commit

aarch64/pjisuv/master/service/produce_window.go

@@ -387,9 +387,9 @@ func PrepareTimeWindowProducerQueue() {
 					// 更新共享变量
 					mutexOfCicvLocation.RLock()
 					{
-						pjisuvParam.VelocityYOfCicvLocation = data.VelocityX
+						pjisuvParam.VelocityXOfCicvLocation = data.VelocityX
 						pjisuvParam.VelocityYOfCicvLocation = data.VelocityY
-						pjisuvParam.VelocityYOfCicvLocation = data.VelocityZ
+						pjisuvParam.VelocityZOfCicvLocation = data.VelocityZ
 						pjisuvParam.YawOfCicvLocation = data.Yaw
 						pjisuvParam.AngularVelocityZOfCicvLocation = data.AngularVelocityZ
 						pjisuvParam.PositionXOfCicvLocation = data.PositionX

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

@@ -38,7 +38,7 @@ 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 > 0.5 {
+		if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityXOfCicvLocation > 0.5 {
 			ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))
 			fmt.Println("TTC值为：", ttc)
 			if ttc >= 0 && ttc <= 3 {