetDesiredspeed(double fspeed);
+    int GetDecision(double & speed,double & decison, double & wheel);
+
+private:
+    void * mpa, * mpb, * mpc, * mpd;
+};
+
+#endif // FANYAAPI_H

src/decition/decition_brain/decision/gnss_coordinate_convert.cpp

@@ -0,0 +1,153 @@
+#include <decition/gnss_coordinate_convert.h>
+
+void gps2xy(double J4, double K4, double *x, double *y)
+{
+    int L4 = (int)((K4 - 1.5) / 3) + 1;
+    double M4 = K4 - (L4 * 3);
+    double N4 = sin(J4 * 3.1415926536 / 180);
+    double O4 = cos(J4 * 3.1415926536 / 180);
+    double P4 = tan(J4 * 3.1415926536 / 180);
+    double Q4 = 111134.8611 * J4 - N4 * O4 * (32005.7799 + 133.9238 * N4 * N4 + 0.6973 * N4 * N4 * N4 * N4 + 0.0039 * N4 * N4 * N4 * N4 * N4 * N4);
+    double R4 = sqrt(0.006738525414683) * O4;
+    double S4 = sqrt(1 + R4 * R4);
+    double T4 = 6399698.901783 / S4;
+    double U4 = (T4 / S4) / S4;
+    double V4 = O4 * M4 * 3.1415926536 / 180;
+    double W4 = 0.5 + (5 - P4 * P4 + 9 * R4 * R4 + 4 * R4 * R4 * R4 * R4) * V4 * V4 / 24;
+    double X4 = V4 * V4 * V4 * V4 / 720 * (61 + (P4 * P4 - 58) * P4 * P4);
+    double Y4 = 1 + V4 * V4 * (1 - P4 * P4 + R4 * R4) / 6;
+    double Z4 = V4 * V4 * V4 * V4 * (5 - 18 * P4 * P4 * P4 * P4 * P4 * P4 + 14 * R4 * R4 - 58 * R4 * R4 * P4 * P4) / 120;
+
+    *y = Q4 + T4 * P4 * V4 * V4 * (W4 + X4);
+    *x = 500000 + T4 * V4 * (Y4 + Z4);
+}
+/*
+//高斯投影由经纬度(Unit:DD)反算大地坐标(含带号，Unit:Metres)
+void GaussProjCal(double longitude, double latitude, double *X, double *Y)
+{
+    int ProjNo = 0; int ZoneWide; ////带宽
+    double longitude1, latitude1, longitude0, latitude0, X0, Y0, xval, yval;
+    double a, f, e2, ee, NN, T, C, A, M, iPI;
+    iPI = 0.0174532925199433; ////3.1415926535898/180.0;
+    ZoneWide = 6; ////6度带宽
+    a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
+                                    ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
+    ProjNo = (int)(longitude / ZoneWide);
+    longitude0 = ProjNo * ZoneWide + ZoneWide / 2;
+    longitude0 = longitude0 * iPI;
+    latitude0 = 0;
+    longitude1 = longitude * iPI; //经度转换为弧度
+    latitude1 = latitude * iPI; //纬度转换为弧度
+    e2 = 2 * f - f * f;
+    ee = e2 * (1.0 - e2);
+    NN = a / sqrt(1.0 - e2 * sin(latitude1)*sin(latitude1));
+    T = tan(latitude1)*tan(latitude1);
+    C = ee * cos(latitude1)*cos(latitude1);
+    A = (longitude1 - longitude0)*cos(latitude1);
+    M = a * ((1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256)*latitude1 - (3 * e2 / 8 + 3 * e2*e2 / 32 + 45 * e2*e2
+        *e2 / 1024)*sin(2 * latitude1)
+        + (15 * e2*e2 / 256 + 45 * e2*e2*e2 / 1024)*sin(4 * latitude1) - (35 * e2*e2*e2 / 3072)*sin(6 * latitude1));
+    xval = NN * (A + (1 - T + C)*A*A*A / 6 + (5 - 18 * T + T * T + 72 * C - 58 * ee)*A*A*A*A*A / 120);
+    yval = M + NN * tan(latitude1)*(A*A / 2 + (5 - T + 9 * C + 4 * C*C)*A*A*A*A / 24
+        + (61 - 58 * T + T * T + 600 * C - 330 * ee)*A*A*A*A*A*A / 720);
+    X0 = 1000000L * (ProjNo + 1) + 500000L;
+    Y0 = 0;
+    xval = xval + X0; yval = yval + Y0;
+    *X = xval;
+    *Y = yval;
+}
+*/
+
+
+//=======================zhaobo0904
+#define PI  3.14159265358979
+void GaussProjCal(double lon, double lat, double *X, double *Y)
+{
+    // 1975 年国际椭球体长半轴 a, 第一离心率 e2, 第二离心率 ep2
+    double a = 6378140.0;
+    double e2 = 0.006694384999588;
+    double ep2 = e2/(1-e2);
+
+    // 原点所在经度
+    double lon_origin = 6.0*int(lon/6) + 3.0;
+    lon_origin *= PI / 180.0;
+
+    double k0 = 0.9996;
+
+    // 角度转弧度
+    double lat1 = lat * PI / 180.0;
+    double lon1 = lon * PI / 180.0;
+
+
+    // 经线在该点处的曲率半径,
+    double N = a / sqrt(1 - e2*sin(lat1)*sin(lat1));
+
+
+    // 赤道到该点的经线长度近似值 M, 使用泰勒展开逐项积分然后取前四项.
+    // 这个近似值是将 N 作为纬度 \phi 的函数展开为泰勒计数, 然后在区间 [0, lat1] 上积分得到的.
+    // 首先计算前四项的系数 a1~a4.
+    double a1 = 1 - e2/4 - (3*e2*e2)/64 - (5*e2*e2*e2)/256;
+    double a2 = (3*e2)/8 + (3*e2*e2)/32 + (45*e2*e2*e2)/1024;
+    double a3 = (15*e2*e2)/256 + (45*e2*e2*e2)/1024;
+    double a4 = (35*e2*e2*e2)/3072;
+    double M = a * (a1*lat1 - a2*sin(2*lat1) + a3*sin(4*lat1) - a4*sin(6*lat1));
+
+    // 辅助量
+    double T = tan(lat1)*tan(lat1);
+    double C = ep2*cos(lat1)*cos(lat1);
+    double A = (lon1 - lon_origin)*cos(lat1);
+
+    *X = 500000.0 + k0 * N * (A + (1 - T + C)*(A*A*A)/6 + (5 - 18*T + T*T + 72*C - 58*ep2)*(A*A*A*A*A)/120);
+    *Y = M + N * tan(lat1) * ((A*A)/2 +
+                              (5 - T + 9*C + 4*C*C)*(A*A*A*A)/24 +
+                              (61 - 58*T + T*T + 600*C - 330*ep2)*(A*A*A*A*A*A)/720);
+
+
+    *Y *= k0;
+    return;
+}
+//==========================================================
+
+
+
+
+
+//高斯投影由大地坐标(Unit:Metres)反算经纬度(Unit:DD)
+void GaussProjInvCal(double X, double Y, double *longitude, double *latitude)
+{
+    int ProjNo; int ZoneWide; ////带宽
+    double longitude1, latitude1, longitude0, latitude0, X0, Y0, xval, yval;
+    double e1, e2, f, a, ee, NN, T, C, M, D, R, u, fai, iPI;
+    iPI = 0.0174532925199433; ////3.1415926535898/180.0;
+    a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
+    ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
+    ZoneWide = 6; ////6度带宽
+    ProjNo = (int)(X / 1000000L); //查找带号
+    longitude0 = (ProjNo - 1) * ZoneWide + ZoneWide / 2;
+    longitude0 = longitude0 * iPI; //中央经线
+    X0 = ProjNo * 1000000L + 500000L;
+    Y0 = 0;
+    xval = X - X0; yval = Y - Y0; //带内大地坐标
+    e2 = 2 * f - f * f;
+    e1 = (1.0 - sqrt(1 - e2)) / (1.0 + sqrt(1 - e2));
+    ee = e2 / (1 - e2);
+    M = yval;
+    u = M / (a*(1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256));
+    fai = u + (3 * e1 / 2 - 27 * e1*e1*e1 / 32)*sin(2 * u) + (21 * e1*e1 / 16 - 55 * e1*e1*e1*e1 / 32)*sin(
+                4 * u)
+            + (151 * e1*e1*e1 / 96)*sin(6 * u) + (1097 * e1*e1*e1*e1 / 512)*sin(8 * u);
+    C = ee * cos(fai)*cos(fai);
+    T = tan(fai)*tan(fai);
+    NN = a / sqrt(1.0 - e2 * sin(fai)*sin(fai));
+    R = a * (1 - e2) / sqrt((1 - e2 * sin(fai)*sin(fai))*(1 - e2 * sin(fai)*sin(fai))*(1 - e2 * sin
+                                                                                       (fai)*sin(fai)));
+    D = xval / NN;
+    //计算经度(Longitude) 纬度(Latitude)
+    longitude1 = longitude0 + (D - (1 + 2 * T + C)*D*D*D / 6 + (5 - 2 * C + 28 * T - 3 * C*C + 8 * ee + 24 * T*T)*D
+                               *D*D*D*D / 120) / cos(fai);
+    latitude1 = fai - (NN*tan(fai) / R)*(D*D / 2 - (5 + 3 * T + 10 * C - 4 * C*C - 9 * ee)*D*D*D*D / 24
+                                         + (61 + 90 * T + 298 * C + 45 * T*T - 256 * ee - 3 * C*C)*D*D*D*D*D*D / 720);
+    //转换为度 DD
+    *longitude = longitude1 / iPI;
+    *latitude = latitude1 / iPI;
+}

src/decition/decition_brain/decision/gnss_coordinate_convert.h

@@ -0,0 +1,26 @@
+#pragma once
+#ifndef _IV_PERCEPTION_GNSS_CONVERT_
+#define _IV_PERCEPTION_GNSS_CONVERT_
+
+#include <math.h>
+//double nmeaConvert2Lat(string lat)
+//{
+//	Console.WriteLine(lat);
+//	double nmea_d = double.Parse(lat.Substring(0, 2));
+//	double nmea_m = double.Parse(lat.Substring(2, 6));
+//	return nmea_d + nmea_m / 60;
+//}
+//
+//double nmeaConvert2Lon(string lon)
+//{
+//	Console.WriteLine(lon);
+//	double nmea_d = double.Parse(lon.Substring(0, 3));
+//	double nmea_m = double.Parse(lon.Substring(3, 7));
+//	return nmea_d + nmea_m / 60;
+//}
+
+void gps2xy(double , double , double *, double *);
+void GaussProjCal(double longitude, double latitude, double *X, double *Y);
+void GaussProjInvCal(double X, double Y, double *longitude, double *latitude);
+
+#endif // !_IV_PERCEPTION_GNSS_CONVERT_

src/decition/decition_brain/decision/gnss_proj/gnss_proj.cpp

@@ -0,0 +1,179 @@
+#include <cmath>
+#include <stdio.h>
+#include "gnss_proj.h"
+
+namespace iv {
+namespace localization {
+
+// 椭球体半长轴
+const static double WGS84_a = 6378137.0;
+// 第一离心率平方
+const static double WGS84_e2 = 0.006694380022903;
+// 第二离心率平方
+const static double WGS84_ep2 = WGS84_e2 / (1 - WGS84_e2);
+// 第一离心率高次方
+const static double WGS84_e4 = WGS84_e2 * WGS84_e2;
+const static double WGS84_e6 = WGS84_e2 * WGS84_e4;
+// 将经线长度作为纬度的函数进行 Taylor 展开时前四项的系数
+const static double WGS84_a1 = 1 - WGS84_e2 / 4 - (3 * WGS84_e4) / 64 - (5 * WGS84_e6) / 256;
+const static double WGS84_a2 = (3 * WGS84_e2) / 8 + (3 * WGS84_e4) / 32 + (45 * WGS84_e6) / 1024;
+const static double WGS84_a3 = (15 * WGS84_e4) / 256 + (45 * WGS84_e6) / 1024;
+const static double WGS84_a4 = (35 * WGS84_e6) / 3072;
+// UTM 展平因子，距离中心线 220km 的两经线会被近似拉伸为平行线
+const static double UTM_k0 = 0.9996;
+
+inline double deg2rad(double x) { return x * 0.017453292519943295; }
+
+inline double rad2deg(double x) { return x * 57.29577951308232; }
+
+
+int getUTMZoneNumber(double latitude, double longitude)
+{
+    longitude = longitude - int((longitude + 180) / 360) * 360;
+    int zone_number = int((longitude + 180) / 6) + 1;
+    if (latitude >= 56 && latitude < 64 && longitude >= 3 && longitude < 12)
+    {
+        zone_number = 32;
+    }
+
+    if (latitude >= 72 && latitude < 84)
+    {
+        if      (longitude >= 0  && longitude <  9) zone_number = 31;
+        else if (longitude >= 9  && longitude < 21) zone_number = 33;
+        else if (longitude >= 21 && longitude < 33) zone_number = 35;
+        else if (longitude >= 21 && longitude < 42) zone_number = 37;
+    }
+    return zone_number;
+}
+
+
+char getUTMLetterDesignator(double latitude)
+{
+    char LetterDesignator;
+
+    if     ((84 >= latitude) && (latitude >= 72))  LetterDesignator = 'X';
+    else if ((72 > latitude) && (latitude >= 64))  LetterDesignator = 'W';
+    else if ((64 > latitude) && (latitude >= 56))  LetterDesignator = 'V';
+    else if ((56 > latitude) && (latitude >= 48))  LetterDesignator = 'U';
+    else if ((48 > latitude) && (latitude >= 40))  LetterDesignator = 'T';
+    else if ((40 > latitude) && (latitude >= 32))  LetterDesignator = 'S';
+    else if ((32 > latitude) && (latitude >= 24))  LetterDesignator = 'R';
+    else if ((24 > latitude) && (latitude >= 16))  LetterDesignator = 'Q';
+    else if ((16 > latitude) && (latitude >= 8))   LetterDesignator = 'P';
+    else if (( 8 > latitude) && (latitude >= 0))   LetterDesignator = 'N';
+    else if (( 0 > latitude) && (latitude >= -8))  LetterDesignator = 'M';
+    else if ((-8 > latitude) && (latitude >= -16)) LetterDesignator = 'L';
+    else if((-16 > latitude) && (latitude >= -24)) LetterDesignator = 'K';
+    else if((-24 > latitude) && (latitude >= -32)) LetterDesignator = 'J';
+    else if((-32 > latitude) && (latitude >= -40)) LetterDesignator = 'H';
+    else if((-40 > latitude) && (latitude >= -48)) LetterDesignator = 'G';
+    else if((-48 > latitude) && (latitude >= -56)) LetterDesignator = 'F';
+    else if((-56 > latitude) && (latitude >= -64)) LetterDesignator = 'E';
+    else if((-64 > latitude) && (latitude >= -72)) LetterDesignator = 'D';
+    else if((-72 > latitude) && (latitude >= -80)) LetterDesignator = 'C';
+    else LetterDesignator = 'Z';
+    return LetterDesignator;
+}
+
+
+void getUTMZone(double latitude, double longitude, char* UTMZone)
+{
+    int zone_number = getUTMZoneNumber(latitude, longitude);
+    char letter = getUTMLetterDesignator(latitude);
+    snprintf(UTMZone, 4, "%d%c", zone_number, letter);
+}
+
+
+void latlon2NE(double latitude, double longitude,
+               double &northing, double &easting)
+{
+    double lat_rad = deg2rad(latitude);
+    double lon_rad = deg2rad(longitude);
+
+    // 经线在输入点处的曲率半径
+    double N = WGS84_a / sqrt(1 - WGS84_e2 * sin(lat_rad) * sin(lat_rad));
+    // 赤道沿经线到输入点的长度，使用 Taylor 展开逼近计算
+    double M = WGS84_a * (
+        WGS84_a1 * lat_rad -
+        WGS84_a2 * sin(2 * lat_rad) +
+        WGS84_a3 * sin(4 * lat_rad) -
+        WGS84_a4 * sin(6 * lat_rad)
+    );
+
+    double lon_origin = (getUTMZoneNumber(latitude, longitude) - 1) * 6 - 180 + 3;
+    lon_origin = deg2rad(lon_origin);
+
+    double T = tan(lat_rad) * tan(lat_rad);
+    double C = WGS84_ep2 * cos(lat_rad) * cos(lat_rad);
+    double A = (lon_rad - lon_origin) * cos(lat_rad);
+    double A2 = A * A;
+    double A3 = A2 * A;
+    double A4 = A2 * A2;
+    double A5 = A4 * A;
+    double A6 = A4 * A2;
+
+    easting = 500000 + UTM_k0 * N * (
+        A + (1 - T + C) * A3 / 6 +
+        (5 - 18 * T + T * T + 72 * C - 58 * WGS84_ep2) * A5 / 120
+    );
+
+    northing = M + N * tan(lat_rad) * (
+        A2 / 2 + (5 - T + 9 * C + 4 * C *C) * A4 / 24 +
+        (61 - 58 * T + T * T + 600 * C - 330 * WGS84_ep2) * A6 / 720
+    );
+    northing *= UTM_k0;
+}
+
+
+void NE2latlon(double northing, double easting,
+               double &latitude, double &longitude,
+               int zone)
+{
+    double x = easting - 500000;
+    double y = northing;
+
+    const static double e1 = (1 - sqrt(1 - WGS84_e2)) / (1 + sqrt(1 - WGS84_e2));
+    const static double e2 = e1 * e1;
+    const static double e3 = e2 * e1;
+    const static double e4 = e3 * e1;
+
+    double lon_origin = (zone - 1) * 6 - 180 + 3;
+    double M = y / UTM_k0;
+    double mu = M / (
+        WGS84_a * (
+            1 - WGS84_e2 / 4 - (3 * WGS84_e4) / 64 - (5 * WGS84_e6) / 256
+        )
+    );
+    double phi1 = mu + (3 * e1 / 2 - 27 * e3 / 32) * sin(2 * mu) +
+        (21 * e2 / 16 - 55 * e4 / 32) * sin(4 * mu) +
+        (151 * e3 / 96) * sin(6 * mu);
+
+    double z = sqrt(1 - WGS84_e2 * sin(phi1) * sin(phi1));
+    double N1 = WGS84_a / z;
+    double T1 = tan(phi1) * tan(phi1);
+    double C1 = WGS84_ep2 * cos(phi1) * cos(phi1);
+    double R1 = WGS84_a * (1 - WGS84_e2) / (z * z * z);
+    double D = x / (N1 * UTM_k0);
+    double D2 = D * D;
+    double D3 = D2 * D;
+    double D4 = D2 * D2;
+    double D5 = D4 * D;
+    double D6 = D4 * D2;
+
+    latitude = phi1 - (N1 * tan(phi1) / R1) * (
+        D2 / 2 -
+        (5 + 3 * T1 + 10 * C1 - 4 * C1 * C1 - 9 * WGS84_ep2) * D4 / 24 +
+        (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * WGS84_ep2 - 3 * C1 * C1) * D6 / 720
+    );
+    latitude = rad2deg(latitude);
+
+    longitude = (
+        D - ( 1 + 2 * T1 * C1) * D3 / 6 +
+        (5 - 2 *C1 + 28 * T1 - 3 * C1 * C1 + 8 * WGS84_ep2 + 24 *T1 * T1) * D5 / 120
+    ) / cos(phi1);
+
+    longitude = rad2deg(longitude) + lon_origin;
+}
+
+}
+}

