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@@ -1007,6 +1007,10 @@ void Ground_region::thread_measure_func()
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ec = Measure_filter::get_instance_references().get_filtered_wheel_information(m_region.region_id(), t_wheel_info_stamped.wheel_data);
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if (ec == SUCCESS)
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{
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+ // 20221208 added by yct, use avg car angle and width data.
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+ m_car_wheel_information.car_angle = t_wheel_info_stamped.wheel_data.car_angle;
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+ m_car_wheel_information.car_wheel_width = t_wheel_info_stamped.wheel_data.car_wheel_width;
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+
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m_car_wheel_information.car_wheel_base = t_wheel_info_stamped.wheel_data.car_wheel_base;
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m_car_wheel_information.car_front_theta = t_wheel_info_stamped.wheel_data.car_front_theta;
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// 临时添加，滤波后前轮超界
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yct