diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index c738b1b..df0776c 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -225,6 +225,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>App.CentreRunFalg,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.EvenRunDelay1mSCnt</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 412a337..3e3526b 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -98,6 +98,7 @@ typedef struct {
 	uint32_t Read1mSDelayCnt;
 	uint32_t Uart1Delay1mSCnt;
 	uint32_t StopCollDelay1mSCnt;
+	uint32_t RunCollDelay1mSCnt;
 	uint32_t EvenRunDelay1mSCnt;
 	uint8_t FeedDogDlyCnt;
 	
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 7f279fc..c122142 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -217,10 +217,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			App.LeftRunFalg = false;
 			App.RightRunFalg = false;
 			App.CentreRunFalg = false;
-			if(((ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero)
-			&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero))
-		  || ((ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero)
-			&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero)))
+			if(((ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero)
+			&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero))
+		  || ((ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero)
+			&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero)))
 			{
 				App.CentreRunFalg = true;
 				if(abs(Oll_diff1) > abs(Orl_diff1))
@@ -231,21 +231,23 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 					App.RightRunFalg = true;
 				}
-				if(Oll_diff1 < -App.ADTrack.LeftLowVPT 
-				|| Orl_diff1 < -App.ADTrack.RightLowVPT)
+				if(((Oll_diff1 + Orl_diff1) < -(App.ADTrack.LeftLowVPT + App.ADTrack.RightLowVPT)/2)
+				&& (((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT/4)))
 				{
 					BDC_UP();
 					App.UpFlag = true;
 					App.StopFlag = false;
 					App.DownFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
-				else if(Oll_diff1 > App.ADTrack.LeftLowVPT 
-				|| Orl_diff1 > App.ADTrack.RightLowVPT)
+				else if(((Oll_diff1 + Orl_diff1) > (App.ADTrack.LeftLowVPT + App.ADTrack.RightLowVPT)/2)
+				&& (((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT/4)))
 				{
 					BDC_DOWN();
 					App.UpFlag = false;
 					App.StopFlag = false;
 					App.DownFlag = true;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 			}
 			else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))
@@ -353,11 +355,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			}
 		}
 	}
-	else if(App.DownFlag == true)
+	else if(App.DownFlag == true && App.RunCollDelay1mSCnt <= 0)
 	{
 		if(App.LeftRunFalg == true)
 		{
-			if(ll_slope > App.ADTrack.Slope_VPT)
+			if(((App.CentreRunFalg == false ) && (ll_slope > App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT/3))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -365,7 +368,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 			}
-			else if(Oll_diff1 < App.ADTrack.Stop_VPT)
+			else if(((App.CentreRunFalg == false ) && (Oll_diff1 < App.ADTrack.Stop_VPT))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -376,7 +380,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		}
 		else if(App.RightRunFalg == true)
 		{
-			if(rl_slope > App.ADTrack.Slope_VPT)
+			if(((App.CentreRunFalg == false ) && (ll_slope > App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT/3))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -384,7 +389,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 			}
-			else if(Orl_diff1 < App.ADTrack.Stop_VPT)
+			else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -394,11 +400,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			}
 		}
 	}
-	else if(App.UpFlag == true)
+	else if(App.UpFlag == true && App.RunCollDelay1mSCnt <= 0)
 	{
 		if(App.LeftRunFalg == true)
 		{
-			if(ll_slope < -App.ADTrack.Slope_VPT)
+			if(((App.CentreRunFalg == false ) && (ll_slope < -App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT/3))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -406,7 +413,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 			}
-			else if(Oll_diff1 > -App.ADTrack.Stop_VPT)
+			else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1)> -(App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -417,7 +425,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		}
 		else if(App.RightRunFalg == true)
 		{
-			if(rl_slope < -App.ADTrack.Slope_VPT)
+			if(((App.CentreRunFalg == false ) && (rl_slope < -App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT/3))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -425,7 +434,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 			}
-			else if(Orl_diff1 > -App.ADTrack.Stop_VPT)
+			else if(((App.CentreRunFalg == false ) && (Orl_diff1 > -App.ADTrack.Stop_VPT))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -529,9 +539,9 @@ static void AppInit(void)
 	RIGHTLOW_CS1237_Init();
 	
 	App.Status = APP_STATUS_WAIT;
-	App.Status = APP_STATUS_UP1;
-	App.TD1mSDelayCnt = TRAVEL_TIME_MS;
-	//App.TD1mSDelayCnt = 1000;
+	App.TD1mSDelayCnt = 1000;
+//	App.Status = APP_STATUS_UP1;
+//	App.TD1mSDelayCnt = TRAVEL_TIME_MS;
 	App.RStatus = READ_STATUS_START;
 	GradeControl(App.Para.Layout.ControlLevel);//µÈ¼¶¿ØÖÆ
 	
@@ -756,6 +766,8 @@ static void App1mSRoutine(void)
 		App.Uart1Delay1mSCnt--;
 	if(App.StopCollDelay1mSCnt > 0)
 		App.StopCollDelay1mSCnt--;
+	if(App.RunCollDelay1mSCnt > 0)
+		App.RunCollDelay1mSCnt--;
 	if(App.EvenRunning == true)
 		App.EvenRunDelay1mSCnt++;