src/decition/decition_brain/decision/gnss_proj/gnss_proj.h

@@ -0,0 +1,48 @@
+/*
+ * --------------------------------------------
+ * 简易版本的 (纬度, 经度) 和 UTM (北, 东) 坐标系互转
+ * --------------------------------------------
+ *
+ * 在线验证地址 https://www.latlong.net/lat-long-utm.html
+ *
+ * 头文件提供 5 个函数的接口:
+ *
+ * 1. latlon2NE 用于将 (纬度，经度) 转换为 UTM 坐标系下 (北，东) 坐标。
+ * 2. NE2latlon 用于将 UTM 下 (北，东) 坐标转换为 (纬度，经度)。
+ * 3. getUTMZoneNumber 用于获得给定纬经度点所在的 UTM 时区编号，返回值为整数，
+ *    如天津地区返回 50。
+ * 4. getUTMLetterDesignator 用于获得给定纬经度点所在的 UTM 时区编码，
+ *    返回值为字符，如天津地区返回 'S'。
+ * 5. getUTMZone 是上面两个函数的组合，返回 UTM 坐标时区，返回值是字符串，
+ *    如天津地区返回 '50S'。
+ *
+ * 转换公式参考:
+ *
+ * 1. 大地测量学基础. 孔祥元. 武汉大学出版社.
+ * 2. Conformal Map Projections in Geodesy. Krakiwsky. E.J.
+*/
+
+#ifndef GNSS_COORDINATE_CONVERSION_H
+#define GNSS_COORDINATE_CONVERSION_H
+
+#pragma once
+
+namespace iv {
+namespace localization {
+
+int getUTMZoneNumber(double latitude, double longitude);
+
+char getUTMLetterDesignator(double latitude);
+
+void getUTMZone(double latitude, double longitude, char* UTMZone);
+
+void latlon2NE(double latitude, double longitude,
+               double& northing, double& easting);
+
+void NE2latlon(double northing, double easting,
+               double& latitude, double& longitude,
+               int zone = 50);
+
+}
+}
+#endif // GNSS_COORDINATE_CONVERSION_H

src/decition/decition_brain/decision/gnss_proj/gnss_proj.pri

@@ -0,0 +1,5 @@
+HEADERS += \
+    $$PWD/gnss_proj.h
+
+SOURCES += \
+    $$PWD/gnss_proj.cpp

src/decition/decition_brain/decision/gps_distance.cpp

@@ -0,0 +1,45 @@
+#include <decition/gps_distance.h>
+#include <math.h>
+#define M_PI (3.1415926535897932384626433832795)
+
+// 计算弧度
+double iv::decition::rad(double d)
+{
+    const double PI = 3.1415926535898;
+    return d * PI / 180.0;
+}
+
+// 从两个gps坐标点（经纬度）获得两点的直线距离，单位是米
+double iv::decition::CalcDistance(double fLati1, double fLong1, double fLati2, double fLong2)
+{
+    const float EARTH_RADIUS = 6378.137;
+    double radLat1 = rad(fLati1);
+    double radLat2 = rad(fLati2);
+    double a = radLat1 - radLat2;
+
+    double b = rad(fLong1) - rad(fLong2);
+    double s = 2 * asin(sqrt(pow(sin(a / 2), 2) + cos(radLat1)*cos(radLat2)*pow(sin(b / 2), 2)));
+    s = s * EARTH_RADIUS;
+    //	s = (int)(s * 10000000) / 10000;
+    return s;
+}
+
+
+// 从直角坐标两点的直线距离，单位是米
+double iv::decition::DirectDistance(double x1, double y1, double x2, double y2)
+{
+    double s = sqrt(pow((x1-x2), 2) +pow((y1-y2), 2));
+    return s;
+}
+
+
+// 从直角坐标计算两点的夹角
+double iv::decition::DirectAngle(double x1, double y1, double x2, double y2)
+{
+    double angle = atan((y2 - y1) / (x2 - x1)) * 180 / M_PI;
+    return angle;
+}
+
+
+
+

src/decition/decition_brain/decision/gps_distance.h

@@ -0,0 +1,26 @@
+#pragma once
+#ifndef _IV_DECITION_GPS_DISTANCE_
+#define _IV_DECITION_GPS_DISTANCE_
+
+namespace iv {
+	namespace decition {
+        // 计算弧度
+		double rad(double d);
+
+		// 从两个gps坐标点（经纬度）获得两点的直线距离，单位是米
+		double CalcDistance(double , double , double , double );
+
+		//计算直角坐标距离
+		double DirectDistance(double, double, double, double);
+
+		//计算直角坐标角度
+		double DirectAngle(double, double, double, double);
+
+
+	}
+}
+
+
+
+
+#endif // !_IV_DECITION_GPS_DISTANCE_

src/decition/decition_brain/decision/obs_mobieye.cpp

@@ -0,0 +1,388 @@
+#include "obs_mobieye.h"
+
+#include <math.h>
+
+#include "ivlog.h"
+
+extern iv::Ivlog * givlog;
+
+obs_mobieye * gom;
+
+static void ListenMobieye(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    (void)&index;
+    (void)dt;
+    (void)strmemname;
+    iv::mobileye::mobileye xmobieye;
+    if(xmobieye.ParseFromArray(strdata,nSize))
+    {
+        gom->UpdateMobieyeObs(xmobieye);
+    }
+}
+
+obs_mobieye::obs_mobieye()
+{
+    gom = this;
+    mpa = iv::modulecomm::RegisterRecv("mobileye",ListenMobieye);
+    mfangajust = 0.05;
+}
+
+obs_mobieye & obs_mobieye::GetInst()
+{
+    static obs_mobieye x;
+    return x;
+}
+
+void obs_mobieye::UpdateMobieyeObs(iv::mobileye::mobileye &pmobieye)
+{
+    mMutex.lock();
+    mmobieye.CopyFrom(pmobieye);
+    mnUpdateTime = QDateTime::currentMSecsSinceEpoch();
+    mMutex.unlock();
+}
+
+void obs_mobieye::InterpolationTrace(std::vector<iv::Point2D> *pgpsTrace, std::vector<iv::Point2D> &xgpstrace)
+{
+    xgpstrace = *pgpsTrace;
+    unsigned int k;
+    for(k=0;k<(xgpstrace.size()-1);k++)
+    {
+        double fdis;
+        fdis = sqrt(pow(xgpstrace[k].x - xgpstrace[k+1].x,2)
+                    +pow(xgpstrace[k].y - xgpstrace[k+1].y,2));
+        if(fdis > 0.16)
+        {
+            qDebug("fdis %f is big, insert a point2d ",fdis);
+            iv::Point2D xpoint;
+            xpoint.x = (xgpstrace[k].x + xgpstrace[k+1].x)/2.0;
+            xpoint.y = (xgpstrace[k].y + xgpstrace[k+1].y)/2.0;
+
+            xgpstrace.insert((xgpstrace.begin() +k+1),xpoint);
+            if(k>0)k = k-1;
+        }
+    }
+}
+
+int obs_mobieye::GetCandidataObs(std::vector<iv::Point2D> &xgpstrace, iv::mobileye::mobileye &xmobieye,
+                                 const double fveh_width,std::vector<iv::mobieyeobstotrace>  & xvectoroptobs)
+{
+    unsigned int i;
+    unsigned int nobjsize = xmobieye.xobj_size();
+
+    givlog->debug("MOBS","obs size is %d",nobjsize);
+
+    for(i=0;i<nobjsize;i++)
+    {
+        iv::mobileye::obs * pobs = xmobieye.mutable_xobj(i);
+
+        double fobs_x = pobs->pos_y()*(-1);
+        double fobs_y = pobs->pos_x();
+        ajustobspos(fobs_x,fobs_y,mfangajust);
+
+        givlog->debug("MOBS","obs pos X:%f y:%f",fobs_x,fobs_y);
+
+        unsigned int j;
+        unsigned int ntracecount = xgpstrace.size();
+        double fdismin = 1000.0;
+        int index = -1;
+        for(j=0;j<ntracecount;j++)
+        {
+            if(fabs(fobs_x - xgpstrace[j].x) > 10.0)
+            {
+                continue;
+            }
+            if(fabs(fobs_y - xgpstrace[j].y) > 10.0)
+            {
+                continue;
+            }
+            double fdis = sqrt(pow(xgpstrace[j].x - fobs_x,2)
+                               +pow(xgpstrace[j].y - fobs_y,2));
+            if(fdis<fdismin)
+            {
+                fdismin = fdis;
+                index = j;
+            }
+
+        }
+
+        if(fdismin < (fveh_width + pobs->obswidth()/2.0))
+        {
+            iv::mobieyeobstotrace xmt;
+            xmt.obsindex = i;
+            xmt.traceindex = index;
+            xmt.fdis = fdismin;
+            xvectoroptobs.push_back(xmt);
+        }
+    }
+
+}
+
+
+void obs_mobieye::ajustobspos(double &fobs_x, double fobs_y, double fang)
+{
+    double xtem = fobs_x;
+    double ytem = fobs_y;
+    fobs_x = xtem *cos(fang) - ytem*sin(fang);
+    fobs_y = xtem *sin(fang) + ytem*cos(fang);
+
+}
+
+
+bool obs_mobieye::PointInObs(iv::mobileye::obs *pobs, iv::Point2D xpoint)
+{
+    double x,y;
+    x = xpoint.x;
+    y = xpoint.y;
+    double rel_x,rel_y;
+
+    double fobs_x = pobs->pos_y()*(-1);
+    double fobs_y = pobs->pos_x();
+    ajustobspos(fobs_x,fobs_y,mfangajust);
+
+    rel_x = x - fobs_x;
+    rel_y = y - fobs_y;
+    double beta = pobs->obsang() *M_PI/180.0;
+    double xrot,yrot;
+    xrot = rel_x *cos(beta) - rel_y*sin(beta);
+    yrot = rel_x *sin(beta) + rel_y*cos(beta);
+
+    if(fabs(xrot)<=(0.2 + pobs->obswidth()/2.0))
+    {
+
+        return true;
+    }
+
+//    if(fabs(yrot)<=(pobs->obslen()/2.0))
+//    {
+//        return true;
+//    }
+
+    return false;
+}
+
+void obs_mobieye::GetVehiclePoint(std::vector<iv::Point2D> &xgpstrace, int index,
+                                  std::vector<iv::Point2D> &xvectorPoint, const double fveh_width)
+{
+    if(index<0)return;
+    if(index>=xgpstrace.size())
+    {
+        return;
+    }
+
+    double hdg = 0;
+    if(index<(xgpstrace.size()-1))
+    {
+        hdg = CalcHdg(QPointF(xgpstrace[index].x,xgpstrace[index].y),
+                      QPointF(xgpstrace[index+1].x,xgpstrace[index+1].y));
+    }
+    else
+    {
+        hdg = CalcHdg(QPointF(xgpstrace[index-1].x,xgpstrace[index-1].y),
+                      QPointF(xgpstrace[index].x,xgpstrace[index].y));
+    }
+
+    hdg = hdg - M_PI/2.0;
+
+
+    const double fdiv = 0.1;
+    int ncount = fveh_width/fdiv;
+    int i;
+    double x0,y0;
+    x0 = xgpstrace[index].x;
+    y0 = xgpstrace[index].y;
+    for(i=0;i<ncount;i++)
+    {
+        double xtem,ytem;
+        double xp,yp;
+        xtem = (i-ncount/2) * fdiv;
+        ytem = 0;
+        xp = xtem*cos(hdg) - ytem*sin(hdg) + x0;
+        yp = xtem*sin(hdg) + ytem*cos(hdg) + y0;
+        iv::Point2D pointx;
+        pointx.x = xp;
+        pointx.y = yp;
+        xvectorPoint.push_back(pointx);
+    }
+}
+
+double obs_mobieye::CalcHdg(QPointF p0, QPointF p1)
+{
+    double x0,y0,x1,y1;
+    x0 = p0.x();
+    y0 = p0.y();
+    x1 = p1.x();
+    y1 = p1.y();
+    if(x0 == x1)
+    {
+        if(y0 < y1)
+        {
+            return M_PI/2.0;
+        }
+        else
+            return M_PI*3.0/2.0;
+    }
+
+    double ratio = (y1-y0)/(x1-x0);
+
+    double hdg = atan(ratio);
+
+    if(ratio > 0)
+    {
+        if(y1 > y0)
+        {
+
+        }
+        else
+        {
+            hdg = hdg + M_PI;
+        }
+    }
+    else
+    {
+        if(y1 > y0)
+        {
+            hdg = hdg + M_PI;
+        }
+        else
+        {
+            hdg = hdg + 2.0*M_PI;
+        }
+    }
+
+    return hdg;
+}
+
+double obs_mobieye::GetTraceDis(std::vector<iv::Point2D> &xgpstrace, int index)
+{
+    double fdis = 0;
+    int i;
+    for(i=1;i<=index;i++)
+    {
+        fdis = fdis + sqrt(pow(xgpstrace[i-1].x-xgpstrace[i].x,2)
+                    +pow(xgpstrace[i-1].y - xgpstrace[i].y,2));
+    }
+    return fdis;
+}
+
+int obs_mobieye::GetObs(std::vector<iv::Point2D> &xgpstrace, iv::mobileye::mobileye &xmobieye,
+                        const double fveh_width, std::vector<iv::mobieyeobstotrace> &xvectoroptobs,
+                        double &xobsdis, double &xobsspeed, double &xttc, double &xobsid)
+{
+//    std::vector<QPointF> xPointTrace;
+//    std::vector<QPointF> xPointObs;
+    unsigned int i;
+
+
+    std::vector<iv::candidateobs> xvectorcand;
+    for(i=0;i<xvectoroptobs.size();i++)
+    {
+        std::vector<iv::Point2D> xvectorPoint;
+        xvectorPoint.clear();
+        GetVehiclePoint(xgpstrace,xvectoroptobs[i].traceindex,xvectorPoint,fveh_width);
+        bool bInObs = false;
+        unsigned int j;
+        iv::mobileye::obs * pobs = xmobieye.mutable_xobj(xvectoroptobs[i].obsindex);
+//        if(xvectoroptobs[i].fdis < fveh_width/2.0)
+//        {
+//            bInObs = true;
+//        }
+        for(j=0;j<xvectorPoint.size();j++)
+        {
+            if(PointInObs(pobs,xvectorPoint[j]))
+            {
+                bInObs = true;
+                break;
+            }
+        }
+        if(bInObs)
+        {
+//             givlog->debug("MOBS","have obs");
+            iv::candidateobs x;
+            x.xobsdis = GetTraceDis(xgpstrace,xvectoroptobs[i].traceindex);
+            x.xttc = 15;
+            if((x.xobsdis>0)&&(pobs->obs_rel_vel_x()!= 0 ))x.xttc = x.xobsdis/pobs->obs_rel_vel_x();
+            x.xobsspeed = pobs->obs_rel_vel_x();
+            x.xobsid = pobs->id();
+            xvectorcand.push_back(x);
+        }
+    }
+
+    for(i=0;i<xvectorcand.size();i++)
+    {
+        if((xvectorcand[i].xttc>0)&&(xvectorcand[i].xttc<= 15))
+        {
+            if((xttc>15)||(xttc<0))
+            {
+                xttc = xvectorcand[i].xttc;
+                xobsspeed = xvectorcand[i].xobsspeed;
+                xobsdis = xvectorcand[i].xobsdis;
+                xobsid = xvectorcand[i].xobsid;
+            }
+            else
+            {
+                if(xttc>xvectorcand[i].xttc)
+                {
+                    xttc = xvectorcand[i].xttc;
+                    xobsspeed = xvectorcand[i].xobsspeed;
+                    xobsdis = xvectorcand[i].xobsdis;
+                    xobsid = xvectorcand[i].xobsid;
+                }
+            }
+        }
+        else
+        {
+            if((xttc>15)||(xttc<0))
+            {
+                xttc = xvectorcand[i].xttc;
+                xobsspeed = xvectorcand[i].xobsspeed;
+                xobsdis = xvectorcand[i].xobsdis;
+                xobsid = xvectorcand[i].xobsid;
+            }
+        }
+
+    }
+
+
+
+    return 0;
+}
+
+int obs_mobieye::GetObsFromMobieye(std::vector<iv::Point2D> *pgpsTrace,
+                                   double &xobsdis, double &xobsspeed, double &xttc, double &xobsid,const double fveh_width)
+{
+    xobsdis = 500;
+    xobsspeed = 0;
+    xttc = -1;
+    xobsid = -1;
+    if(pgpsTrace->size()<1)return -1;
+    iv::mobileye::mobileye xmobieye;
+    if((QDateTime::currentMSecsSinceEpoch() - mnUpdateTime) > 3000)
+    {
+        qDebug("more than 3 secons no mobieye data.");
+        return -2;
+    }
+
+    mMutex.lock();
+    xmobieye.CopyFrom(mmobieye);
+    mMutex.unlock();
+
+
+    std::vector<iv::Point2D> xgpstrace;
+
+    InterpolationTrace(pgpsTrace,xgpstrace);
+
+
+    std::vector<iv::mobieyeobstotrace> xvectoroptobs;
+
+    GetCandidataObs(xgpstrace,xmobieye,fveh_width,xvectoroptobs);
+
+    if(xvectoroptobs.size() < 1)
+    {
+        return 0;
+    }
+
+    GetObs(xgpstrace,xmobieye,fveh_width,xvectoroptobs,xobsdis,xobsspeed,xttc,xobsid);
+
+    return 0;
+
+}

src/decition/decition_brain/decision/obs_mobieye.h

@@ -0,0 +1,84 @@
+#ifndef OBS_MOBIEYE_H
+#define OBS_MOBIEYE_H
+
+#include <QMutex>
+#include <QPointF>
+
+#include "mobileye.pb.h"
+
+#include "modulecomm.h"
+
+#include <common/gps_type.h>
+
+
+namespace  iv {
+struct  mobieyeobstotrace
+{
+public:
+    int traceindex;
+    int obsindex;
+    double fdis;
+};
+
+}
+
+namespace iv {
+struct candidateobs
+{
+    double xobsdis;
+    double xobsspeed;
+    double xttc;
+    double xobsid;
+};
+
+}
+
+class obs_mobieye
+{
+public:
+    obs_mobieye();
+
+private:
+    void * mpa;
+
+    iv::mobileye::mobileye mmobieye;
+    qint64 mnUpdateTime;
+    QMutex mMutex;
+
+public:
+    void UpdateMobieyeObs(iv::mobileye::mobileye & pmobieye);
+    static obs_mobieye & GetInst();
+public:
+    int GetObsFromMobieye(std::vector<iv::Point2D> * pgpsTrace,double & xobsdis, double & xobsspeed, double & xttc,
+                          double & xobsid,const double fveh_width);
+
+
+public:
+    static double CalcHdg(QPointF p0, QPointF p1);
+
+private:
+    void InterpolationTrace(std::vector<iv::Point2D> * pgpsTrace,std::vector<iv::Point2D> & xgpstrace);
+    int GetCandidataObs(std::vector<iv::Point2D> & xgpstrace,iv::mobileye::mobileye & xmobieye,
+                        const double fveh_width,std::vector<iv::mobieyeobstotrace>  & xvectoroptobs);
+
+    int GetObs(std::vector<iv::Point2D> & xgpstrace,iv::mobileye::mobileye & xmobieye,
+               const double fveh_width,std::vector<iv::mobieyeobstotrace>  & xvectoroptobs,
+               double & xobsdis, double & xobsspeed, double & xttc,
+                                         double & xobsid);
+
+    bool PointInObs(iv::mobileye::obs * pobs, iv::Point2D xpoint);
+
+    void GetVehiclePoint(std::vector<iv::Point2D> & xgpstrace,int index,std::vector<iv::Point2D> & xvectorPoint,
+                         const double fveh_width);
+
+    double GetTraceDis(std::vector<iv::Point2D> & xgpstrace,int index);
+
+    double mfangajust = 0.0;
+
+    void ajustobspos(double & fobs_x,double fobs_y,double fang);
+
+};
+
+#define MobieyeInst obs_mobieye::GetInst()
+
+#endif // OBS_MOBIEYE_H

