[6.2.6][V2N] 优化车道中心线过滤逻辑-处理极端情况

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt

@@ -112,7 +112,7 @@ class AiRoadMarker {
                     marker.poi_lon,
                     marker.poi_lat,
                     location.heading.toFloat(),
-                    -300f, call = { result ->
+                    -200f, call = { result ->
                         result?.let {
                             V2XBizTrace.onAck("$TAG -marker-3-l2:", it)
                             l2 = result
@@ -156,8 +156,14 @@ class AiRoadMarker {
                     val location = V2XEventManager.getFirstLocationInCross()
                     Log.d(TAG, "l2: location -> $location")
                     if (location != null) {
-                        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, it.longitude, it.latitude, location.heading)
-                        angle <= 90
+                        val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                        if (DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, carLocation.longitude, carLocation.latitude, location.heading) > 90) {
+                            //处理同一个路口不同车道调头,这种极端情况
+                            true
+                        } else {
+                            val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, it.longitude, it.latitude, location.heading)
+                            angle <= 90
+                        }
                     } else {
                         true
                     }