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@@ -4308,7 +4308,7 @@ int iv::decition::DecideGps00::computeBackDistance(iv::LidarGridPtr lidarGridPtr
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// return 0;
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if(front_car_id>0)
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{
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- if((front_car.avoidX==0)&&(front_car.vehState==0)&&(front_car.front_car_dis<150)&&(vehState==normalRun))
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+ if((front_car.avoidX==0)&&(front_car.vehState==0)&&(front_car.front_car_dis<150)&&(vehState==normalRun)&&(obs_cur_distance>15))
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{
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if(PathPoint+300<gpsMapLine.size()){
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for(int k=PathPoint;k<PathPoint+300;k++){
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zhangjia