src/decition/decition_brain/decision/obs_predict.cpp

@@ -0,0 +1,118 @@
+#include <decision/obs_predict.h>
+#include <decision/decition_type.h>
+#include <common/gps_type.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+#include <decision/adc_tools/transfer.h>
+#include "perception/perceptionoutput.h"
+#include<common/constants.h>
+
+using namespace std;
+#define PI (3.1415926535897932384626433832795)
+
+
+double iv::decition::PredictObsDistance( double realSpeed,std::vector<Point2D>  gpsTrace,std::vector<iv::Perception::PerceptionOutput> lidar_per){
+
+    double crashDistance=200;
+    for(int i=0;i<lidar_per.size();i++){
+        if(lidar_per[i].life>300 && (lidar_per[i].velocity.x!=0 || lidar_per[i].velocity.y!=0)){
+            if(lidar_per[i].location.y>20 && lidar_per[i].velocity.y>0){
+
+            }
+            else if(lidar_per[i].location.y<0 && lidar_per[i].velocity.y<0){
+
+            }
+            else if(lidar_per[i].location.x>20 && lidar_per[i].velocity.x>0){
+
+            }else if(lidar_per[i].location.x<-20 && lidar_per[i].velocity.x<0){
+
+            }else{
+
+                double    crashDis = getCrashDis(realSpeed,gpsTrace,lidar_per[i]);
+
+                crashDistance=min(crashDis,crashDistance);
+            }
+
+
+        }
+
+    }
+
+
+
+
+
+    return crashDistance;
+
+
+}
+
+double iv::decition::getCrashDis(double realSpeed,std::vector<Point2D>  gpsTrace,iv::Perception::PerceptionOutput obs){
+    double dis=0;
+    int length=min(300,(int)gpsTrace.size());
+    int step=10;
+    int size =length/step;
+    for(int i=1; i<size;i++){
+        double time =  getTime( realSpeed,  gpsTrace, i*step,&dis);
+        double obsX= obs.location.x+obs.velocity.x*time;
+        double obsY= obs.location.y+obs.velocity.y*time;
+        Point2D obsP(obsX,obsY);
+        double obsDis= GetDistance(obsP,gpsTrace[i*10]);
+        if(obsDis<0.7*(ServiceCarStatus.msysparam.vehWidth+obs.size.x) ){
+            return dis;
+        }
+
+    }
+
+    return 200;
+
+}
+
+
+
+int iv::decition::getFrameCount(double realSpeed,std::vector<Point2D>  gpsTrace){
+    double lenth=0;
+    for(int i =0 ; i<gpsTrace.size()-1;i++){
+        lenth +=GetDistance(gpsTrace[i],gpsTrace[i+1]);
+    }
+
+    int frame= lenth/realSpeed;
+    frame = min(frame,50);
+
+    return frame;
+}
+
+int  iv::decition::getPoiIndex(double realSpeed,std::vector<Point2D>  gpsTrace,int frame){
+
+
+
+    double d =realSpeed*0.1*frame;
+    int index=0;
+
+    for(int j=0;j<gpsTrace.size()-1;j++){
+        double dis;
+        dis+=GetDistance(gpsTrace[j],gpsTrace[j+1]);
+        if(dis>d){
+            index=j;
+            break;
+        }
+        index=j;
+    }
+
+    return index;
+}
+
+double iv::decition::getTime(double realSpeed,std::vector<Point2D>  gpsTrace,int frame ,double *dis){
+    int size=gpsTrace.size()-1;
+    int f=min(frame,size);
+
+    for(int i=0;i<=f;i++){
+
+        *dis+=GetDistance(gpsTrace[0],gpsTrace[f]);
+
+    }
+    double time = *dis/realSpeed;
+    return time;
+
+}

src/decition/decition_brain/decision/obs_predict.h

@@ -0,0 +1,22 @@
+#ifndef OBS_PREDICT_H
+#define OBS_PREDICT_H
+
+#include <common/gps_type.h>
+#include <common/obstacle_type.h>
+#include <decision/decition_type.h>
+#include <vector>
+#include <decision/decide_gps_00.h>
+#include "perception/perceptionoutput.h"
+
+namespace iv {
+    namespace decition {
+    //根据传感器传输来的信息作出决策
+    double PredictObsDistance(double realSpeed,std::vector<Point2D>  gpsTrace,std::vector<iv::Perception::PerceptionOutput> lidar_per);
+    double getCrashDis(double realSpeed,std::vector<Point2D>  gpsTrace,iv::Perception::PerceptionOutput obs);
+    int getFrameCount(double realSpeed,std::vector<Point2D>  gpsTrace);
+    int getPoiIndex(double realSpeed,std::vector<Point2D>  gpsTrace , int frame);
+    double getTime(double realSpeed,std::vector<Point2D>  gpsTrace , int frame ,double *dis );
+    }
+}
+
+#endif // OBS_PREDICT_H

