diff --git a/app/gl_data.c b/app/gl_data.c
index 88680dd..5d0835d 100644
--- a/app/gl_data.c
+++ b/app/gl_data.c
@@ -111,5 +111,6 @@ bool is_turn1_r;
 float rptsn[PT_MAXLEN][2];
 int32_t rptsn_num;
 float aim_distance;
+float aim_judge_far=0.3f;
 
 track_type_e track_type = TRACK_RIGHT;
\ No newline at end of file
diff --git a/app/gl_data.h b/app/gl_data.h
index 04444c5..eba5dad 100644
--- a/app/gl_data.h
+++ b/app/gl_data.h
@@ -122,6 +122,7 @@ extern bool is_turn1_r;
 extern float rptsn[PT_MAXLEN][2];
 extern int32_t rptsn_num;
 extern float aim_distance;
+extern float aim_judge_far;
 
 extern track_type_e track_type;
 
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index eca0aa7..bfe05e6 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -127,16 +127,17 @@ void MidLineTrack()
 
         // 远预锚点位置-
         int aim_idx = clip(round(aim_distance / RESAMPLEDIST), 0, rptsn_num - 1);
+        int aim_idx_judge = clip(round(aim_judge_far / RESAMPLEDIST), 0, rptsn_num - 1);
 
         // 近锚点位置
         int aim_idx_near = clip(round(0.09 / RESAMPLEDIST), 0, rptsn_num - 1);
 
         int gap_1     = fabs(rptsn[3 * (rptsn_num / 4)][1] - rptsn[0][1]);
-        float dx1     = rptsn[3 * (rptsn_num / 4)][0] - rptsn[aim_idx][0];
-        float dy1     = rptsn[3 * (rptsn_num / 4)][1] - rptsn[aim_idx][1];
+        float dx1     = rptsn[3 * (rptsn_num / 4)][0] - rptsn[aim_idx_judge][0];
+        float dy1     = rptsn[3 * (rptsn_num / 4)][1] - rptsn[aim_idx_judge][1];
         float dn1     = Q_sqrt(dx1 * dx1 + dy1 * dy1);
-        float dx2     = rptsn[aim_idx][0] - rptsn[aim_idx_near][0];
-        float dy2     = rptsn[aim_idx][1] - rptsn[aim_idx_near][1]; 
+        float dx2     = rptsn[aim_idx_judge][0] - rptsn[aim_idx_near][0];
+        float dy2     = rptsn[aim_idx_judge][1] - rptsn[aim_idx_near][1]; 
         float dn2     = Q_sqrt(dx2 * dx2 + dy2 * dy2);
         float c1      = dx1 / dn1;
         float s1      = dy1 / dn1;
@@ -185,4 +186,9 @@ void MidLineTrack()
     if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_RIGHT_IN || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING) {
         state_type = TURN_STATE;
     }
+    if (cross_type == CROSS_BEGIN || cross_type == CROSS_IN)
+    {
+        state_type = STRAIGHT_STATE;
+    }
+    
 }