modify brake & rapidaccel trigger

trigger/kinglong/cicv_extend/cutin_difference/main/cutin_difference.go

@@ -1,7 +1,7 @@
 package main
 
 import (
-	"cicv-data-closedloop/common/entity"
+	"cicv-data-closedloop/kinglong_param"
 	"math"
 	"sort"
 )
@@ -15,7 +15,7 @@ func Label() string {
 	return "brake"
 }
 
-func Rule(param entity.KinglongParam) string {
+func Rule(param kinglong_param.KinglongParam) string {
 	for _, objValue := range param.ObjDicOfTpperception {
 		if len(objValue) <= 5 || !isCuttingIn(objValue, param) || !isDifference(param) {
 			continue
@@ -25,7 +25,7 @@ func Rule(param entity.KinglongParam) string {
 	return ""
 }
 
-func isCuttingIn(objYList []float32, param entity.KinglongParam) bool {
+func isCuttingIn(objYList []float32, param kinglong_param.KinglongParam) bool {
 	for i, objY := range objYList {
 		if math.Abs(float64(objY)) >= 1.3 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 {
 			for j := 0; j < len(objYList)-i-1; j++ {
@@ -39,7 +39,7 @@ func isCuttingIn(objYList []float32, param entity.KinglongParam) bool {
 }
 
 // 利用曼惠特尼U检验的方式判断车端数据和驾驶员控制数据是否存在显著差异
-func isDifference(param entity.KinglongParam) bool {
+func isDifference(param kinglong_param.KinglongParam) bool {
 	_, pValueSteering := mannWhitneyUTest(param.EgoSteeringRealOfDataRead, param.EgoSteeringCmdOfJinlongControlPub)
 	_, pValueThrottle := mannWhitneyUTest(param.EgoThrottleRealOfDataRead, param.EgoThrottleRealOfDataRead)
 	_, pValueBrake := mannWhitneyUTest(param.EgoBrakeRealOfDataRead, param.EgoBrakeCmdOfJinlongControlPub)

trigger/pjisuv/cicv_location/Brake/main/Brake.go

@@ -16,7 +16,7 @@ func Label() string {
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
 	fmt.Println("当前减速度为：", data.AccelX)
-	if data.AccelX*9.8 < -4.0 {
+	if data.AccelX*9.8 < -12.0 {
 		return "brake"
 	} else {
 		return ""

trigger/pjisuv/cicv_location/RapidAccel/main/RapidAccel.go

@@ -15,7 +15,7 @@ func Label() string {
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
 	fmt.Println("当前减速度为：", data.AccelX)
-	if data.AccelX*9.8 > 5.0 {
+	if data.AccelX*9.8 > 4.6 {
 		return "RapidAccel"
 	} else {
 		return ""