src/decition/decition_brain/decision/tinyspline/tinyspline.c

@@ -0,0 +1,1400 @@
+#include <tinyspline_ros/tinyspline.h>
+
+#include <stdlib.h> /* malloc, free */
+#include <math.h> /* fabs, sqrt */
+#include <string.h> /* memcpy, memmove, strcmp */
+#include <setjmp.h> /* setjmp, longjmp */
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Error handling                                                           *
+*                                                                             *
+******************************************************************************/
+#define TRY(x, y) y = (tsError) setjmp(x); if (y == 0) {
+#define CATCH } else {
+#define ETRY }
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Data Types                                                               *
+*                                                                             *
+******************************************************************************/
+/**
+ * Stores the private data of a ::tsBSpline.
+ */
+struct tsBSplineImpl
+{
+	size_t deg; /**< Degree of B-Spline basis function. */
+	size_t dim; /**< Dimension of control points (2D => x, y) */
+	size_t n_ctrlp; /**< Number of control points. */
+	size_t n_knots; /**< Number of knots (n_ctrlp + deg + 1). */
+};
+
+/**
+ * Stores the private data of a ::tsDeBoorNet.
+ */
+struct tsDeBoorNetImpl
+{
+	tsReal u; /**< The evaluated knot value. */
+	size_t k; /**< The index [u_k, u_k+1) */
+	size_t s; /**< Multiplicity of u_k. */
+	size_t h; /**< Number of insertions required to obtain result. */
+	size_t dim; /**< Dimension of points. (2D => x, y) */
+	size_t n_points; /** Number of points in 'points'. */
+};
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Forward Declarations & Internal Utility Functions                        *
+*                                                                             *
+******************************************************************************/
+void ts_internal_bspline_fill_knots(const tsBSpline *spline,
+	tsBSplineType type, tsReal min, tsReal max, tsBSpline *_result_,
+	jmp_buf buf);
+
+size_t ts_internal_bspline_sof_state(const tsBSpline *spline)
+{
+	return sizeof(struct tsBSplineImpl) +
+	       ts_bspline_sof_control_points(spline) +
+	       ts_bspline_sof_knots(spline);
+}
+
+tsReal * ts_internal_bspline_access_ctrlp(const tsBSpline *spline)
+{
+	return (tsReal *) (& spline->pImpl[1]);
+}
+
+tsReal * ts_internal_bspline_access_knots(const tsBSpline *spline)
+{
+	return ts_internal_bspline_access_ctrlp(spline)
+		+ ts_bspline_len_control_points(spline);
+}
+
+size_t ts_internal_deboornet_sof_state(const tsDeBoorNet *net)
+{
+	return sizeof(struct tsDeBoorNetImpl) +
+	       ts_deboornet_sof_points(net) +
+	       ts_deboornet_sof_result(net);
+}
+
+tsReal * ts_internal_deboornet_access_points(const tsDeBoorNet *net)
+{
+	return (tsReal *) (& net->pImpl[1]);
+}
+
+tsReal * ts_internal_deboornet_access_result(const tsDeBoorNet *net)
+{
+	if (ts_deboornet_num_result(net) == 2) {
+		return ts_internal_deboornet_access_points(net);
+	} else {
+		return ts_internal_deboornet_access_points(net) +
+			/* Last point in `points`. */
+		       (ts_deboornet_len_points(net) -
+			ts_deboornet_dimension(net));
+	}
+}
+
+void ts_internal_bspline_find_u(const tsBSpline *spline, tsReal u, size_t *k,
+	size_t *s, jmp_buf buf)
+{
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t order = ts_bspline_order(spline);
+	const size_t num_knots = ts_bspline_num_knots(spline);
+	const tsReal *knots = ts_internal_bspline_access_knots(spline);
+
+	*k = *s = 0;
+	for (; *k < num_knots; (*k)++) {
+		const tsReal uk = knots[*k];
+		if (ts_fequals(u, uk)) {
+			(*s)++;
+		} else if (u < uk) {
+			break;
+		}
+	}
+
+	/* keep in mind that currently k is k+1 */
+	if (*s > order)
+		longjmp(buf, TS_MULTIPLICITY);
+	if (*k <= deg)                /* u < u_min */
+		longjmp(buf, TS_U_UNDEFINED);
+	if (*k == num_knots && *s == 0) /* u > u_last */
+		longjmp(buf, TS_U_UNDEFINED);
+	if (*k > num_knots-deg + *s-1)  /* u > u_max */
+		longjmp(buf, TS_U_UNDEFINED);
+
+	(*k)--; /* k+1 - 1 will never underflow */
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Field Access Functions                                                   *
+*                                                                             *
+******************************************************************************/
+size_t ts_bspline_degree(const tsBSpline *spline)
+{
+	return spline->pImpl->deg;
+}
+
+tsError ts_bspline_set_degree(tsBSpline *spline, size_t deg)
+{
+	if (deg >= ts_bspline_num_control_points(spline))
+		return TS_DEG_GE_NCTRLP;
+	spline->pImpl->deg = deg;
+	return TS_SUCCESS;
+}
+
+size_t ts_bspline_order(const tsBSpline *spline)
+{
+	return ts_bspline_degree(spline) + 1;
+}
+
+tsError ts_bspline_set_order(tsBSpline *spline, size_t order)
+{
+	return ts_bspline_set_degree(spline, order - 1);
+}
+
+size_t ts_bspline_dimension(const tsBSpline *spline)
+{
+	return spline->pImpl->dim;
+}
+
+tsError ts_bspline_set_dimension(tsBSpline *spline, size_t dim)
+{
+	if (dim == 0)
+		return TS_DIM_ZERO;
+	if (ts_bspline_len_control_points(spline) % dim != 0)
+		return TS_LCTRLP_DIM_MISMATCH;
+	spline->pImpl->dim = dim;
+	return TS_SUCCESS;
+}
+
+size_t ts_bspline_len_control_points(const tsBSpline *spline)
+{
+	return ts_bspline_num_control_points(spline) *
+	       ts_bspline_dimension(spline);
+}
+
+size_t ts_bspline_num_control_points(const tsBSpline *spline)
+{
+	return spline->pImpl->n_ctrlp;
+}
+
+size_t ts_bspline_sof_control_points(const tsBSpline *spline)
+{
+	return ts_bspline_len_control_points(spline) * sizeof(tsReal);
+}
+
+tsError ts_bspline_control_points(const tsBSpline *spline, tsReal **ctrlp)
+{
+	const size_t size = ts_bspline_sof_control_points(spline);
+	*ctrlp = malloc(size);
+	if (!*ctrlp) {
+		return TS_MALLOC;
+	} else {
+		memcpy(*ctrlp,
+		       ts_internal_bspline_access_ctrlp(spline),
+		       size);
+		return TS_SUCCESS;
+	}
+}
+
+tsError ts_bspline_set_control_points(tsBSpline *spline, const tsReal *ctrlp)
+{
+	const size_t size = ts_bspline_sof_control_points(spline);
+	memcpy(ts_internal_bspline_access_ctrlp(spline), ctrlp, size);
+	return TS_SUCCESS;
+}
+
+size_t ts_bspline_num_knots(const tsBSpline *spline)
+{
+	return spline->pImpl->n_knots;
+}
+
+size_t ts_bspline_sof_knots(const tsBSpline *spline)
+{
+	return ts_bspline_num_knots(spline) * sizeof(tsReal);
+}
+
+tsError ts_bspline_knots(const tsBSpline *spline, tsReal **knots)
+{
+	const size_t size = ts_bspline_sof_knots(spline);
+	*knots = malloc(size);
+	if (!*knots) {
+		return TS_MALLOC;
+	} else {
+		memcpy(*knots,
+		       ts_internal_bspline_access_knots(spline),
+		       size);
+		return TS_SUCCESS;
+	}
+}
+
+tsError ts_bspline_set_knots(tsBSpline *spline, const tsReal *knots)
+{
+	size_t order, size, idx, mult;
+	tsReal lst_knot, knot;
+	order = ts_bspline_order(spline);
+	lst_knot = ts_internal_bspline_access_knots(spline)[0];
+	mult = 1;
+	for (idx = 1; idx < ts_bspline_num_knots(spline); idx++)
+	{
+		knot = knots[idx];
+		if (ts_fequals(lst_knot, knot))
+			mult++;
+		else if (lst_knot > knot)
+			return TS_KNOTS_DECR;
+		else
+			mult = 0;
+		if (mult > order)
+			return TS_MULTIPLICITY;
+		lst_knot = knot;
+	}
+	size = ts_bspline_sof_knots(spline);
+	memcpy(ts_internal_bspline_access_knots(spline), knots, size);
+	return TS_SUCCESS;
+}
+
+/* ------------------------------------------------------------------------- */
+
+tsReal ts_deboornet_knot(const tsDeBoorNet *net)
+{
+	return net->pImpl->u;
+}
+
+size_t ts_deboornet_index(const tsDeBoorNet *net)
+{
+	return net->pImpl->k;
+}
+
+size_t ts_deboornet_multiplicity(const tsDeBoorNet *net)
+{
+	return net->pImpl->s;
+}
+
+size_t ts_deboornet_num_insertions(const tsDeBoorNet *net)
+{
+	return net->pImpl->h;
+}
+
+size_t ts_deboornet_dimension(const tsDeBoorNet *net)
+{
+	return net->pImpl->dim;
+}
+
+size_t ts_deboornet_len_points(const tsDeBoorNet *net)
+{
+	return ts_deboornet_num_points(net) * ts_deboornet_dimension(net);
+}
+
+size_t ts_deboornet_num_points(const tsDeBoorNet *net)
+{
+	return net->pImpl->n_points;
+}
+
+size_t ts_deboornet_sof_points(const tsDeBoorNet *net)
+{
+	return ts_deboornet_len_points(net) * sizeof(tsReal);
+}
+
+tsError ts_deboornet_points(const tsDeBoorNet *net, tsReal **points)
+{
+	const size_t size = ts_deboornet_sof_points(net);
+	*points = malloc(size);
+	if (!*points) {
+		return TS_MALLOC;
+	} else {
+		memcpy(*points,
+		       ts_internal_deboornet_access_points(net),
+		       size);
+		return TS_SUCCESS;
+	}
+}
+
+size_t ts_deboornet_len_result(const tsDeBoorNet *net)
+{
+	return ts_deboornet_num_result(net) * ts_deboornet_dimension(net);
+}
+
+size_t ts_deboornet_num_result(const tsDeBoorNet *net)
+{
+	return ts_deboornet_num_points(net) == 2 ? 2 : 1;
+}
+
+size_t ts_deboornet_sof_result(const tsDeBoorNet *net)
+{
+	return ts_deboornet_len_result(net) * sizeof(tsReal);
+}
+
+tsError ts_deboornet_result(const tsDeBoorNet *net, tsReal **result)
+{
+	const size_t size = ts_deboornet_sof_result(net);
+	*result = malloc(size);
+	if (!*result) {
+		return TS_MALLOC;
+	} else {
+		memcpy(*result,
+		       ts_internal_deboornet_access_result(net),
+		       size);
+		return TS_SUCCESS;
+	}
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Constructors, Destructors, Copy, and Move Functions                      *
+*                                                                             *
+******************************************************************************/
+void ts_bspline_default(tsBSpline *_spline_)
+{
+	_spline_->pImpl = NULL;
+}
+
+void ts_internal_bspline_new(size_t n_ctrlp, size_t dim, size_t deg,
+	tsBSplineType type, tsBSpline *_spline_, jmp_buf buf)
+{
+	const size_t order = deg + 1;
+	const size_t num_knots = n_ctrlp + order;
+	const size_t len_ctrlp = n_ctrlp * dim;
+
+	const size_t sof_real = sizeof(tsReal);
+	const size_t sof_impl = sizeof(struct tsBSplineImpl);
+	const size_t sof_ctrlp_vec = len_ctrlp * sof_real;
+	const size_t sof_knots_vec = num_knots * sof_real;
+	const size_t sof_spline = sof_impl + sof_ctrlp_vec + sof_knots_vec;
+
+	tsError e;
+	jmp_buf b;
+
+	if (dim < 1)
+		longjmp(buf, TS_DIM_ZERO);
+	if (deg >= n_ctrlp)
+		longjmp(buf, TS_DEG_GE_NCTRLP);
+
+	_spline_->pImpl = (struct tsBSplineImpl *) malloc(sof_spline);
+	if (!_spline_->pImpl)
+		longjmp(buf, TS_MALLOC);
+
+	_spline_->pImpl->deg = deg;
+	_spline_->pImpl->dim = dim;
+	_spline_->pImpl->n_ctrlp = n_ctrlp;
+	_spline_->pImpl->n_knots = num_knots;
+
+	TRY(b, e)
+		ts_internal_bspline_fill_knots(
+			_spline_, type, 0.f, 1.f, _spline_, b);
+	CATCH
+		ts_bspline_free(_spline_);
+		longjmp(buf, e);
+	ETRY
+}
+
+tsError ts_bspline_new(size_t n_ctrlp, size_t dim, size_t deg,
+	tsBSplineType type, tsBSpline *_spline_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_new(
+			n_ctrlp, dim, deg, type, _spline_, buf);
+	CATCH
+		ts_bspline_default(_spline_);
+	ETRY
+	return err;
+}
+
+void ts_internal_bspline_copy(const tsBSpline *original, tsBSpline *_copy_,
+	jmp_buf buf)
+{
+	size_t size;
+	if (original == _copy_)
+		return;
+	size = ts_internal_bspline_sof_state(original);
+	_copy_->pImpl = malloc(size);
+	if (!_copy_->pImpl)
+		longjmp(buf, TS_MALLOC);
+	memcpy(_copy_->pImpl, original->pImpl, size);
+}
+
+tsError ts_bspline_copy(const tsBSpline *original, tsBSpline *_copy_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_copy(original, _copy_, buf);
+	CATCH
+		if (original != _copy_)
+			ts_bspline_default(_copy_);
+	ETRY
+	return err;
+}
+
+void ts_bspline_move(tsBSpline *from, tsBSpline *_to_)
+{
+	if (from == _to_)
+		return;
+	_to_->pImpl = from->pImpl;
+	ts_bspline_default(from);
+}
+
+void ts_bspline_free(tsBSpline *_spline_)
+{
+	if (_spline_->pImpl)
+		free(_spline_->pImpl);
+	ts_bspline_default(_spline_);
+}
+
+/* ------------------------------------------------------------------------- */
+
+void ts_deboornet_default(tsDeBoorNet *_deBoorNet_)
+{
+	_deBoorNet_->pImpl = NULL;
+}
+
+void ts_internal_deboornet_new(const tsBSpline *spline,
+	tsDeBoorNet *_deBoorNet_, jmp_buf buf)
+{
+	const size_t dim = ts_bspline_dimension(spline);
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t num_points = (size_t)(deg * (deg+1) * 0.5f);
+
+	const size_t sof_real = sizeof(tsReal);
+	const size_t sof_impl = sizeof(struct tsDeBoorNetImpl);
+	const size_t sof_points_vec = num_points * dim * sof_real;
+	const size_t sof_net = sof_impl * sof_points_vec;
+
+	_deBoorNet_->pImpl = (struct tsDeBoorNetImpl *) malloc(sof_net);
+	if (!_deBoorNet_->pImpl)
+		longjmp(buf, TS_MALLOC);
+
+	_deBoorNet_->pImpl->u = 0.f;
+	_deBoorNet_->pImpl->k = 0;
+	_deBoorNet_->pImpl->s = 0;
+	_deBoorNet_->pImpl->h = deg;
+	_deBoorNet_->pImpl->dim = dim;
+	_deBoorNet_->pImpl->n_points = num_points;
+}
+
+void ts_deboornet_free(tsDeBoorNet *_deBoorNet_)
+{
+	if (_deBoorNet_->pImpl)
+		free(_deBoorNet_->pImpl);
+	ts_deboornet_default(_deBoorNet_);
+}
+
+void ts_internal_deboornet_copy(const tsDeBoorNet *original,
+	tsDeBoorNet *_copy, jmp_buf buf)
+{
+	size_t size;
+	if (original == _copy)
+		return;
+	size = ts_internal_deboornet_sof_state(original);
+	_copy->pImpl = malloc(size);
+	if (!_copy->pImpl)
+		longjmp(buf, TS_MALLOC);
+	memcpy(_copy->pImpl, original->pImpl, size);
+}
+
+tsError ts_deboornet_copy(const tsDeBoorNet *original, tsDeBoorNet *_copy_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_deboornet_copy(original, _copy_, buf);
+	CATCH
+		if (original != _copy_)
+			ts_deboornet_default(_copy_);
+	ETRY
+	return err;
+}
+
+void ts_deboornet_move(tsDeBoorNet *from, tsDeBoorNet *_to_)
+{
+	if (from == _to_)
+		return;
+	_to_->pImpl = from->pImpl;
+	ts_deboornet_default(from);
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Interpolation and Approximation Functions                                *
+*                                                                             *
+******************************************************************************/
+void ts_internal_bspline_thomas_algorithm(const tsReal *points, size_t n,
+	size_t dim, tsReal *_result_, jmp_buf buf)
+{
+	const size_t sof_real = sizeof(tsReal);
+	const size_t sof_ctrlp = dim * sof_real;
+	tsReal* m;      /* Array of weights. */
+	size_t len_m;   /* Length of m. */
+	size_t lst;     /* Index of the last control point in \p points. */
+	size_t i, d;    /* Used in for loops. */
+	size_t j, k, l; /* Used as temporary indices. */
+
+	/* input validation */
+	if (dim == 0)
+		longjmp(buf, TS_DIM_ZERO);
+	if (n == 0)
+		longjmp(buf, TS_DEG_GE_NCTRLP);
+
+	if (n <= 2) {
+		memcpy(_result_, points, n * sof_ctrlp);
+		return;
+	}
+
+	/* In the following n >= 3 applies... */
+	len_m = n-2; /* ... len_m >= 1 */
+	lst = (n-1)*dim; /* ... lst >= 2*dim */
+
+	/* m_0 = 1/4, m_{k+1} = 1/(4-m_k), for k = 0,...,n-2 */
+	m = (tsReal*) malloc(len_m * sof_real);
+	if (m == NULL)
+		longjmp(buf, TS_MALLOC);
+	m[0] = 0.25f;
+	for (i = 1; i < len_m; i++)
+		m[i] = 1.f/(4 - m[i-1]);
+
+	/* forward sweep */
+	ts_arr_fill(_result_, n*dim, 0.f);
+	memcpy(_result_, points, sof_ctrlp);
+	memcpy(_result_+lst, points+lst, sof_ctrlp);
+	for (d = 0; d < dim; d++) {
+		k = dim+d;
+		_result_[k] = 6*points[k];
+		_result_[k] -= points[d];
+	}
+	for (i = 2; i <= n-2; i++) {
+		for (d = 0; d < dim; d++) {
+			j = (i-1)*dim+d;
+			k = i*dim+d;
+			l = (i+1)*dim+d;
+			_result_[k] = 6*points[k];
+			_result_[k] -= _result_[l];
+			_result_[k] -= m[i-2]*_result_[j]; /* i >= 2 */
+		}
+	}
+
+	/* back substitution */
+	if (n > 3)
+		ts_arr_fill(_result_+lst, dim, 0.f);
+	for (i = n-2; i >= 1; i--) {
+		for (d = 0; d < dim; d++) {
+			k = i*dim+d;
+			l = (i+1)*dim+d;
+			/* The following line is the reason why it's important
+			 * to not fill \p _result_ with 0 if n = 3. On the
+			 * other hand, if n > 3 subtracting 0 is exactly what
+			 * we want. */
+			_result_[k] -= _result_[l];
+			_result_[k] *= m[i-1]; /* i >= 1 */
+		}
+	}
+	if (n > 3)
+		memcpy(_result_+lst, points+lst, sof_ctrlp);
+
+	/* we are done */
+	free(m);
+}
+
+void ts_internal_relaxed_uniform_cubic_bspline(const tsReal *points, size_t n,
+	size_t dim, tsBSpline *_spline_, jmp_buf buf)
+{
+	const size_t order = 4;    /**< Order of spline to interpolate. */
+	const tsReal as = 1.f/6.f; /**< The value 'a sixth'. */
+	const tsReal at = 1.f/3.f; /**< The value 'a third'. */
+	const tsReal tt = 2.f/3.f; /**< The value 'two third'. */
+	size_t sof_ctrlp;          /**< Size of a single control point. */
+	const tsReal* b = points;  /**< Array of the b values. */
+	tsReal* s;                 /**< Array of the s values. */
+	size_t i, d;               /**< Used in for loops */
+	size_t j, k, l;            /**< Used as temporary indices. */
+
+	tsReal *ctrlp; /**< Pointer to the control points of \p _spline_. */
+
+	tsError e_;
+	jmp_buf b_;
+
+	/* input validation */
+	if (dim == 0)
+		longjmp(buf, TS_DIM_ZERO);
+	if (n <= 1)
+		longjmp(buf, TS_DEG_GE_NCTRLP);
+	/* in the following n >= 2 applies */
+
+	sof_ctrlp = dim * sizeof(tsReal); /* dim > 0 implies sof_ctrlp > 0 */
+
+	/* n >= 2 implies n-1 >= 1 implies (n-1)*4 >= 4 */
+	ts_internal_bspline_new(
+		(n-1)*4, dim, order-1, TS_BEZIERS, _spline_, buf);
+	ctrlp = ts_internal_bspline_access_ctrlp(_spline_);
+
+	TRY(b_, e_)
+		s = (tsReal*) malloc(n * sof_ctrlp);
+		if (!s)
+			longjmp(b_, TS_MALLOC);
+	CATCH
+		ts_bspline_free(_spline_);
+		longjmp(buf, e_);
+	ETRY
+
+	/* set s_0 to b_0 and s_n = b_n */
+	memcpy(s, b, sof_ctrlp);
+	memcpy(s + (n-1)*dim, b + (n-1)*dim, sof_ctrlp);
+
+	/* set s_i = 1/6*b_i + 2/3*b_{i-1} + 1/6*b_{i+1}*/
+	for (i = 1; i < n-1; i++) {
+		for (d = 0; d < dim; d++) {
+			j = (i-1)*dim+d;
+			k = i*dim+d;
+			l = (i+1)*dim+d;
+			s[k] = as * b[j];
+			s[k] += tt * b[k];
+			s[k] += as * b[l];
+		}
+	}
+
+	/* create beziers from b and s */
+	for (i = 0; i < n-1; i++) {
+		for (d = 0; d < dim; d++) {
+			j = i*dim+d;
+			k = i*4*dim+d;
+			l = (i+1)*dim+d;
+			ctrlp[k] = s[j];
+			ctrlp[k+dim] = tt*b[j] + at*b[l];
+			ctrlp[k+2*dim] = at*b[j] + tt*b[l];
+			ctrlp[k+3*dim] = s[l];
+		}
+	}
+
+	/* we are done */
+	free(s);
+}
+
+void ts_internal_bspline_interpolate_cubic(const tsReal *points, size_t n,
+	size_t dim, tsBSpline *_spline_, jmp_buf buf)
+{
+	tsError e;
+	jmp_buf b;
+
+	tsReal* thomas = (tsReal*) malloc(n*dim*sizeof(tsReal));
+	if (!thomas)
+		longjmp(buf, TS_MALLOC);
+
+	TRY(b, e)
+		ts_internal_bspline_thomas_algorithm(
+			points, n, dim, thomas, b);
+		ts_internal_relaxed_uniform_cubic_bspline(
+			thomas, n, dim, _spline_, b);
+	ETRY
+
+	free(thomas);
+	if (e < 0)
+		longjmp(buf, e);
+}
+
+tsError ts_bspline_interpolate_cubic(const tsReal *points, size_t n,
+	size_t dim, tsBSpline *_spline_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_interpolate_cubic(
+			points, n, dim, _spline_, buf);
+	CATCH
+		ts_bspline_default(_spline_);
+	ETRY
+	return err;
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Query Functions                                                          *
+*                                                                             *
+******************************************************************************/
+void ts_internal_bspline_eval(const tsBSpline *spline, tsReal u,
+	tsDeBoorNet *_deBoorNet_, jmp_buf buf)
+{
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t order = ts_bspline_order(spline);
+	const size_t dim = ts_bspline_dimension(spline);
+	const size_t num_knots = ts_bspline_num_knots(spline);
+	const size_t sof_ctrlp = dim * sizeof(tsReal);
+
+	const tsReal *ctrlp = ts_internal_bspline_access_ctrlp(spline);
+	const tsReal *knots = ts_internal_bspline_access_knots(spline);
+	tsReal *points;  /**< Pointer to the points of \p _deBoorNet_. */
+
+	size_t k;        /**< Index of \p u. */
+	size_t s;        /**< Multiplicity of \p u. */
+
+	tsReal uk;       /**< The actual used u. */
+	size_t from;     /**< Offset used to copy values. */
+	size_t fst;      /**< First affected control point, inclusive. */
+	size_t lst;      /**< Last affected control point, inclusive. */
+	size_t N;        /**< Number of affected control points. */
+
