From bf11fdf42e0ba9a21726d85a6446eb463e6c54ee Mon Sep 17 00:00:00 2001
From: Haidong Wang <wanghaidong@hutb.edu.cn>
Date: Tue, 16 Dec 2025 09:39:20 +0800
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This reverts commit 656fc55b438bee1cb8500f50bd3fc7240ab87f80.
---
 src/car_navigation_system/main.py | 46 +------------------------------
 1 file changed, 1 insertion(+), 45 deletions(-)

diff --git a/src/car_navigation_system/main.py b/src/car_navigation_system/main.py
index f2386e33c0..f9d8ddb25d 100644
--- a/src/car_navigation_system/main.py
+++ b/src/car_navigation_system/main.py
@@ -288,13 +288,8 @@ def preprocess_state(self, speed, steer_history):
         ]
         return torch.tensor(state_data, device=self.device).unsqueeze(0)
 
-
-    # 在 ImprovedNeuralController 类的 apply_obstacle_avoidance 方法中，修改以下部分：
-    def apply_obstacle_avoidance(self, throttle, brake, steer, obstacle_info, speed):
-        """应用避障逻辑 - 优化版本"""
-
     def apply_obstacle_avoidance(self, throttle, brake, steer, obstacle_info, speed):
-
+        """应用避障逻辑"""
         if not obstacle_info['has_obstacle']:
             return throttle, brake, steer
 
@@ -304,49 +299,11 @@ def apply_obstacle_avoidance(self, throttle, brake, steer, obstacle_info, speed)
         # 紧急情况：前方有近距离障碍物
         if distance < self.emergency_brake_distance:
             print(f"紧急刹车！距离障碍物: {distance:.1f}m")
-
-            return 0.0, 1.0, 0.0  # 紧急情况下保持直行，只刹车
-
             return 0.0, 1.0, steer  # 全力刹车
 
-
         # 中距离障碍物：减速并准备转向
         elif distance < self.safe_following_distance:
             # 计算安全速度比例
-
-            safe_speed_ratio = (distance - 3.0) / (self.safe_following_distance - 3.0)
-            safe_speed_ratio = max(0.1, min(1.0, safe_speed_ratio))
-
-            # 如果当前速度过高，减速
-            target_speed = 15.0 * safe_speed_ratio  # 目标速度最大15km/h
-            current_speed_kmh = speed * 3.6
-
-            if current_speed_kmh > target_speed:
-                throttle = 0.0
-                brake = 0.4 * ((current_speed_kmh - target_speed) / current_speed_kmh)
-            else:
-                throttle = 0.3 * safe_speed_ratio
-                brake = 0.0
-
-            # 如果障碍物在正前方，尝试轻微转向避开
-            if abs(angle) < 15:  # 正前方±15度内
-                # 根据障碍物距离决定转向幅度
-                avoid_factor = max(0, 1.0 - distance / self.safe_following_distance)
-                avoid_steer = 0.3 * avoid_factor if angle >= 0 else -0.3 * avoid_factor
-                # 平滑转向 - 保持更多原始转向
-                steer = 0.8 * steer + 0.2 * avoid_steer
-
-        # 远距离障碍物：轻微调整
-        elif distance < 25.0:
-            # 轻微减速
-            if speed > 8.0:
-                throttle *= 0.7
-
-            # 如果障碍物在正前方，轻微转向
-            if abs(angle) < 20:
-                avoid_steer = 0.15 if angle >= 0 else -0.15
-                steer = 0.9 * steer + 0.1 * avoid_steer
-
             safe_speed_ratio = (distance - 2.0) / (self.safe_following_distance - 2.0)
             safe_speed_ratio = max(0.1, min(1.0, safe_speed_ratio))
 
@@ -373,7 +330,6 @@ def apply_obstacle_avoidance(self, throttle, brake, steer, obstacle_info, speed)
                 avoid_steer = 0.2 if angle >= 0 else -0.2
                 steer = 0.8 * steer + 0.2 * avoid_steer
 
-
         return throttle, brake, steer
 
     def get_control(self, image, speed, steer_history, obstacle_info):