commit

trigger/pjisuv/map_polygon/OutoffRoad/main/OutoffRoad.go → trigger/pjisuv/map_polygon/OutOfLane/main/OutOfLane.go

@@ -7,11 +7,11 @@ import (
 )
 
 func Topic() string {
-	return "/cicv_location"
+	return "/map_polygon"
 }
 
 func Label() string {
-	return "outofroad"
+	return "OutOfLane"
 }
 
 type Point struct {
@@ -68,7 +68,7 @@ func Rule(data *pjisuv_msgs.PolygonStamped, param pjisuv_param.PjisuvParam) stri
 		A := Points[i]
 		B := Points[i+1]
 		if polygonLineIntersect(corners, A, B) {
-			return "outofroad"
+			return "OutOfLane"
 		}
 	}
 	return ""

trigger/pjisuv/tpperception/TTC/main/TTC.go

@@ -3,6 +3,7 @@ package main
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
 	"math"
 )
 
@@ -37,8 +38,9 @@ func Label() string {
 
 func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) string {
 	for _, obj := range data.Objs {
-		if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityYOfCicvLocation > 1 {
+		if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityYOfCicvLocation > 0.5 {
 			ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))
+			fmt.Println("TTC值为：", ttc)
 			if ttc >= 0 && ttc <= 3 {
 				return "TTC"
 			}