+	/* The following indices are used to create the DeBoor net. */
+	size_t lidx;     /**< Current left index. */
+	size_t ridx;     /**< Current right index. */
+	size_t tidx;     /**< Current to index. */
+	size_t r, i, d;  /**< Used in for loop. */
+	tsReal ui;       /**< Knot value at index i. */
+	tsReal a, a_hat; /**< Weighting factors of control points. */
+
+	/* Setup the net with its default values. */
+	ts_internal_deboornet_new(spline, _deBoorNet_, buf);
+	points = ts_internal_deboornet_access_points(_deBoorNet_);
+
+	/* 1. Find index k such that u is in between [u_k, u_k+1).
+	 * 2. Setup already known values.
+	 * 3. Decide by multiplicity of u how to calculate point P(u). */
+
+	/* 1. */
+	ts_internal_bspline_find_u(spline, u, &k, &s, buf);
+
+	/* 2. */
+	uk = knots[k];          /* Ensures that with any precision of  */
+	_deBoorNet_->pImpl->u = /* tsReal the knot vector stays valid. */
+		ts_fequals(u, uk) ? uk : u;
+	_deBoorNet_->pImpl->k = k;
+	_deBoorNet_->pImpl->s = s;
+        _deBoorNet_->pImpl->h = deg < s ? 0 : deg-s; /* prevent underflow */
+
+	/* 3. (by 1. s <= order)
+	 *
+	 * 3a) Check for s = order.
+	 *     Take the two points k-s and k-s + 1. If one of
+	 *     them doesn't exist, take only the other.
+	 * 3b) Use de boor algorithm to find point P(u). */
+	if (s == order) {
+		/* only one of the two control points exists */
+		if (k == deg || /* only the first */
+		    k == num_knots - 1) { /* only the last */
+			from = k == deg ? 0 : (k-s) * dim;
+			_deBoorNet_->pImpl->n_points = 1;
+			memcpy(points, ctrlp + from, sof_ctrlp);
+		} else {
+			from = (k-s) * dim;
+			_deBoorNet_->pImpl->n_points = 2;
+			memcpy(points, ctrlp + from, 2 * sof_ctrlp);
+		}
+	} else { /* by 3a) s <= deg (order = deg+1) */
+		fst = k-deg; /* by 1. k >= deg */
+		lst = k-s; /* s <= deg <= k */
+		N = lst-fst + 1; /* lst <= fst implies N >= 1 */
+
+		_deBoorNet_->pImpl->n_points = (size_t)(N * (N+1) * 0.5f);
+
+		/* copy initial values to output */
+		memcpy(points, ctrlp + fst*dim, N * sof_ctrlp);
+
+		lidx = 0;
+		ridx = dim;
+		tidx = N*dim; /* N >= 1 implies tidx > 0 */
+		r = 1;
+		for (;r <= ts_deboornet_num_insertions(_deBoorNet_); r++) {
+			i = fst + r;
+			for (; i <= lst; i++) {
+				ui = knots[i];
+				a = (ts_deboornet_knot(_deBoorNet_) - ui) /
+					(knots[i+deg-r+1] - ui);
+				a_hat = 1.f-a;
+
+				for (d = 0; d < dim; d++) {
+					points[tidx++] =
+						a_hat * points[lidx++] +
+						a     * points[ridx++];
+				}
+			}
+			lidx += dim;
+			ridx += dim;
+		}
+	}
+}
+
+tsError ts_bspline_eval(const tsBSpline *spline, tsReal u,
+	tsDeBoorNet *_deBoorNet_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_eval(spline, u, _deBoorNet_, buf);
+	CATCH
+		ts_deboornet_default(_deBoorNet_);
+	ETRY
+	return err;
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Transformation Functions                                                 *
+*                                                                             *
+******************************************************************************/
+void ts_internal_bspline_derive(const tsBSpline *spline,
+	tsBSpline *_derivative_, jmp_buf buf)
+{
+	const size_t sof_real = sizeof(tsReal);
+	const size_t dim = ts_bspline_dimension(spline);
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t num_ctrlp = ts_bspline_num_control_points(spline);
+	const size_t num_knots = ts_bspline_num_knots(spline);
+
+	tsBSpline tmp;  /**< Temporarily stores the result. */
+	const tsReal* from_ctrlp = ts_internal_bspline_access_ctrlp(spline);
+	const tsReal* from_knots = ts_internal_bspline_access_knots(spline);
+	tsReal* to_ctrlp = NULL; /**< Pointer to the control points of tmp. */
+	tsReal* to_knots = NULL; /**< Pointer to the knots of tmp. */
+
+	size_t i, j, k; /**< Used in for loops. */
+
+	if (deg < 1 || num_ctrlp < 2)
+		longjmp(buf, TS_UNDERIVABLE);
+
+	ts_internal_bspline_new(num_ctrlp-1, dim, deg-1, TS_NONE, &tmp, buf);
+	to_ctrlp = ts_internal_bspline_access_ctrlp(&tmp);
+	to_knots = ts_internal_bspline_access_knots(&tmp);
+
+	for (i = 0; i < num_ctrlp-1; i++) {
+		for (j = 0; j < dim; j++) {
+			if (ts_fequals(from_knots[i+deg+1], from_knots[i+1])) {
+				ts_bspline_free(&tmp);
+				longjmp(buf, TS_UNDERIVABLE);
+			} else {
+				k = i*dim + j;
+				to_ctrlp[k] = from_ctrlp[(i+1)*dim + j] - from_ctrlp[k];
+				to_ctrlp[k] *= deg;
+				to_ctrlp[k] /= from_knots[i+deg+1] - from_knots[i+1];
+			}
+		}
+	}
+	memcpy(to_knots, from_knots+1, (num_knots-2)*sof_real);
+
+	if (spline == _derivative_)
+		ts_bspline_free(_derivative_);
+	ts_bspline_move(&tmp, _derivative_);
+}
+
+tsError ts_bspline_derive(const tsBSpline *spline, tsBSpline *_derivative_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_derive(spline, _derivative_, buf);
+	CATCH
+		if (spline != _derivative_)
+			ts_bspline_default(_derivative_);
+	ETRY
+	return err;
+}
+
+void ts_internal_bspline_fill_knots(const tsBSpline *spline,
+	tsBSplineType type, tsReal min, tsReal max, tsBSpline *_result_,
+	jmp_buf buf)
+{
+	const size_t n_knots = ts_bspline_num_knots(spline);
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t order = deg + 1; /**< ensures order >= 1. */
+	tsReal fac; /**< Factor used to calculate the knot values. */
+	size_t i; /**< Used in for loops. */
+
+	tsReal *knots; /**< Pointer to the knots of \p _result_. */
+
+	/* order >= 1 implies 2*order >= 2 implies n_knots >= 2 */
+	if (n_knots < 2*order)
+		longjmp(buf, TS_DEG_GE_NCTRLP);
+	if (type == TS_BEZIERS && n_knots % order != 0)
+		longjmp(buf, TS_NUM_KNOTS);
+	if (min > max || ts_fequals(min, max))
+		longjmp(buf, TS_KNOTS_DECR);
+
+	/* copy spline even if type is TS_NONE */
+	ts_internal_bspline_copy(spline, _result_, buf);
+	knots = ts_internal_bspline_access_knots(_result_);
+
+	if (type == TS_OPENED) {
+		/* ensures that the first knot value is exactly \min */
+		knots[0] = min; /* n_knots >= 2 */
+
+		fac = (max-min) / (n_knots-1); /* n_knots >= 2 */
+		for (i = 1; i < n_knots-1; i++)
+			knots[i] = min + i*fac;
+
+		/* ensure that the last knot value is exactly \max */
+		knots[i] = max;
+	} else if (type == TS_CLAMPED) {
+		/* n_knots >= 2*order == 2*(deg+1) == 2*deg + 2 > 2*deg - 1 */
+		fac = (max-min) / (n_knots - 2*deg - 1);
+
+		ts_arr_fill(knots, order, min);
+		for (i = order ;i < n_knots-order; i++)
+			knots[i] = min + (i-deg)*fac;
+		ts_arr_fill(knots + i, order, max);
+	} else if (type == TS_BEZIERS) {
+		/* n_knots >= 2*order implies n_knots/order >= 2 */
+		fac = (max-min) / (n_knots/order - 1);
+
+		ts_arr_fill(knots, order, min);
+		for (i = order; i < n_knots-order; i += order)
+			ts_arr_fill(knots + i,
+				    order, min + (i/order)*fac);
+		ts_arr_fill(knots + i, order, max);
+	}
+}
+
+tsError ts_bspline_fill_knots(const tsBSpline *spline, tsBSplineType type,
+	tsReal min, tsReal max, tsBSpline *_result_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_fill_knots(
+			spline, type, min, max, _result_, buf);
+	CATCH
+		if (spline != _result_)
+			ts_bspline_default(_result_);
+	ETRY
+	return err;
+}
+
+void ts_internal_bspline_resize(const tsBSpline *spline, int n, int back,
+	tsBSpline *_resized_, jmp_buf buf)
+{
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t dim = ts_bspline_dimension(spline);
+	const size_t sof_real = sizeof(tsReal);
+
+	const size_t num_ctrlp = ts_bspline_num_control_points(spline);
+	const size_t num_knots = ts_bspline_num_knots(spline);
+	const size_t nnum_ctrlp = num_ctrlp + n; /**< New length of ctrlp. */
+	const size_t nnum_knots = num_knots + n; /**< New length of knots. */
+	const size_t min_num_ctrlp_vec = n < 0 ? nnum_ctrlp : num_ctrlp;
+	const size_t min_num_knots_vec = n < 0 ? nnum_knots : num_knots;
+
+	const size_t sof_min_num_ctrlp = min_num_ctrlp_vec * dim * sof_real;
+	const size_t sof_min_num_knots = min_num_knots_vec * sof_real;
+
+	tsBSpline tmp; /**< Temporarily stores the result. */
+	const tsReal* from_ctrlp = ts_internal_bspline_access_ctrlp(spline);
+	const tsReal* from_knots = ts_internal_bspline_access_knots(spline);
+	tsReal* to_ctrlp = NULL; /**< Pointer to the control points of tmp. */
+	tsReal* to_knots = NULL; /**< Pointer to the knots of tmp. */
+
+	/* If n is 0 the spline must not be resized. */
+	if (n == 0) {
+		ts_internal_bspline_copy(spline, _resized_, buf);
+		return;
+	}
+
+	ts_internal_bspline_new(nnum_ctrlp, dim, deg, TS_NONE, &tmp, buf);
+	to_ctrlp = ts_internal_bspline_access_ctrlp(&tmp);
+	to_knots = ts_internal_bspline_access_knots(&tmp);
+
+	/* Copy control points and knots. */
+	if (!back && n < 0) {
+		memcpy(to_ctrlp, from_ctrlp + n*dim, sof_min_num_ctrlp);
+		memcpy(to_knots, from_knots + n    , sof_min_num_knots);
+	} else if (!back && n > 0) {
+		memcpy(to_ctrlp + n*dim, from_ctrlp, sof_min_num_ctrlp);
+		memcpy(to_knots + n    , from_knots, sof_min_num_knots);
+	} else {
+		/* n != 0 implies back == true */
+		memcpy(to_ctrlp, from_ctrlp, sof_min_num_ctrlp);
+		memcpy(to_knots, from_knots, sof_min_num_knots);
+	}
+
+	if (spline == _resized_)
+		ts_bspline_free(_resized_);
+	ts_bspline_move(&tmp, _resized_);
+}
+
+tsError ts_bspline_resize(const tsBSpline *spline, int n, int back,
+	tsBSpline *_resized_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_resize(spline, n, back, _resized_, buf);
+	CATCH
+		if (spline != _resized_)
+			ts_bspline_default(_resized_);
+	ETRY
+	return err;
+}
+
+void ts_internal_bspline_insert_knot(const tsBSpline *spline,
+	const tsDeBoorNet *deBoorNet, size_t n, tsBSpline *_result_,
+	jmp_buf buf)
+{
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t dim = ts_bspline_dimension(spline);
+	const tsReal *ctrlp_spline = ts_internal_bspline_access_ctrlp(spline);
+	const tsReal *knots_spline = ts_internal_bspline_access_knots(spline);
+	const size_t k = ts_deboornet_index(deBoorNet);
+	const size_t s = ts_deboornet_multiplicity(deBoorNet);
+	const size_t sof_real = sizeof(tsReal);
+	const size_t sof_ctrlp = dim * sof_real;
+
+	size_t N;     /**< Number of affected control points. */
+	tsReal* from; /**< Pointer to copy the values from. */
+	tsReal* to;   /**< Pointer to copy the values to. */
+	int stride;   /**< Stride of the next pointer to copy. */
+	size_t i;     /**< Used in for loops. */
+
+	tsReal *ctrlp_result;
+	tsReal *knots_result;
+	size_t num_ctrlp_result;
+	size_t num_knots_result;
+
+	if (s+n > ts_bspline_order(spline)) {
+		longjmp(buf, TS_MULTIPLICITY);
+	}
+
+	/* Use ::ts_bspline_resize even if \p n is 0 to copy the spline if
+	 * necessary. */
+	ts_internal_bspline_resize(spline, (int)n, 1, _result_, buf);
+	if (n == 0) /* Nothing to insert. */
+		return;
+	ctrlp_result = ts_internal_bspline_access_ctrlp(_result_);
+	knots_result = ts_internal_bspline_access_knots(_result_);
+	num_ctrlp_result = ts_bspline_num_control_points(_result_);
+	num_knots_result = ts_bspline_num_knots(_result_);
+
+	/* n > 0 implies s <= deg implies a regular evaluation implies h+1 is
+	 * valid. */
+	N = ts_deboornet_num_insertions(deBoorNet) + 1;
+
+	/* 1. Copy all necessary control points and knots from
+	 *    the original B-Spline.
+	 * 2. Copy all necessary control points and knots from
+	 *    the de Boor net. */
+
+	/* 1.
+	 *
+	 * a) Copy left hand side control points from original b-spline.
+	 * b) Copy right hand side control points from original b-spline.
+	 * c) Copy left hand side knots from original b-spline.
+	 * d) Copy right hand side knots form original b-spline. */
+	/* copy control points */
+	memmove(ctrlp_result, ctrlp_spline, (k-deg) * sof_ctrlp);      /* a) */
+	from = (tsReal *) ctrlp_spline + dim*(k-deg+N);
+	/* n >= 0 implies to >= from */
+	to = ctrlp_result + dim*(k-deg+N+n);
+	memmove(to, from, (num_ctrlp_result-n-(k-deg+N)) * sof_ctrlp); /* b) */
+	/* copy knots */
+	memmove(knots_result, knots_spline, (k+1) * sof_real);         /* c) */
+	from = (tsReal *) knots_spline + k+1;
+	/* n >= 0 implies to >= from */
+	to = knots_result + k+1+n;
+	memmove(to, from, (num_knots_result-n-(k+1)) * sof_real);      /* d) */
+
+	/* 2.
+	 *
+	 * a) Copy left hand side control points from de boor net.
+	 * b) Copy middle part control points from de boor net.
+	 * c) Copy right hand side control points from de boor net.
+	 * d) Insert knots with u_k. */
+	from = ts_internal_deboornet_access_points(deBoorNet);
+	to = ctrlp_result + (k-deg)*dim;
+	stride = (int)(N*dim);
+
+	/* copy control points */
+	for (i = 0; i < n; i++) {                                      /* a) */
+		memcpy(to, from, sof_ctrlp);
+		from += stride;
+		to += dim;
+		stride -= (int)dim;
+	}
+	memcpy(to, from, (N-n) * sof_ctrlp);                           /* b) */
+
+	from -= dim;
+	to += (N-n)*dim;
+	/* N = h+1 with h = deg-s (ts_internal_bspline_eval) implies
+	 * N = deg-s+1 = order-s. n <= order-s implies
+	 * N-n+1 >= order-s - order-s + 1 = 1. Thus, -(int)(N-n+1) <= -1. */
+	stride = -(int)(N-n+1) * (int)dim;
+
+	for (i = 0; i < n; i++) {                                      /* c) */
+		memcpy(to, from, sof_ctrlp);
+		from += stride;
+		stride -= (int)dim;
+		to += dim;
+	}
+	/* copy knots */
+	to = knots_result + k+1;
+	for (i = 0; i < n; i++) {                                      /* d) */
+		*to = ts_deboornet_knot(deBoorNet);
+		to++;
+	}
+}
+
+tsError ts_bspline_insert_knot(const tsBSpline *spline, tsReal u, size_t n,
+	tsBSpline *_result_, size_t* k)
+{
+	tsDeBoorNet net;
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_eval(spline, u, &net, buf);
+		ts_internal_bspline_insert_knot(
+			spline, &net, n, _result_, buf);
+		*k = ts_deboornet_index(&net) + n;
+	CATCH
+		if (spline != _result_)
+			ts_bspline_default(_result_);
+		*k = 0;
+	ETRY
+
+	ts_deboornet_free(&net);
+	return err;
+}
+
+void ts_internal_bspline_split(const tsBSpline *spline, tsReal u,
+	tsBSpline *_split_, size_t* k, jmp_buf buf)
+{
+	tsDeBoorNet net;
+	tsError e;
+	jmp_buf b;
+
+	TRY(b, e)
+		ts_internal_bspline_eval(spline, u, &net, b);
+		if (ts_deboornet_multiplicity(&net)
+		    		== ts_bspline_order(spline)) {
+			ts_internal_bspline_copy(spline, _split_, b);
+			*k = ts_deboornet_index(&net);
+		} else {
+			ts_internal_bspline_insert_knot(spline, &net,
+				ts_deboornet_num_insertions(&net) + 1,
+				_split_, b);
+			*k = ts_deboornet_index(&net) +
+				ts_deboornet_num_insertions(&net) + 1;
+		}
+	CATCH
+		*k = 0;
+	ETRY
+
+	ts_deboornet_free(&net);
+	if (e < 0)
+		longjmp(buf, e);
+}
+
+tsError ts_bspline_split(const tsBSpline *spline, tsReal u, tsBSpline *_split_,
+	size_t* k)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_split(spline, u, _split_, k, buf);
+	CATCH
+		if (spline != _split_)
+			ts_bspline_default(_split_);
+	ETRY
+	return err;
+}
+
+void ts_internal_bspline_buckle(const tsBSpline *spline, tsReal b,
+	tsBSpline *_buckled_, jmp_buf buf)
+{
+	const tsReal b_hat  = 1.f-b; /**< The straightening factor. */
+	const size_t dim = ts_bspline_dimension(spline);
+	const size_t N = ts_bspline_num_control_points(spline);
+	const tsReal* p0 = ts_internal_bspline_access_ctrlp(spline);
+	const tsReal* pn_1 = p0 + (N-1)*dim;
+
+	tsReal *ctrlp; /**< Pointer to the control points of \p _buckled_. */
+	size_t i, d; /**< Used in for loops. */
+
+	ts_internal_bspline_copy(spline, _buckled_, buf);
+	ctrlp = ts_internal_bspline_access_ctrlp(_buckled_);
+
+	for (i = 0; i < N; i++) {
+		for (d = 0; d < dim; d++) {
+			ctrlp[i*dim + d] =
+				b     * ctrlp[i*dim + d] +
+				b_hat * (p0[d] + ((tsReal)i / (N-1)) * (pn_1[d] - p0[d]));
+		}
+	}
+}
+
+tsError ts_bspline_buckle(const tsBSpline *spline, tsReal b,
+	tsBSpline *_buckled_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_buckle(spline, b, _buckled_, buf);
+	CATCH
+		if (spline != _buckled_)
+			ts_bspline_default(_buckled_);
+	ETRY
+	return err;
+}
+
+void ts_internal_bspline_to_beziers(const tsBSpline *spline,
+	tsBSpline *_beziers_, jmp_buf buf)
+{
+	const size_t deg = ts_bspline_degree(spline);
+	const size_t order = ts_bspline_order(spline);
+
+	int resize;    /**< Number of control points to add/remove. */
+	size_t k;      /**< Index of the split knot value. */
+	tsReal u_min;  /**< Minimum of the knot values. */
+	tsReal u_max;  /**< Maximum of the knot values. */
+
+	tsBSpline tmp;    /**< Temporarily stores the result. */
+	tsReal *knots;    /**< Pointer to the knots of tmp. */
+	size_t num_knots; /**< Number of knots in tmp. */
+
+	tsError e;
+	jmp_buf b;
+
+	ts_internal_bspline_copy(spline, &tmp, buf);
+	knots = ts_internal_bspline_access_knots(&tmp);
+	num_knots = ts_bspline_num_knots(&tmp);
+
+	TRY(b, e)
+		/* DO NOT FORGET TO UPDATE knots AND num_knots AFTER EACH
+		 * TRANSFORMATION OF tmp! */
+
+		/* fix first control point if necessary */
+		u_min = knots[deg];
+		if (!ts_fequals(knots[0], u_min)) {
+			ts_internal_bspline_split(&tmp, u_min, &tmp, &k, b);
+			resize = (int)(-1*deg + (deg*2 - k));
+			ts_internal_bspline_resize(&tmp, resize, 0, &tmp, b);
+			knots = ts_internal_bspline_access_knots(&tmp);
+			num_knots = ts_bspline_num_knots(&tmp);
+		}
+
+		/* fix last control point if necessary */
+		u_max = knots[num_knots - order];
+		if (!ts_fequals(knots[num_knots - 1], u_max)) {
+			ts_internal_bspline_split(&tmp, u_max, &tmp, &k, b);
+			num_knots = ts_bspline_num_knots(&tmp);
+			resize = (int)(-1*deg + (k - (num_knots - order)));
+			ts_internal_bspline_resize(&tmp, resize, 1, &tmp, b);
+			knots = ts_internal_bspline_access_knots(&tmp);
+			num_knots = ts_bspline_num_knots(&tmp);
+		}
+
+		k = order;
+		while (k < num_knots - order) {
+			ts_internal_bspline_split(&tmp, knots[k], &tmp, &k, b);
+			knots = ts_internal_bspline_access_knots(&tmp);
+			num_knots = ts_bspline_num_knots(&tmp);
+			k++;
+		}
+
+		if (spline == _beziers_)
+			ts_bspline_free(_beziers_);
+		ts_bspline_move(&tmp, _beziers_);
+	ETRY
+
+	ts_bspline_free(&tmp);
+	if (e < 0)
+		longjmp(buf, e);
+}
+
+tsError ts_bspline_to_beziers(const tsBSpline *spline, tsBSpline *_beziers_)
+{
+	tsError err;
+	jmp_buf buf;
+	TRY(buf, err)
+		ts_internal_bspline_to_beziers(spline, _beziers_, buf);
+	CATCH
+		if (spline != _beziers_)
+			ts_bspline_default(_beziers_);
+	ETRY
+	return err;
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Utility Functions                                                        *
+*                                                                             *
+******************************************************************************/
+int ts_fequals(tsReal x, tsReal y)
+{
+	if (fabs(x-y) <= FLT_MAX_ABS_ERROR) {
+		return 1;
+	} else {
+		const tsReal r = (tsReal)fabs(x) > (tsReal)fabs(y) ?
+			(tsReal)fabs((x-y) / x) : (tsReal)fabs((x-y) / y);
+		return r <= FLT_MAX_REL_ERROR;
+	}
+}
+
+const char* ts_enum_str(tsError err)
+{
+	if (err == TS_MALLOC)
+		return "malloc failed";
+	else if (err == TS_DIM_ZERO)
+		return "dim == 0";
+	else if (err == TS_DEG_GE_NCTRLP)
+		return "deg >= #ctrlp";
+	else if (err == TS_U_UNDEFINED)
+		return "spline is undefined at given u";
+	else if (err == TS_MULTIPLICITY)
+		return "s > order";
+	else if (err == TS_KNOTS_DECR)
+		return "decreasing knot vector";
+	else if (err == TS_NUM_KNOTS)
+		return "unexpected number of knots";
+	else if (err == TS_UNDERIVABLE)
+		return "spline is not derivable";
+	return "unknown error";
+}
+
+tsError ts_str_enum(const char *str)
+{
+	if (!strcmp(str, ts_enum_str(TS_MALLOC)))
+		return TS_MALLOC;
+	else if (!strcmp(str, ts_enum_str(TS_DIM_ZERO)))
+		return TS_DIM_ZERO;
+	else if (!strcmp(str, ts_enum_str(TS_DEG_GE_NCTRLP)))
+		return TS_DEG_GE_NCTRLP;
+	else if (!strcmp(str, ts_enum_str(TS_U_UNDEFINED)))
+		return TS_U_UNDEFINED;
+	else if (!strcmp(str, ts_enum_str(TS_MULTIPLICITY)))
+		return TS_MULTIPLICITY;
+	else if (!strcmp(str, ts_enum_str(TS_KNOTS_DECR)))
+		return TS_KNOTS_DECR;
+	else if (!strcmp(str, ts_enum_str(TS_NUM_KNOTS)))
+		return TS_NUM_KNOTS;
+	else if (!strcmp(str, ts_enum_str(TS_UNDERIVABLE)))
+		return TS_UNDERIVABLE;
+	return TS_SUCCESS;
+}
+
+void ts_arr_fill(tsReal *arr, size_t num, tsReal val)
+{
+	size_t i;
+	for (i = 0; i < num; i++)
+		arr[i] = val;
+}
+
+tsReal ts_ctrlp_dist2(const tsReal *x, const tsReal *y, size_t dim)
+{
+	tsReal sum = 0;
+	size_t i;
+	for (i = 0; i < dim; i++)
+		sum += (x[i] - y[i]) * (x[i] - y[i]);
+	return (tsReal) sqrt(sum);
+}

