Merge remote-tracking branch 'gogs/master'

# Conflicts:
#	trigger/pjisuv/tpperception/TargetAhead/main/TargetAhead.go

trigger/pjisuv/tpperception/TargetAhead/main/TargetAhead.go

@@ -17,8 +17,8 @@ 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)) <= 1.3 && obj.X >= 4 && obj.X <= 15 && param.AngularVelocityZOfCicvLocation < 5.5 {
-			//event_label := "TargetAhead" //测试车正前方10米范围内有目标物（过滤掉测试车转弯的情况）
+		if math.Abs(float64(obj.Y)) <= 1.5 && obj.X >= 0 && obj.X <= 6 && param.AngularVelocityZOfCicvLocation < 5.5 && param.VelocityXOfCicvLocation >= 0.5 {
+			//event_label := "TargetAhead" //测试车正前方１０米范围内有目标物（过滤掉测试车转弯的情况）
 			//fmt.Println(event_label)
 			return "TargetAhead"
 		}