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@@ -37,7 +37,7 @@ func Label() string {
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func Rule(data *pjisuv_msgs.PerceptionObjects, param entity.PjisuvParam) string {
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for _, obj := range data.Objs {
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- if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 {
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+ if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityYOfCicvLocation > 1 {
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ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))
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if ttc >= 0 && ttc <= 3 {
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return "TTC"
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