src/decition/decition_brain/decision/tinyspline/tinyspline.h

@@ -0,0 +1,1152 @@
+/** @file */
+
+#ifndef TINYSPLINE_H
+#define	TINYSPLINE_H
+
+#include <stddef.h>
+
+#ifdef	__cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+*                                                                             *
+* :: System Dependent Configuration                                           *
+*                                                                             *
+* The following configuration values must be adapted to your system. Some of  *
+* them may be configured with preprocessor definitions. The default values    *
+* should be fine for most modern hardware, such as x86, x86_64, and arm.      *
+*                                                                             *
+******************************************************************************/
+#ifdef TINYSPLINE_FLOAT_PRECISION
+typedef float tsReal;
+#else
+typedef double tsReal;
+#endif
+
+#define FLT_MAX_ABS_ERROR 1e-5
+#define FLT_MAX_REL_ERROR 1e-8
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Data Types                                                               *
+*                                                                             *
+* The following section defines all data types available in TinySpline.       *
+*                                                                             *
+******************************************************************************/
+/**
+ * Defines the error codes used by various functions to indicate different
+ * types of errors. The following code snippet shows how to handle errors:
+ *
+ *      tsError err = ...                  // any function call here
+ *      if (err) {                         // or use err != TS_SUCCESS
+ *          printf("we got an error!");
+ *          return err;                    // you may want to reuse error codes
+ *      }
+ */
+typedef enum
+{
+	/* No error. */
+	TS_SUCCESS = 0,
+
+	/* Unable to allocate memory (using malloc/realloc). */
+	TS_MALLOC = -1,
+
+	/* The dimension of the control points are 0. */
+	TS_DIM_ZERO = -2,
+
+	/* Degree of spline >= number of control points. */
+	TS_DEG_GE_NCTRLP = -3,
+
+	/* Spline is not defined at knot value u. */
+	TS_U_UNDEFINED = -4,
+
+	/* Multiplicity of a knot (s) > order of spline.  */
+	TS_MULTIPLICITY = -5,
+
+	/* Decreasing knot vector. */
+	TS_KNOTS_DECR = -6,
+
+	/* Unexpected number of knots. */
+	TS_NUM_KNOTS = -7,
+
+	/* Spline is not derivable */
+	TS_UNDERIVABLE = -8,
+
+	/* len_control_points % dim != 0 */
+	TS_LCTRLP_DIM_MISMATCH = -10
+} tsError;
+
+/**
+ * Describes the structure of the knot vector of a NURBS/B-Spline. For more
+ * details, see:
+ *
+ *     www.cs.mtu.edu/~shene/COURSES/cs3621/NOTES/spline/B-spline/bspline-curve.html
+ */
+typedef enum
+{
+	/* Not available/Undefined. */
+	TS_NONE = 0,
+
+	/* Uniformly spaced knot vector. */
+	TS_OPENED = 1,
+
+	/* Uniformly spaced knot vector with clamped end knots. */
+	TS_CLAMPED = 2,
+
+	/* Uniformly spaced knot vector with s(u) = order of spline. */
+	TS_BEZIERS = 3
+} tsBSplineType;
+
+/**
+ * Represents a B-Spline which may also be used for NURBS, Bezier curves,
+ * lines, and points. NURBS are represented by homogeneous coordinates where
+ * the last component of a control point stores the weight of this control
+ * point. Bezier curves are B-Splines with 'num_control_points == order' and a
+ * clamped knot vector, therefore passing through their first and last control
+ * point (a property which does not necessarily apply to B-Splines and NURBS).
+ * If a Bezier curve consists of two control points only, we call it a line.
+ * Points, ultimately, are just very short lines consisting of a single control
+ * point.
+ *
+ * Two dimensional control points are stored as follows:
+ *
+ *     [x_0, y_0, x_1, y_1, ..., x_n-1, y_n-1]
+ *
+ * Tree dimensional control points are stored as follows:
+ *
+ *     [x_0, y_0, z_0, x_1, y_1, z_1, ..., x_n-1, y_n-1, z_n-1]
+ *
+ * ... and so on. NURBS are represented by homogeneous coordinates. For
+ * example, let's say we have a NURBS in 2D consisting of 11 control points
+ * where 'w_i' is the weight of the i'th control point. Then, the corresponding
+ * control points are stored as follows:
+ *
+ *     [x_0*w_0, y_0*w_0, w_0, x_1*w_1, y_1*w_1, w_1, ..., x_10*w_10, y_10*w_10, w_10]
+ */
+typedef struct
+{
+	struct tsBSplineImpl *pImpl; /**< The actual implementation. */
+} tsBSpline;
+
+/**
+ * Represents the output of De Boor's algorithm. De Boor's algorithm is used to
+ * evaluate a spline at given knot value 'u' by iteratively computing a net of
+ * intermediate values until the result is available:
+ *
+ *     https://en.wikipedia.org/wiki/De_Boor%27s_algorithm
+ *     https://www.cs.mtu.edu/~shene/COURSES/cs3621/NOTES/spline/de-Boor.html
+ *
+ * All points of a net are stored in 'points'. The resulting point is the last
+ * point in 'points' and, for the sake of convenience, may be accessed with
+ * 'result':
+ *
+ *     tsDeBoorNet net = ...    // evaluate an arbitrary spline and store
+ *                              // the resulting net of points in 'net'
+ *
+ *     ts_deboornet_result(...) // use 'result' to access the resulting point
+ *
+ * Two dimensional points are stored as follows:
+ *
+ *     [x_0, y_0, x_1, y_1, ..., x_n-1, y_n-1]
+ *
+ * Tree dimensional points are stored as follows:
+ *
+ *     [x_0, y_0, z_0, x_1, y_1, z_1, ..., x_n-1, y_n-1, z_n-1]
+ *
+ * ... and so on. The output also supports homogeneous coordinates described
+ * above.
+ *
+ * There is a special case in which the evaluation of a knot value 'u' returns
+ * two results instead of one. It occurs when the multiplicity of 'u' ( s(u) )
+ * is equals to a spline's order, indicating that the spline is discontinuous
+ * at 'u'. This is common practice for B-Splines (and NURBS) consisting of
+ * connected Bezier curves where the endpoint of curve 'c_i' is equals to the
+ * start point of curve 'c_i+1'. The end point of 'c_i' and the start point of
+ * 'c_i+1' may still be completely different though, yielding to a spline
+ * having a (real and visible) gap at 'u'. Consequently, De Boor's algorithm
+ * must return two results if 's(u) == order' in order to give access to the
+ * desired points.  In such case, 'points' stores only the two resulting points
+ * (there is no net to calculate) and 'result' points to the *first* point in
+ * 'points'. Since having (real) gaps in splines is unusual, both points in
+ * 'points' are generally equals, making it easy to handle this special case by
+ * accessing 'result' as already shown above for regular cases:
+ *
+ *     tsDeBoorNet net = ...    // evaluate a spline which is discontinuous at
+ *                              // the given knot value, yielding to a net with
+ *                              // two results
+ *
+ *     ts_deboornet_result(...) // use 'result' to access the resulting point
+ *
+ * However, you can access both points if necessary:
+ *
+ *     tsDeBoorNet net = ...    // evaluate a spline which is discontinuous at
+ *                              // the given knot value, yielding to a net with
+ *                              // two results
+ *
+ *     ts_deboornet_result(...)[0] ...       // stores the first component of
+ *                                           // the first point
+ *
+ *     ts_deboornet_result(...)[dim(spline)] // stores the first component of
+ *                                           // the second point
+ *
+ * As if this wasn't complicated enough, there is an exception for this special
+ * case, yielding to exactly one result (just like the regular case) even if
+ * 's(u) == order'. It occurs when 'u' is the lower or upper bound of a
+ * spline's domain. For instance, if 'b' is a spline with domain [0, 1] and is
+ * evaluated at 'u = 0' or 'u = 1' then 'result' is *always* a single point
+ * regardless of the multiplicity of 'u'. Hence, handling this exception is
+ * straightforward:
+ *
+ *     tsDeBoorNet net = ...    // evaluate a spline at the lower or upper
+ *                              // bound of its domain, for instance, 0 or 1
+ *
+ *     ts_deboornet_result(...) // use 'result' to access the resulting point
+ *
+ * In summary, we have three different types of evaluation. 1) The regular case
+ * returning all points of the net we used to calculate the resulting point. 2)
+ * The special case returning exactly two points which is required for splines
+ * with (real) gaps. 3) The exception of 2) returning exactly one point even if
+ * 's(u) == order'. All in all this looks quite complex (and actually it is)
+ * but for most applications you do not have to deal with it. Just use 'result'
+ * to access the outcome of De Boor's algorithm.
+ */
+typedef struct
+{
+	struct tsDeBoorNetImpl *pImpl; /**< The actual implementation. */
+} tsDeBoorNet;
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Field Access Functions                                                   *
+*                                                                             *
+* The following section contains getter and setter functions for the internal *
+* state of the structs listed above.                                          *
+*                                                                             *
+******************************************************************************/
+/**
+ * Returns the degree of \p spline.
+ *
+ * @param spline
+ * 	The spline whose degree is read.
+ * @return
+ * 	The degree of \p spline.
+ */
+size_t ts_bspline_degree(const tsBSpline *spline);
+
+/**
+ * Sets the degree of \p spline.
+ *
+ * @param spline
+ * 	The spline whose degree is set.
+ * @param deg
+ * 	The degree to be set.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If \p degree >= ts_bspline_get_control_points(spline).
+ */
+tsError ts_bspline_set_degree(tsBSpline *spline, size_t deg);
+
+/**
+ * Returns the order (degree + 1) of \p spline.
+ *
+ * @param spline
+ * 	The spline whose order is read.
+ * @return
+ * 	The order of \p spline.
+ */
+size_t ts_bspline_order(const tsBSpline *spline);
+
+/**
+ * Sets the order (degree + 1) of \p spline.
+ *
+ * @param spline
+ * 	The spline whose order is set.
+ * @param order
+ * 	The order to be set.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If \p order > ts_bspline_get_control_points(spline) or if \p order == 0
+ * 	( due to the underflow resulting from: order - 1 => 0 - 1 => INT_MAX
+ * 	which always is >= ts_bspline_get_control_points(spline) ).
+ */
+tsError ts_bspline_set_order(tsBSpline *spline, size_t order);
+
+/**
+ * Returns the dimension of \p spline. The dimension of a spline describes the
+ * number of components for each point in ts_bspline_get_control_points(spline).
+ * One-dimensional splines are possible, albeit their benefit might be
+ * questionable.
+ *
+ * @param spline
+ * 	The spline whose dimension is read.
+ * @return
+ * 	The dimension of \p spline.
+ */
+size_t ts_bspline_dimension(const tsBSpline *spline);
+
+/**
+ * Sets the dimension of \p spline. The following conditions must be satisfied:
+ *
+ * 	(1) dim >= 1
+ * 	(2) len_control_points % dim == 0
+ *
+ * with _len_control_points_ being the length of the control point array of \p
+ * spline. The dimension of a spline describes the number of components for
+ * each point in ts_bspline_get_control_points(spline). One-dimensional splines
+ * are possible, albeit their benefit might be questionable.
+ *
+ * @param spline
+ * 	The spline whose dimension is set.
+ * @param dim
+ * 	The dimension to be set.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DIM_ZERO
+ * 	If \p dimension == 0.
+ * @return TS_LCTRLP_DIM_MISMATCH
+ * 	If len_control_points % \p dim != 0
+ */
+tsError ts_bspline_set_dimension(tsBSpline *spline, size_t dim);
+
+/**
+ * Returns the length of the control point array of \p spline.
+ *
+ * @param spline
+ * 	The spline with its control point array whose length is read.
+ * @return
+ * 	The length of the control point array of \p spline.
+ */
+size_t ts_bspline_len_control_points(const tsBSpline *spline);
+
+/**
+ * Returns the number of control points of \p spline.
+ *
+ * @param spline
+ * 	The spline whose number of control points is read.
+ * @return
+ * 	The number of control points of \p spline.
+ */
+size_t ts_bspline_num_control_points(const tsBSpline *spline);
+
+/**
+ * Returns the size of the control point array of \p spline. This function may
+ * be useful when copying control points using memcpy or memmove.
+ *
+ * @param spline
+ * 	The spline with its control point array whose size is read.
+ * @return
+ * 	The size of the control point array of \p spline.
+ */
+size_t ts_bspline_sof_control_points(const tsBSpline *spline);
+
+/**
+ * Returns a deep copy of the control points of \p spline.
+ *
+ * @param spline
+ * 	The spline whose control points are read.
+ * @param ctrlp
+ * 	The output array.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_control_points(const tsBSpline *spline, tsReal **ctrlp);
+
+/**
+ * Sets the control points of \p spline. Creates a deep copy of \p ctrlp.
+ *
+ * @param spline
+ * 	The spline whose control points are set.
+ * @param ctrlp
+ * 	The values to deep copy.
+ * @return TS_SUCCESS
+ * 	On success.
+ */
+tsError ts_bspline_set_control_points(tsBSpline *spline, const tsReal *ctrlp);
+
+/**
+ * Returns the number of knots of \p spline.
+ *
+ * @param spline
+ * 	The spline whose number of knots is read.
+ * @return
+ * 	The number of knots of \p spline.
+ */
+size_t ts_bspline_num_knots(const tsBSpline *spline);
+
+/**
+ * Returns the size of the knot array of \p spline. This function may be useful
+ * when copying knots using memcpy or memmove.
+ *
+ * @param spline
+ * 	The spline with its knot array whose size is read.
+ * @return TS_SUCCESS
+ * 	The size of the knot array of \p spline.
+ */
+size_t ts_bspline_sof_knots(const tsBSpline *spline);
+
+/**
+ * Returns a deep copy of the knots of \p spline.
+ *
+ * @param spline
+ * 	The spline whose knots are read.
+ * @param knots
+ * 	The output array.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_knots(const tsBSpline *spline, tsReal **knots);
+
+/**
+ * Sets the knots of \p spline. Creates a deep copy of \p knots.
+ *
+ * @param spline
+ * 	The spline whose knots are set.
+ * @param knots
+ * 	The values to deep copy.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_KNOTS_DECR
+ * 	If the knot vector is decreasing.
+ * @return TS_MULTIPLICITY
+ * 	If there is a knot with multiplicity > order
+ */
+tsError ts_bspline_set_knots(tsBSpline *spline, const tsReal *knots);
+
+/* ------------------------------------------------------------------------- */
+
+/**
+ * Returns the knot (sometimes also called 'u' or 't') of \p net.
+ *
+ * @param net
+ * 	The net whose knot is read.
+ * @return
+ * 	The knot of \p net.
+ */
+tsReal ts_deboornet_knot(const tsDeBoorNet *net);
+
+/**
+ * Returns the index [u_k, u_k+1) with u being the knot of \p net.
+ *
+ * @param net
+ * 	The net whose index is read.
+ * @return
+ * 	The index [u_k, u_k+1) with u being the knot of \p net.
+ */
+size_t ts_deboornet_index(const tsDeBoorNet *net);
+
+/**
+ * Returns the multiplicity of the knot of \p net.
+ *
+ * @param net
+ * 	The net whose multiplicity is read.
+ * @return
+ * 	The multiplicity of the knot of \p net.
+ */
+size_t ts_deboornet_multiplicity(const tsDeBoorNet *net);
+
+/**
+ * Returns the number of insertion that were necessary to evaluate the knot of
+ * \p net.
+ *
+ * @param net
+ * 	The net with its knot whose number of insertions is read.
+ * @return
+ * 	The number of insertions that were necessary to evaluate the knot of \p
+ * 	net.
+ */
+size_t ts_deboornet_num_insertions(const tsDeBoorNet *net);
+
+/**
+ * Returns the dimension of \p net. The dimension of a net describes the number
+ * of components for each point in ts_bspline_get_points(spline).
+ * One-dimensional nets are possible, albeit their benefit might be
+ * questionable.
+ *
+ * @param net
+ * 	The net whose dimension is read.
+ * @return
+ * 	The dimension of \p net.
+ */
+size_t ts_deboornet_dimension(const tsDeBoorNet *net);
+
+/**
+ * Returns the length of the point array of \p net.
+ *
+ * @param net
+ * 	The net with its point array whose length is read.
+ * @return
+ * 	The length of the point array of \p net.
+ */
+size_t ts_deboornet_len_points(const tsDeBoorNet *net);
+
+/**
+ * Returns the number of points of \p net.
+ *
+ * @param net
+ * 	The net whose number of points is read.
+ * @return
+ * 	The number of points of \p net.
+ */
+size_t ts_deboornet_num_points(const tsDeBoorNet *net);
+
+/**
+ * Returns the size of the point array of \p net. This function may be useful
+ * when copying points using memcpy or memmove.
+ *
+ * @param net
+ * 	The net with its point array whose size is read.
+ * @return
+ * 	The size of the point array of \p net.
+ */
+size_t ts_deboornet_sof_points(const tsDeBoorNet *net);
+
+/**
+ * Returns a deep copy of the points of \p net.
+ *
+ * @param net
+ * 	The net whose points is read.
+ * @param points
+ * 	The output array.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_deboornet_points(const tsDeBoorNet *net, tsReal **points);
+
+/**
+ * Returns the length of the result array of \p net.
+ *
+ * @param net
+ * 	The net with its result array whose length is read.
+ * @return
+ * 	The length of the result array of \p net.
+ */
+size_t ts_deboornet_len_result(const tsDeBoorNet *net);
+
+/**
+ * Returns the number of points in the result array of \p net
+ * (1 <= num_result <= 2).
+ *
+ * @param net
+ * 	The net with its result array whose number of points is read.
+ * @return
+ * 	The number of points in the result array of \p net.
+ */
+size_t ts_deboornet_num_result(const tsDeBoorNet *net);
+
+/**
+ * Returns the size of the result array of \p net. This function may be useful
+ * when copying results using memcpy or memmove.
+ *
+ * @param net
+ * 	The net with its result array whose size is read.
+ * @return TS_SUCCESS
+ * 	The size of the result array of \p net.
+ */
+size_t ts_deboornet_sof_result(const tsDeBoorNet *net);
+
+/**
+ * Returns a deep copy of the result of \p net.
+ *
+ * @param net
+ * 	The net whose result is read.
+ * @param result
+ * 	The output array.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_deboornet_result(const tsDeBoorNet *net, tsReal **result);
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Constructors, Destructors, Copy, and Move Functions                      *
+*                                                                             *
+* The following section contains functions to create and delete instances of  *
+* the data types listed above. Additionally, each data type has a copy and    *
+* move function.                                                              *
+*                                                                             *
+******************************************************************************/
+/**
+ * The default constructor of tsBSpline.
+ *
+ * All values of \p \_spline\_ are set to 0/NULL.
+ * 
+ * @param \_spline\_
+ * 	The spline whose values are set 0/NULL.
+ */
+void ts_bspline_default(tsBSpline *_spline_);
+
+/**
+ * A convenient constructor for tsBSpline.
+ *
+ * On error, all values of \p \_spline\_ are set to 0/NULL.
+ *
+ * @param n_ctrlp
+ * 	The number of control points of \p \_spline\_.
+ * @param dim
+ * 	The dimension of each control point in \p \_spline\_.
+ * @param deg
+ * 	The degree of \p \_spline\_.
+ * @param type
+ * 	How to setup the knot vector of \p \_spline\_.
+ * @param \_spline\_
+ * 	The output parameter storing the result of this function.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DIM_ZERO
+ * 	If \p deg == 0.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If \p deg >= \p n_ctrlp.
+ * @return TS_NUM_KNOTS
+ * 	If \p type == ::TS_BEZIERS and (\p n_ctrlp % \p deg + 1) != 0.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_new(size_t n_ctrlp, size_t dim, size_t deg,
+	tsBSplineType type, tsBSpline *_spline_);
+
+/**
+ * The copy constructor of tsBSpline.
+ *
+ * Creates a deep copy of \p original and stores the result in \p \_copy\_.
+ *
+ * On error, all values of \p \_copy\_ are set to 0/NULL. Does nothing, if
