diff --git a/app/gl_common.h b/app/gl_common.h
index 7e22801..da035c7 100644
--- a/app/gl_common.h
+++ b/app/gl_common.h
@@ -14,6 +14,7 @@
 #define FILTER_KERNELSIZE     (7)                          // 滤波核大小
 #define SELFADAPT_OFFSET      (8)                          // 适应性块大小
 #define PIXPERMETER           (70.0f)
+#define PIXPERMETER_ACROSS    (80.0f)
 #define RESAMPLEDIST          (0.02f)
 #define ANGLEDIST             (0.2f)
 #define ANGLEDIST_barrier     (0.06f)
diff --git a/app/gl_data.c b/app/gl_data.c
index a5c7b25..07cf8d5 100644
--- a/app/gl_data.c
+++ b/app/gl_data.c
@@ -46,8 +46,12 @@ int32_t mid_right_count;
 
 float angle_new_left[PT_MAXLEN];
 float angle_new_right[PT_MAXLEN];
+float angle_new_left_barrier[PT_MAXLEN];
+float angle_new_right_barrier[PT_MAXLEN];
 int angle_new_left_num;
 int angle_new_right_num;
+int angle_new_left_num_barrier;
+int angle_new_right_num_barrier;
 float far_angle_new_left[PT_MAXLEN];
 float far_angle_new_right[PT_MAXLEN];
 int far_angle_new_left_num;
@@ -57,8 +61,12 @@ uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
 
 float angle_left[PT_MAXLEN];
 float angle_right[PT_MAXLEN];
+float angle_left_barrier[PT_MAXLEN];
+float angle_right_barrier[PT_MAXLEN];
 int angle_left_num;
 int angle_right_num;
+int angle_left_barrier_num;
+int angle_right_barrier_num;
 float far_angle_left[PT_MAXLEN];
 float far_angle_right[PT_MAXLEN];
 int far_angle_left_num;
diff --git a/app/gl_data.h b/app/gl_data.h
index b4243f0..4d53dd7 100644
--- a/app/gl_data.h
+++ b/app/gl_data.h
@@ -57,8 +57,12 @@ extern int32_t mid_right_count;
 
 extern float angle_new_left[PT_MAXLEN];
 extern float angle_new_right[PT_MAXLEN];
+extern float angle_new_left_barrier[PT_MAXLEN];
+extern float angle_new_right_barrier[PT_MAXLEN];
 extern int angle_new_left_num;
 extern int angle_new_right_num;
+extern int angle_new_left_num_barrier;
+extern int angle_new_right_num_barrier;
 extern float far_angle_new_left[PT_MAXLEN];
 extern float far_angle_new_right[PT_MAXLEN];
 extern int far_angle_new_left_num;
@@ -68,8 +72,12 @@ extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
 
 extern float angle_left[PT_MAXLEN];
 extern float angle_right[PT_MAXLEN];
+extern float angle_left_barrier[PT_MAXLEN];
+extern float angle_right_barrier[PT_MAXLEN];
 extern int angle_left_num;
 extern int angle_right_num;
+extern int angle_left_barrier_num;
+extern int angle_right_barrier_num;
 extern float far_angle_left[PT_MAXLEN];
 extern float far_angle_right[PT_MAXLEN];
 extern int far_angle_left_num;
diff --git a/app/gl_get_corners.c b/app/gl_get_corners.c
index b15e057..9d24e3a 100644
--- a/app/gl_get_corners.c
+++ b/app/gl_get_corners.c
@@ -33,10 +33,10 @@ void get_corners() {
 
     Lpt0_found_barrier = Lpt1_found_barrier = false;
     for (int i = 0; i < pts_resample_left_count; i++) {
-        if (angle_new_left[i] == 0) continue;
+        if (angle_new_left_barrier[i] == 0) continue;
         int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
         int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
-        float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
+        float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2;
 
         //L角点阈值
         if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
@@ -71,10 +71,10 @@ void get_corners() {
     }
 
     for (int i = 0; i < pts_resample_right_count; i++) {
-        if (angle_new_right[i] == 0) continue;
+        if (angle_new_right_barrier[i] == 0) continue;
         int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
         int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
-        float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
+        float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
 
 
         if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
diff --git a/app/gl_img_process.c b/app/gl_img_process.c
index e999138..fda6f60 100644
--- a/app/gl_img_process.c
+++ b/app/gl_img_process.c
@@ -89,22 +89,34 @@ void img_processing() {
 
     pts_resample_right_count = valid_points_count;
 
-    // 边线角度变化率
+    // 大距离边线角度变化率
     local_angle_points(pts_resample_left, pts_resample_left_count, angle_left, (int) round(ANGLEDIST / RESAMPLEDIST));
     angle_left_num = pts_resample_left_count;
     local_angle_points(pts_resample_right, pts_resample_right_count, angle_right, (int) round(ANGLEDIST / RESAMPLEDIST));
     angle_right_num = pts_resample_right_count;
 
-    // 角度变化率非极大值抑制
+    // 小距离边线角度变化率
+    local_angle_points(pts_resample_left, pts_resample_left_count, angle_left_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST));
+    angle_left_barrier_num = pts_resample_left_count;
+    local_angle_points(pts_resample_right, pts_resample_right_count, angle_right_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST));
+    angle_right_barrier_num = pts_resample_right_count;
+
+    // 大距离角度变化率非极大值抑制
     nms_angle(angle_left, angle_left_num, angle_new_left, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
     angle_new_left_num = angle_left_num;
     nms_angle(angle_right, angle_right_num, angle_new_right, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
     angle_new_right_num = angle_right_num;
 
+    // 小距离角度变化率非极大值抑制
+    nms_angle(angle_left_barrier, angle_left_barrier_num, angle_new_left_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST) * 2 + 1);
+    angle_new_left_num_barrier = angle_left_barrier_num;
+    nms_angle(angle_right_barrier, angle_right_barrier_num, angle_new_right_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST) * 2 + 1);
+    angle_new_right_num_barrier = angle_right_barrier_num;
+
     // 左右中线跟踪
-    GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
+    GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
     mid_left_count = pts_resample_left_count;
-    GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
+    GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
     mid_right_count = pts_resample_right_count;
 
 
diff --git a/app/gl_state.h b/app/gl_state.h
index c710d3e..8753a57 100644
--- a/app/gl_state.h
+++ b/app/gl_state.h
@@ -23,6 +23,6 @@ enum state_type_e {
 extern enum state_type_e state_type;
 
 #define CROSS_AIM  (0.49f)
-#define COMMON_AIM (0.25f)
+#define COMMON_AIM (0.35f)
 
 #endif /* STATE_H_ */
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 570a676..56edb62 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -25,7 +25,7 @@ void tracking()
 void aim_distance_select(void)
 {
     if (cross_type != CROSS_NONE) {
-        aim_distance = 0.4f;
+        aim_distance = 0.49f;
     } else if (circle_type != CIRCLE_NONE) {
         aim_distance = 0.2f;
     } else {