trigger/pjisuv/tpperception/UnknownBigTargetAhead/main/UnknownBigTargetAhead.go

@@ -86,9 +86,14 @@ func Rule(shareVars *sync.Map, msg *pjisuv_msgs.PerceptionObjects) string {
 		}
 	}()
 
-	// 判断主车所在位置 & 行驶速度
+	// 判断主车所在位置
 	outsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	if !outsideWorkshopFlag.(bool) || !isEgoStationary(shareVars) {
+	if !outsideWorkshopFlag.(bool) {
+		return ""
+	}
+
+	// 判断主车行驶速度
+	if isEgoStationary(shareVars) {
 		return ""
 	}
 

trigger/pjisuv/tpperception/lowSpdTruckAhead/main/lowSpdTruckAhead.go

@@ -67,9 +67,14 @@ func Rule(shareVars *sync.Map, msg *pjisuv_msgs.PerceptionObjects) string {
 		}
 	}()
 
-	// 判断主车所在位置 & 行驶速度
+	// 判断主车所在位置
 	outsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	if !outsideWorkshopFlag.(bool) || !isEgoStationary(shareVars) {
+	if !outsideWorkshopFlag.(bool) {
+		return ""
+	}
+
+	// 判断主车行驶速度
+	if isEgoStationary(shareVars) {
 		return ""
 	}
 

trigger/pjisuv/tpperception/multiTargetAhead/main/multiTrafficConeAhead.go

@@ -64,8 +64,14 @@ func Rule(shareVars *sync.Map, msg *pjisuv_msgs.PerceptionObjects) string {
 		}
 	}()
 
+	// 判断主车所在位置
 	outsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	if !outsideWorkshopFlag.(bool) || !isEgoStationary(shareVars) {
+	if !outsideWorkshopFlag.(bool) {
+		return ""
+	}
+
+	// 判断主车行驶速度
+	if isEgoStationary(shareVars) {
 		return ""
 	}