+ * \p original == \p \_copy\_.
+ *
+ * @param original
+ * 	The spline to deep copy.
+ * @param \_copy\_
+ * 	The output parameter storing the copied values of \p original.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_copy(const tsBSpline *original, tsBSpline *_copy_);
+
+/**
+ * The move constructor of tsBSpline.
+ *
+ * Moves all values from \p from to \p \_to\_ and calls ::ts_bspline_default
+ * on \p from afterwards. Does nothing, if \p from == \p \_to\_.
+ * 
+ * @param from
+ * 	The spline whose values are moved to \p \_to\_.
+ * @param \_to\_
+ * 	The output parameter storing the moved values of \p from.
+ */
+void ts_bspline_move(tsBSpline *from, tsBSpline *_to_);
+
+/**
+ * The destructor of tsBSpline.
+ *
+ * Frees all dynamically allocated memory in \p \_spline\_ and calls
+ * ::ts_bspline_default afterwards.
+ * 
+ * @param \_spline\_
+ * 	The spline to free.
+ */
+void ts_bspline_free(tsBSpline *_spline_);
+
+/* ------------------------------------------------------------------------- */
+
+/**
+ * The default constructor of tsDeBoorNet.
+ *
+ * All values of \p \_deBoorNet\_ are set to 0/NULL.
+ * 
+ * @param \_deBoorNet\_
+ * 	The net whose values are set 0/NULL.
+ */
+void ts_deboornet_default(tsDeBoorNet *_deBoorNet_);
+
+/**
+ * The copy constructor of tsDeBoorNet.
+ *
+ * Creates a deep copy of \p original and stores the result in \p \_copy\_.
+ *
+ * On error, all values of \p _copy_ are set to 0/NULL. Does nothing, if
+ * \p original == \p \_copy\_.
+ *
+ * @param original
+ * 	The net to deep copy.
+ * @param \_copy\_
+ * 	The output parameter storing the copied values of \p original.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_deboornet_copy(const tsDeBoorNet *original, tsDeBoorNet *_copy_);
+
+/**
+ * The move constructor of tsDeBoorNet.
+ *
+ * Moves all values from \p from to \p \_to\_ and calls ::ts_deboornet_default
+ * on \p from afterwards. Does nothing, if \p from == \p \_to\_.
+ * 
+ * @param from
+ * 	The net whose values are moved to \p \_to\_.
+ * @param \_to\_
+ * 	The output parameter storing the moved values of \p from.
+ */
+void ts_deboornet_move(tsDeBoorNet *from, tsDeBoorNet *_to_);
+
+/**
+ * The destructor of tsDeBoorNet.
+ *
+ * Frees all dynamically allocated memory in \p \_deBoorNet\_ and calls
+ * ::ts_deboornet_default afterwards.
+ * 
+ * @param \_deBoorNet\_
+ * 	The net to free.
+ */
+void ts_deboornet_free(tsDeBoorNet *_deBoorNet_);
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Interpolation and Approximation Functions                                *
+*                                                                             *
+* The following section contains functions to interpolate and approximate     *
+* arbitrary splines.                                                          *
+*                                                                             *
+******************************************************************************/
+/**
+ * Performs a cubic spline interpolation using the thomas algorithm, see:
+ * 
+ *     https://en.wikipedia.org/wiki/Tridiagonal_matrix_algorithm
+ *     http://www.math.ucla.edu/~baker/149.1.02w/handouts/dd_splines.pdf
+ *     http://www.bakoma-tex.com/doc/generic/pst-bspline/pst-bspline-doc.pdf
+ *
+ * The resulting spline is a sequence of bezier curves connecting each point
+ * in \p points. Each bezier curve _b_ is of degree 3 with \p dim being the
+ * dimension of the each control point in _b_. The total number of control
+ * points is (\p n - 1) * 4.
+ *
+ * On error, all values of \p \_spline\_ are set to 0/NULL.
+ *
+ * Note: \p n is the number of points in \p points and not the length of
+ * \p points. For instance, the follwing point vector yields to \p n = 4 and
+ * \p dim = 2:
+ * 
+ *     [x0, y0, x1, y1, x2, y2, x3, y3]
+ *
+ * @param points
+ * 	The points to interpolate.
+ * @param n
+ * 	The number of points in \p points.
+ * @param dim
+ * 	The dimension of each control point in \p \_spline\_.
+ * @param \_spline\_
+ * 	The output parameter storing the result of this function.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DIM_ZERO
+ * 	If \p dim == 0.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If \p n < 2.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_interpolate_cubic(const tsReal *points, size_t n,
+	size_t dim, tsBSpline *_spline_);
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Query Functions                                                          *
+*                                                                             *
+* The following section contains functions to query splines.                  *
+*                                                                             *
+******************************************************************************/
+/**
+ * Evaluates \p spline at knot value \p u and stores the result in
+ * \p \_deBoorNet\_.
+ *
+ * On error, all values of \p \_deBoorNet\_ are set to 0/NULL.
+ *
+ * @param spline
+ * 	The spline to evaluate.
+ * @param u
+ * 	The knot value to evaluate.
+ * @param \_deBoorNet\_
+ * 	The output parameter storing the evaluation result.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MULTIPLICITY
+ * 	If multiplicity s(\p u) > order of \p spline.
+ * @return TS_U_UNDEFINED
+ * 	If \p spline is not defined at knot value \p u.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_eval(const tsBSpline *spline, tsReal u,
+	tsDeBoorNet *_deBoorNet_);
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Transformation functions                                                 *
+*                                                                             *
+* TinySpline is a library focusing on transformations. That is, most          *
+* functions are used to transform splines by modifying their state, e.g.,     *
+* their number of control points, their degree, and so on. Accordingly, each  *
+* transformation functions specifies an input and output parameter (along     *
+* with the other parameters required to calculate the actual transformation). *
+* By passing a different pointer to the output parameter, the transformation  *
+* result is calculated and stored without changing the state of the input.    *
+* This is in particular useful when dealing with errors as the original state *
+* will never be modified. For instance, let's have a look at the following    *
+* code snippet:                                                               *
+*                                                                             *
+*     tsBSpline in = ...    // an arbitrary spline                            *
+*     tsBSpline out;        // result of transformation                       *
+*                                                                             *
+*     // Subdivide 'in' into sequence of bezier curves and store the result   *
+*     // in 'out'. Does not change 'in' in any way.                           *
+*     tsError err = ts_bspline_to_beziers(&in, &out);                         *
+*     if (err != TS_SUCCESS) {                                                *
+*         // fortunately, 'in' has not been changed                           *
+*     }                                                                       *
+*                                                                             *
+* Even if 'ts_bspline_to_beziers' fails, the state of 'in' has not been       *
+* changed allowing you to handle the error properly.                          *
+*                                                                             *
+* Unless stated otherwise, the order of the parameters for transformation     *
+* functions is:                                                               *
+*                                                                             *
+*     function(input, [additional_input], output, [additional_output])        *
+*                                                                             *
+* 'additional_input' are parameters required to calculate the actual          *
+* transformation. 'additional_output' are parameters storing further result.  *
+*                                                                             *
+* Note: None of TinySpline's transformation functions frees the memory of the *
+*       output parameter. Thus, when using the same output parameter multiple *
+*       times, make sure to free memory before each call. Otherwise, you will *
+*       have a bad time with memory leaks:                                    *
+*                                                                             *
+*     tsBSpline in = ...                  // an arbitrary spline              *
+*     tsBSpline out;                      // result of transformations        *
+*                                                                             *
+*     ts_bspline_to_beziers(&in, &out);   // first transformation             *
+*     ...                                 // some code                        *
+*     ts_bspline_free(&out);              // avoid memory leak.               *
+*     ts_bspline_buckle(&in, &out);       // next transformation              *
+*                                                                             *
+* If you want to modify your input directly without having a separate output, *
+* pass it as input and output at once:                                        *
+*                                                                             *
+*     tsBSpline s = ...                       // an arbitrary spline          *
+*     tsReal *knots = ...                     // a knot vector                *
+*                                                                             *
+*     ts_bspline_set_knots(&s, knots, &s);    // copy 'knots' into 's'        *
+*                                                                             *
+* Note: If a transformation function fails *and* input != output, all fields  *
+*       of the output parameter are set to 0/NULL. If input == output, your   *
+*       input may have an invalid state in case of errors.                    *
+*                                                                             *
+******************************************************************************/
+/**
+ * Computes the derivative of \p spline, see:
+ * 
+ *     http://www.cs.mtu.edu/~shene/COURSES/cs3621/NOTES/spline/B-spline/bspline-derv.html
+ *
+ * The derivative of a spline _s_ of degree _d_ with _m_ control points and
+ * _n_ knots is another spline _s'_ of degree _d-1_ with _m-1_ control points
+ * and _n-2_ knots, defined over _s_ as:
+ * 
+ * \f{eqnarray*}{
+ *   s'(u) &=& \sum_{i=0}^{n-1} N_{i+1,p-1}(u) *
+ * 		(P_{i+1} - P_{i}) * p / (u_{i+p+1}-u_{i+1}) \\
+ *         &=& \sum_{i=1}^{n} N_{i,p-1}(u) *
+ * 		(P_{i} - P_{i-1}) * p / (u_{i+p}-u_{i})
+ * \f}
+ * 
+ * If _s_ has a clamped knot vector, it can be shown that:
+ * 
+ * \f{eqnarray*}{
+ *   s'(u) &=& \sum_{i=0}^{n-1} N_{i,p-1}(u) *
+ * 		(P_{i+1} - P_{i}) * p / (u_{i+p+1}-u_{i+1})
+ * \f}
+ * 
+ * where the multiplicity of the first and the last knot value _u_ is _p_
+ * rather than _p+1_.
+ *
+ * On error, (and if \p spline != \p \_derivative\_) all values of
+ * \p \_derivative\_ are set to 0/NULL.
+ *
+ * @param spline
+ * 	The spline to derive.
+ * @param \_derivative\_
+ *	The output parameter storing the derivative of \p spline.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_UNDERIVABLE
+ * 	If \p spline->deg < 1, \p spline->n_ctrlp < 2, or the multiplicity of
+ * 	an internal knot of \p spline is greater than the degree of \p spline.
+ * 	NOTE: This will be fixed in the future.
+ * @return TS_MALLOC
+ * 	If allocating memory failed.
+ */
+tsError ts_bspline_derive(const tsBSpline *spline, tsBSpline *_derivative_);
+
+/**
+ * Fills the knot vector of \p spline according to \p type with minimum knot
+ * value \p min to maximum knot value \p max and stores the result in
+ * \p \_result\_. Creates a deep copy of \p spline, if
+ * \p spline != \p \_result\_.
+ *
+ * On error, (and if \p spline != \p \_result\_) all values of \p \_result\_
+ * are set to 0/NULL.
+ *
+ * @param spline
+ * 	The spline to deep copy (if \p spline != \p \_result\_) and whose knot
+ * 	vector is filled according to \p type with minimum knot value \p min
+ * 	and maximum knot value \p max.
+ * @param type
+ * 	How to fill the knot vector of \p \_result\_.
+ * @param min
+ * 	The minimum knot value of the knot vector of \p \_result\_.
+ * @param max
+ * 	The maximum knot value of the knot vector of \p \_result\_.
+ * @param \_result\_
+ * 	The output parameter storing the result of this function.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If \p spline->n_knots < 2*(\p original->deg+1). We can reuse this
+ * 	error code because \p spline->n_knots < 2*(\p spline->deg+1) implies
+ * 	\p spline->deg >= \p spline->n_ctrlp. Furthermore, using
+ * 	TS_DEG_GE_NCTRLP instead of TS_NUM_KNOTS ensures that TS_NUM_KNOTS is
+ * 	not used twice for this function. To be more fail-safe,
+ * 	\p spline->deg+1 instead of \p spline->order is used, to make sure
+ * 	that \p spline->deg+1 >= 1.
+ * @return TS_NUM_KNOTS
+ * 	If \p type == TS_BEZIERS and
+ * 	\p spline->n_knots % \p spline->order != 0.
+ * @return TS_KNOTS_DECR
+ * 	If \p min >= \p max. (::ts_fequals is used to determine whether
+ * 	\p min == \p max).
+ * @return TS_MALLOC
+ * 	If \p spline != \p \_result\_ and allocating memory failed.
+ */
+tsError ts_bspline_fill_knots(const tsBSpline *spline, tsBSplineType type,
+	tsReal min, tsReal max, tsBSpline *_result_);
+
+/**
+ * Inserts the knot value \p u \p n times into \p spline and stores the result
+ * in \p \_result\_. Creates a deep copy of \p spline, if
+ * \p spline != \p \_result\_.
+ * 
+ * On error, (and if \p spline != \p \_result\_) all values of \p \_result\_
+ * are set to 0/NULL.
+ * 
+ * @param spline
+ * 	The spline to deep copy (if \p spline != \p \_result\_) and whose knot
+ * 	vector is extended with \p u \p n times.
+ * @param u
+ * 	The knot value to insert.
+ * @param n
+ * 	How many times \p u should be inserted.
+ * @param \_result\_
+ * 	The output parameter storing the updated knot vector.
+ * @param \_k\_
+ * 	The output parameter storing the last index of \p u in \p \_result\_.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If \p spline != \p \_result\_ and allocating memory failed.
+ */
+tsError ts_bspline_insert_knot(const tsBSpline *spline, tsReal u, size_t n,
+	tsBSpline *_result_, size_t *_k_);
+
+/**
+ * Resizes \p spline by \p n (number of control points) and stores the result
+ * in \p \_resized\_. Creates a deep copy of \p spline, if
+ * \p spline != \p \_result\_. If \p back != 0 \p spline is resized at the
+ * end. If \p back == 0 \p spline is resized at front.
+ *
+ * On error, (and if \p spline != \p \_result\_) all values of \p \_result\_
+ * are set to 0/NULL.
+ *
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If the degree of \p \_resized\_ would be >= the number of the control
+ * 	points of \p \_resized\_.
+ * @return TS_DIM_ZERO
+ * 	If \p spline != \p \_result\_ and \p spline->dim == 0.
+ * @return TS_DEG_GE_NCTRLP
+ * 	If \p spline != \p \_result\_ and
+ * 	\p spline->deg >= \p spline->n_ctrlp.
+ * @return TS_MALLOC
+ * 	If \p spline != \p \_result\_ and allocating memory failed.
+ */
+tsError ts_bspline_resize(const tsBSpline *spline, int n, int back,
+	tsBSpline *_resized_);
+
+/**
+ * Splits \p spline at \p u and stores the result in \p \_split\_. That is,
+ * \p u is inserted _n_ times such that s(\p u) == \p \_split\_->order.
+ * Creates a deep copy of \p spline, if \p spline != \p \_split\_.
+ * 
+ * On error, (and if \p spline != \p \_split\_) all values of \p \_split\_
+ * are set to 0/NULL.
+ * 
+ * @param spline
+ * 	The spline to deep copy (if \p spline != \p \_result\_) and split.
+ * @param u
+ * 	The split point.
+ * @param \_split\_
+ * 	The output parameter storing the split spline.
+ * @param \_k\_
+ * 	The output parameter storing the last index of \p u in \p \_split\_.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If \p spline != \p \_split\_ and allocating memory failed.
+ */
+tsError ts_bspline_split(const tsBSpline *spline, tsReal u, tsBSpline *_split_,
+	size_t *_k_);
+
+/**
+ * Buckles \p spline by \p b and stores the result in \p \_buckled\_. Creates
+ * a deep copy of \p spline, if \p spline != \p \_buckled\_.
+ *
+ * This function is based on:
+ * 
+ *      Holten, Danny. "Hierarchical edge bundles: Visualization of adjacency
+ *      relations in hierarchical data." Visualization and Computer Graphics,
+ *      IEEE Transactions on 12.5 (2006): 741-748.
+ * 
+ * Holten calls it "straightening" (page 744, equation 1).
+ *
+ * Usually, the range of \p b is: 0.0 <= \p b <= 1.0 with 0 yielding to a line
+ * connecting the first and the last control point (no buckle) and 1 keeping
+ * the original shape (maximum buckle). If \b < 0 or \b > 1 the behaviour is
+ * undefined, though, it will not result in an error.
+ *
+ * On error, (and if \p spline != \p \_buckled\_) all values of \p \_buckled\_
+ * are set to 0/NULL.
+ *
+ * @param spline
+ * 	The spline to buckle by \p b.
+ * @param b
+ * 	The buckle factor (usually 0.0 <= \p b <= 1.0).
+ * @param \_buckled\_
+ * 	The output parameter storing the buckled spline.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If \p spline != \p \_buckled\_ and allocating memory failed.
+ */
+tsError ts_bspline_buckle(const tsBSpline *spline, tsReal b,
+	tsBSpline *_buckled_);
+
+/**
+ * Subdivides \p spline into a sequence of Bezier curvs by splitting it at
+ * each internal knot value. Creates a deep copy of \p spline, if
+ * \p spline != \p \_beziers\_.
+ * 
+ * On error, (and if \p spline != \p \_beziers\_) all values of \p \_beziers\_
+ * are set to 0/NULL.
+ * 
+ * @param spline
+ * 	The spline to subdivide into a sequence of Bezier curves.
+ * @param \_beziers\_
+ * 	The output parameter storing the sequence of Bezier curves.
+ * @return TS_SUCCESS
+ * 	On success.
+ * @return TS_MALLOC
+ * 	If \p spline != \p \_beizers\_ and allocating memory failed.
+ */
+tsError ts_bspline_to_beziers(const tsBSpline *spline, tsBSpline *_beziers_);
+
+
+
+/******************************************************************************
+*                                                                             *
+* :: Utility Functions                                                        *
+*                                                                             *
+* The following section contains utility functions used by TinySpline which   *
+* also may be helpful when using this library.                                *
+*                                                                             *
+******************************************************************************/
+/**
+ * Compares the tsReal values \p x and \p y using an absolute and relative
+ * epsilon environment.
+ *
+ * @param x
+ * 	The x value to compare.
+ * @param y
+ * 	The y value to compare.
+ * @return 1
+ * 	If \p x is equals to \p y.
+ * @return 0
+ * 	Otherwise.
+ */
+int ts_fequals(tsReal x, tsReal y);
+
+/**
+ * Returns the error message associated to \p err. Returns "unknown error" if
+ * \p err is no associated (indicating a bug) or is TS_SUCCESS (which is not
+ * an actual error).
+ */
+const char* ts_enum_str(tsError err);
+
+/**
+ * Returns the error code associated to \p str or TS_SUCCESS if \p str is not
+ * associated. Keep in mind that by concept "unknown error" is not associated,
+ * though, TS_SUCCESS is returned.
+ */
+tsError ts_str_enum(const char *str);
+
+/**
+ * Fills the given array \p arr with \p val from \p arr+0 to \p arr+ \p num
+ * (exclusive).
+ */
+void ts_arr_fill(tsReal *arr, size_t num, tsReal val);
+
+/**
+ * Returns the euclidean distance of \p x and \p y consisting of \p dim
+ * components, respectively.
+ *
+ * @param x
+ * 	The x value.
+ * @param y
+ * 	The y value.
+ * @param dim
+ * 	The dimension of \p x and \p y.
+ * @return
+ * 	The euclidean distanc of \p x and \p y.
+ */
+tsReal ts_ctrlp_dist2(const tsReal *x, const tsReal *y, size_t dim);
+
+
+
+#ifdef	__cplusplus
+}
+#endif
+
+#endif	/* TINYSPLINE_H */
+

src/decition/decition_brain/decision/tinyspline/tinyspline.pri

@@ -0,0 +1,7 @@
+HEADERS += \
+    $$PWD/tinyspline.h \
+    $$PWD/tinysplinecpp.h
+
+SOURCES += \
+    $$PWD/tinyspline.c \
+    $$PWD/tinysplinecpp.cpp

src/decition/decition_brain/decision/tinyspline/tinysplinecpp.cpp

@@ -0,0 +1,350 @@
+#include <tinyspline_ros/tinysplinecpp.h>
+#include <stdexcept>
+#include <cstdio>
+
+// Surpress warning C4996 (sprintf_s).
+#ifdef _MSC_VER
+#pragma warning(disable:4996)
+#endif
+
+/******************************************************************************
+*                                                                             *
+* DeBoorNet                                                                   *
+*                                                                             *
+******************************************************************************/
+tinyspline::DeBoorNet::DeBoorNet()
+{
+	ts_deboornet_default(&net);
+}
+
+tinyspline::DeBoorNet::DeBoorNet(const tinyspline::DeBoorNet &other)
+{
+	tsError err = ts_deboornet_copy(&other.net, &net);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+}
+
+tinyspline::DeBoorNet::~DeBoorNet()
+{
+	ts_deboornet_free(&net);
+}
+
+tinyspline::DeBoorNet & tinyspline::DeBoorNet::operator=(
+	const tinyspline::DeBoorNet &other)
+{
+	if (&other != this) {
+		tsError err = ts_deboornet_copy(&other.net, &net);
+		if (err < 0)
+			throw std::runtime_error(ts_enum_str(err));
+	}
+	return *this;
+}
+
+tinyspline::real tinyspline::DeBoorNet::knot() const
+{
+	return ts_deboornet_knot(&net);
+}
+
+size_t tinyspline::DeBoorNet::index() const
+{
+	return ts_deboornet_index(&net);
+}
+
+size_t tinyspline::DeBoorNet::multiplicity() const
+{
+	return ts_deboornet_multiplicity(&net);
+}
+
+size_t tinyspline::DeBoorNet::numInsertions() const
+{
+	return ts_deboornet_num_insertions(&net);
+}
+
+size_t tinyspline::DeBoorNet::dimension() const
+{
+	return ts_deboornet_dimension(&net);
+}
+
+std::vector<tinyspline::real> tinyspline::DeBoorNet::points() const
+{
+	tsReal *points;
+	tsError err = ts_deboornet_points(&net, &points);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	size_t num_points = ts_deboornet_num_points(&net);
+	tinyspline::real *begin = points;
+	tinyspline::real *end = begin + num_points * dimension();
+	std::vector<tinyspline::real> vec =
+		std::vector<tinyspline::real>(begin, end);
+	delete points;
+	return vec;
+}
+
+std::vector<tinyspline::real> tinyspline::DeBoorNet::result() const
+{
+	tsReal *result;
+	tsError err = ts_deboornet_result(&net, &result);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	size_t num_result = ts_deboornet_num_result(&net);
+	tinyspline::real *begin = result;
+	tinyspline::real *end = begin + num_result * dimension();
+	std::vector<tinyspline::real> vec =
+		std::vector<tinyspline::real>(begin, end);
+	delete result;
+	return vec;
+}
+
+tsDeBoorNet * tinyspline::DeBoorNet::data()
+{
+	return &net;
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* BSpline                                                                     *
+*                                                                             *
+******************************************************************************/
+tinyspline::BSpline::BSpline()
+{
+	ts_bspline_default(&spline);
+}
+
+tinyspline::BSpline::BSpline(const tinyspline::BSpline &other)
+{
+	tsError err = ts_bspline_copy(&other.spline, &spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+}
+
+tinyspline::BSpline::BSpline(size_t nCtrlp, size_t dim, size_t deg,
+	tinyspline::BSpline::type type)
+{
+	tsError err = ts_bspline_new(nCtrlp, dim, deg, type, &spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+}
+
+tinyspline::BSpline::~BSpline()
+{
+	ts_bspline_free(&spline);
+}
+
+tinyspline::BSpline & tinyspline::BSpline::operator=(
+	const tinyspline::BSpline &other)
+{
+	if (&other != this) {
+		tsError err = ts_bspline_copy(&other.spline, &spline);
+		if (err < 0)
+			throw std::runtime_error(ts_enum_str(err));
+	}
+	return *this;
+}
+
+tinyspline::DeBoorNet tinyspline::BSpline::operator()(tinyspline::real u) const
+{
+	return eval(u);
+}
+
+size_t tinyspline::BSpline::degree() const
+{
+	return ts_bspline_degree(&spline);
+}
+
+size_t tinyspline::BSpline::order() const
+{
+	return ts_bspline_order(&spline);
+}
+
+size_t tinyspline::BSpline::dimension() const
+{
+	return ts_bspline_dimension(&spline);
+}
+
+std::vector<tinyspline::real> tinyspline::BSpline::controlPoints() const
+{
+	tsReal *ctrlp;
+	tsError err = ts_bspline_control_points(&spline, &ctrlp);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	size_t num_ctrlp = ts_bspline_num_control_points(&spline);
+	tinyspline::real *begin  = ctrlp;
+	tinyspline::real *end = begin + num_ctrlp * dimension();
+	std::vector<tinyspline::real> vec =
+		std::vector<tinyspline::real>(begin, end);
+	delete ctrlp;
+	return vec;
+}
+
+std::vector<tinyspline::real> tinyspline::BSpline::knots() const
+{
+	tsReal *knots;
+	tsError err = ts_bspline_knots(&spline, &knots);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	size_t num_knots = ts_bspline_num_knots(&spline);
+	tinyspline::real *begin = knots;
+	tinyspline::real *end = begin + num_knots;
+	std::vector<tinyspline::real> vec =
+		std::vector<tinyspline::real>(begin, end);
+	delete knots;
+	return vec;
+}
+
+tsBSpline * tinyspline::BSpline::data()
+{
+	return &spline;
+}
+
+tinyspline::DeBoorNet tinyspline::BSpline::eval(tinyspline::real u) const
+{
+	tinyspline::DeBoorNet deBoorNet;
+	tsError err = ts_bspline_eval(&spline, u, deBoorNet.data());
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return deBoorNet;
+}
+
+void tinyspline::BSpline::setControlPoints(
+	const std::vector<tinyspline::real> &ctrlp)
+{
+	size_t expected = ts_bspline_len_control_points(&spline);
+	size_t actual = ctrlp.size();
+	if (expected != actual) {
+		char expected_str[32];
+		char actual_str[32];
+		sprintf(expected_str, "%zu", expected);
+		sprintf(actual_str, "%zu", actual);
+		throw std::runtime_error(
+			"Expected size: " + std::string(expected_str) +
+			", Actual size: " + std::string(actual_str));
+	}
+	tsError err = ts_bspline_set_control_points(&spline, ctrlp.data());
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+}
+
+void tinyspline::BSpline::setKnots(const std::vector<tinyspline::real> &knots)
+{
+	size_t expected = ts_bspline_num_knots(&spline);
+	size_t actual = knots.size();
+	if (expected != actual) {
+		char expected_str[32];
+		char actual_str[32];
+		sprintf(expected_str, "%zu", expected);
+		sprintf(actual_str, "%zu", actual);
+		throw std::runtime_error(
+			"Expected size: " + std::string(expected_str) +
+			", Actual size: " + std::string(actual_str));
+	}
+	tsError err = ts_bspline_set_knots(&spline, knots.data());
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+}
+
+tinyspline::BSpline tinyspline::BSpline::fillKnots(tsBSplineType type,
+	tinyspline::real min, tinyspline::real max) const
+{
+	tinyspline::BSpline bs;
+	tsError err = ts_bspline_fill_knots(
+		&spline, type, min, max, &bs.spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+tinyspline::BSpline tinyspline::BSpline::insertKnot(tinyspline::real u,
+	size_t n) const
+{
+	tinyspline::BSpline bs;
+	size_t k;
+	tsError err = ts_bspline_insert_knot(&spline, u, n, &bs.spline, &k);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+tinyspline::BSpline tinyspline::BSpline::resize(int n, int back) const
+{
+	tinyspline::BSpline bs;
+	tsError err = ts_bspline_resize(&spline, n, back, &bs.spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+tinyspline::BSpline tinyspline::BSpline::split(tinyspline::real u) const
+{
+	tinyspline::BSpline bs;
+	size_t k;
+	tsError err = ts_bspline_split(&spline, u, &bs.spline, &k);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+tinyspline::BSpline tinyspline::BSpline::buckle(tinyspline::real b) const
+{
+	tinyspline::BSpline bs;
+	tsError err = ts_bspline_buckle(&spline, b, &bs.spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+tinyspline::BSpline tinyspline::BSpline::toBeziers() const
+{
+	tinyspline::BSpline bs;
+	tsError err = ts_bspline_to_beziers(&spline, &bs.spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+tinyspline::BSpline tinyspline::BSpline::derive() const
+{
+	tinyspline::BSpline bs;
+	tsError err = ts_bspline_derive(&spline, &bs.spline);
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bs;
+}
+
+
+
+/******************************************************************************
+*                                                                             *
+* Utils                                                                       *
+*                                                                             *
+******************************************************************************/
+tinyspline::BSpline tinyspline::Utils::interpolateCubic(
+	const std::vector<tinyspline::real> *points, size_t dim)
+{
+	if (dim == 0)
+		throw std::runtime_error(ts_enum_str(TS_DIM_ZERO));
+	if (points->size() % dim != 0)
+		throw std::runtime_error("#points % dim == 0 failed");
+	tinyspline::BSpline bspline;
+	tsError err = ts_bspline_interpolate_cubic(
+		points->data(), points->size()/dim, dim, bspline.data());
+	if (err < 0)
+		throw std::runtime_error(ts_enum_str(err));
+	return bspline;
+}
+
+bool tinyspline::Utils::fequals(tinyspline::real x, tinyspline::real y)
+{
+	return ts_fequals(x, y) == 1;
+}
+
+std::string tinyspline::Utils::enum_str(tsError err)
+{
+	return std::string(ts_enum_str(err));
+}
+
+tsError tinyspline::Utils::str_enum(std::string str)
+{
+	return ts_str_enum(str.c_str());
+}

src/decition/decition_brain/decision/tinyspline/tinysplinecpp.h

@@ -0,0 +1,90 @@
+#pragma once
+
+#include <tinyspline_ros/tinyspline.h>
+#include <vector>
+#include <string>
+
+namespace tinyspline {
+
+typedef tsReal real;
+
+class DeBoorNet {
+public:
+	/* Constructors & Destructors */
+	DeBoorNet();
+	DeBoorNet(const DeBoorNet &other);
+	~DeBoorNet();
+
+	/* Operators */
+	DeBoorNet& operator=(const DeBoorNet &other);
+
+	/* Getter */
+	real knot() const;
+	size_t index() const;
+	size_t multiplicity() const;
+	size_t numInsertions() const;
+	size_t dimension() const;
+	std::vector<real> points() const;
+	std::vector<real> result() const;
+	tsDeBoorNet * data();
+
+private:
+	tsDeBoorNet net;
+};
+
+class BSpline {
+public:
+	typedef tsBSplineType type;
+
+	/* Constructors & Destructors */
+	BSpline();
+	BSpline(const BSpline &other);
+	explicit BSpline(size_t nCtrlp, size_t dim = 2, size_t deg = 3,
+		tinyspline::BSpline::type type = TS_CLAMPED);
+	~BSpline();
+
+	/* Operators */
+	BSpline & operator=(const BSpline &other);
+	DeBoorNet operator()(real u) const;
+
+	/* Getter */
+	size_t degree() const;
+	size_t order() const;
+	size_t dimension() const;
+	std::vector<real> controlPoints() const;
+	std::vector<real> knots() const;
+	tsBSpline * data();
+
+	/* Query */
+	DeBoorNet eval(real u) const;
+
+	/* Modifications */
+	void setControlPoints(const std::vector<real> &ctrlp);
+	void setKnots(const std::vector<real> &knots);
+
+	/* Transformations */
+	BSpline fillKnots(tsBSplineType type, real min, real max) const;
+	BSpline insertKnot(real u, size_t n) const;
+	BSpline resize(int n, int back) const;
+	BSpline split(real u) const;
+	BSpline buckle(real b) const;
+	BSpline toBeziers() const;
+	BSpline derive() const;
+
+private:
+	tsBSpline spline;
+};
+
+class Utils {
+public:
+	static BSpline interpolateCubic(
+		const std::vector<real> *points, size_t dim);
+	static bool fequals(real x, real y);
+	static std::string enum_str(tsError err);
+	static tsError str_enum(std::string str);
+
+private:
+	Utils() {}
+};
+
+}

src/decition/decition_brain/decision/transfer.cpp

@@ -0,0 +1,138 @@
+#include <decition/transfer.h>
+#include <decition/decition_type.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+using namespace std;
+#define PI (3.1415926535897932384626433832795)
+
+
+
+///大地转车体
+iv::Point2D iv::decition::Coordinate_Transfer(double x_path, double y_path, iv::GPS_INS pos)
+{
+    double x_vehicle, y_vehicle;
+    double theta = atan2(x_path - pos.gps_x, y_path - pos.gps_y);
+
+    double distance = sqrt((x_path - pos.gps_x) * (x_path - pos.gps_x) + (y_path - pos.gps_y) * (y_path - pos.gps_y));
+    double angle = theta - (-90 + pos.ins_heading_angle) / 180 * PI;
+
+    x_vehicle = -cos(angle) * distance;
+    y_vehicle = sin(angle) * distance;
+    return  iv::Point2D(x_vehicle, y_vehicle);
+}
+
+///车体转大地
+iv::GPS_INS iv::decition::Coordinate_UnTransfer(double x_path, double y_path, iv::GPS_INS pos)
+{
+    iv::GPS_INS gps_ins;
+    double x_vehicle, y_vehicle;
+    double theta = atan2(x_path, y_path);
+
+    double distance = sqrt(x_path * x_path + y_path * y_path);
+    double angle = (pos.ins_heading_angle / 180 * PI + theta);
+
+    x_vehicle = pos.gps_x + distance * sin(angle);
+    y_vehicle = pos.gps_y + distance * cos(angle);
+    gps_ins.gps_x = x_vehicle;
+    gps_ins.gps_y = y_vehicle;
+
+    return  gps_ins;
+}
+
+double iv::decition::GetDistance(iv::Point2D x1, iv::Point2D x2)
+{
+    return sqrt((x1.x - x2.x) * (x1.x - x2.x) + (x1.y - x2.y) * (x1.y - x2.y));
+}
+
+double iv::decition::GetDistance(iv::GPS_INS p1, iv::GPS_INS p2)
+{
+    return sqrt((p1.gps_x - p2.gps_x) * (p1.gps_x - p2.gps_x) + (p1.gps_y - p2.gps_y) * (p1.gps_y - p2.gps_y));
+}
+
+
+
+
+//GPS转大地坐标
+void iv::decition::BLH2XYZ(iv::GPS_INS gp)
+{
+    int nFlag = 2;
+
+    double B = gp.gps_lat;
+
+    double L = gp.gps_lng;
+
+
+
+    double N, E, h;
+    double L0 = GetL0InDegree(L);//根据经度求中央子午线经度
+
+    double a = 6378245.0;            //地球半径  北京6378245
+    double F = 298.257223563;        //地球扁率
+    double iPI = 0.0174532925199433; //2pi除以360，用于角度转换
+
+    double f = 1 / F;
+    double b = a * (1 - f);
+    double ee = (a * a - b * b) / (a * a);
+    double e2 = (a * a - b * b) / (b * b);
+    double n = (a - b) / (a + b), n2 = (n * n), n3 = (n2 * n), n4 = (n2 * n2), n5 = (n4 * n);
+    double al = (a + b) * (1 + n2 / 4 + n4 / 64) / 2;
+    double bt = -3 * n / 2 + 9 * n3 / 16 - 3 * n5 / 32;
+    double gm = 15 * n2 / 16 - 15 * n4 / 32;
+    double dt = -35 * n3 / 48 + 105 * n5 / 256;
+    double ep = 315 * n4 / 512;
+
+    B = B * iPI;
+    L = L * iPI;
+    L0 = L0 * iPI;
+
+    double l = L - L0, cl = (cos(B) * l), cl2 = (cl * cl), cl3 = (cl2 * cl), cl4 = (cl2 * cl2), cl5 = (cl4 * cl), cl6 = (cl5 * cl), cl7 = (cl6 * cl), cl8 = (cl4 * cl4);
+    double lB = al * (B + bt * sin(2 * B) + gm * sin(4 * B) + dt * sin(6 * B) + ep * sin(8 * B));
+    double t = tan(B), t2 = (t * t), t4 = (t2 * t2), t6 = (t4 * t2);
+    double Nn = a / sqrt(1 - ee * sin(B) * sin(B));
+    double yt = e2 * cos(B) * cos(B);
+    N = lB;
+    N += t * Nn * cl2 / 2;
+    N += t * Nn * cl4 * (5 - t2 + 9 * yt + 4 * yt * yt) / 24;
+    N += t * Nn * cl6 * (61 - 58 * t2 + t4 + 270 * yt - 330 * t2 * yt) / 720;
+    N += t * Nn * cl8 * (1385 - 3111 * t2 + 543 * t4 - t6) / 40320;
+
+    E = Nn * cl;
+    E += Nn * cl3 * (1 - t2 + yt) / 6;
+    E += Nn * cl5 * (5 - 18 * t2 + t4 + 14 * yt - 58 * t2 * yt) / 120;
+    E += Nn * cl7 * (61 - 479 * t2 + 179 * t4 - t6) / 5040;
+
+    E += 500000;
+    if (nFlag == 1)
+    {
+        //UTM投影
+        N = 0.9996 * N;
+        E = 0.9996 * (E - 500000.0) + 500000.0;//Get y
+    }
+    if (nFlag == 2)
+    {
+        //UTM投影
+        N = 0.9999 * N;
+        E = 0.9999 * (E - 500000.0) + 250000.0;//Get y
+    }
+
+    //原
+    //pt2d.x = N;
+    //pt2d.y = E;
+    //
+    gp.gps_x = E - 280000;
+    gp.gps_y = N - 4325000;
+
+}
+
+
+double iv::decition::GetL0InDegree(double dLIn)
+{
+    //3°带求带号及中央子午线经度(d的形式)
+    //具体公式请参阅《常用大地坐标系及其变换》朱华统，解放军出版社138页
+    double L = dLIn;//d.d
+    double L_ddd_Style = L;
+    double ZoneNumber = (int)((L_ddd_Style - 1.5) / 3.0) + 1;
+    double L0 = ZoneNumber * 3.0;//degree
+    return L0;
+}

src/decition/decition_brain/decision/transfer.h

@@ -0,0 +1,27 @@
+#pragma once
+#ifndef _IV_DECITION_TRANSFER_
+#define _IV_DECITION_TRANSFER_
+
+#include <common/gps_type.h>
+#include <decition/decition_type.h>
+#include<vector> 
+
+namespace iv {
+    namespace decition {
+        //根据传感器传输来的信息作出决策
+
+        double GetL0InDegree(double dLIn);
+
+        void BLH2XYZ(GPS_INS gps_ins);
+
+        ///大地转车体
+        Point2D Coordinate_Transfer(double x_path, double y_path, GPS_INS pos);
+
+        ///车体转大地
+        GPS_INS Coordinate_UnTransfer(double x_path, double y_path, GPS_INS pos);
+        double GetDistance(Point2D x1, Point2D x2);
+        double GetDistance(GPS_INS p1, GPS_INS p2);
+    }
+}
+
+#endif // ! _IV_DECITION_TRANSFER_

src/decition/decition_brain/decition/adc_adapter/base_adapter.cpp

@@ -1,9 +1,9 @@
 #include <common/gps_type.h>
-#include <decition/decition_type.h>
+#include <decision/decition_type.h>
 #include <common/obstacle_type.h>
-#include<vector>
-#include <decition/adc_tools/gnss_coordinate_convert.h>
-#include <decition/adc_adapter/base_adapter.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
 
 
 

src/decition/decition_brain/decition/adc_adapter/base_adapter.h

@@ -4,10 +4,10 @@
 
 
 #include <common/gps_type.h>
-#include <decition/decition_type.h>
+#include <decision/decition_type.h>
 #include <common/obstacle_type.h>
-#include<vector>
-#include <decition/adc_tools/gnss_coordinate_convert.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
 
 namespace iv {
 namespace decition {

src/decition/decition_brain/decition/adc_adapter/bus_adapter.cpp

@@ -1,4 +1,4 @@
-#include <decition/adc_adapter/bus_adapter.h>
+#include <decision/adc_adapter/bus_adapter.h>
 #include <common/constants.h>
 #include <common/car_status.h>
 #include <math.h>

src/decition/decition_brain/decition/adc_adapter/bus_adapter.h

@@ -3,13 +3,13 @@
 
 
 #include <common/gps_type.h>
-#include <decition/decition_type.h>
+#include <decision/decition_type.h>
 #include <common/obstacle_type.h>
 #include <vector>
-#include <decition/adc_tools/gnss_coordinate_convert.h>
-#include <decition/adc_adapter/base_adapter.h>
-#include <decition/adc_tools/transfer.h>
-#include<decition/decide_gps_00.h>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
 
 
 namespace iv {

src/decition/decition_brain/decition/adc_adapter/ge3_adapter.cpp

@@ -1,4 +1,4 @@
-#include <decition/adc_adapter/ge3_adapter.h>
+#include <decision/adc_adapter/ge3_adapter.h>
 #include <common/constants.h>
 #include <common/car_status.h>
 #include <math.h>

src/decition/decition_brain/decition/adc_adapter/ge3_adapter.h

@@ -4,13 +4,13 @@
 
 
 #include <common/gps_type.h>
-#include <decition/decition_type.h>
+#include <decision/decition_type.h>
 #include <common/obstacle_type.h>
-#include<vector>
-#include <decition/adc_tools/gnss_coordinate_convert.h>
-#include <decition/adc_adapter/base_adapter.h>
-#include <decition/adc_tools/transfer.h>
-#include<decition/decide_gps_00.h>
+#include <vector>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
 
 
 namespace iv {

src/decition/decition_brain/decition/adc_adapter/hapo_adapter.cpp

@@ -1,4 +1,4 @@
-#include <decition/adc_adapter/hapo_adapter.h>
+#include <decision/adc_adapter/hapo_adapter.h>
 #include <common/constants.h>
 #include <common/car_status.h>
 #include <math.h>

src/decition/decition_brain/decition/adc_adapter/hapo_adapter.h

@@ -3,13 +3,13 @@
 
 
 #include <common/gps_type.h>
-#include <decition/decition_type.h>
+#include <decision/decition_type.h>
 #include <common/obstacle_type.h>
 #include <vector>
-#include <decition/adc_tools/gnss_coordinate_convert.h>
-#include <decition/adc_adapter/base_adapter.h>
-#include <decition/adc_tools/transfer.h>
-#include<decition/decide_gps_00.h>
+#include <decision/adc_tools/gnss_coordinate_convert.h>
+#include <decision/adc_adapter/base_adapter.h>
+#include <decision/adc_tools/transfer.h>
+#include <decision/decide_gps_00.h>
 
 
 namespace iv {

src/decition/decition_brain/decition/adc_adapter/qingyuan_adapter.cpp

@@ -1,4 +1,4 @@
-#include <decition/adc_adapter/qingyuan_adapter.h>
+#include <decision/adc_adapter/qingyuan_adapter.h>
 #include <common/constants.h>
 #include <common/car_status.h>
 #include <math.h>