diff --git a/6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/CurrTaskController.java b/6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/CurrTaskController.java
index 44e96b5..e00049b 100644
--- a/6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/CurrTaskController.java
+++ b/6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/CurrTaskController.java
@@ -68,6 +68,8 @@ public class CurrTaskController extends BaseController {
     private CurrTaskServiceBiz currTaskServiceBiz;
     @Autowired
     private AutoExeTaskServiceBiz autoExeTaskServiceBiz;
+    @Autowired
+    private TaskDistanceUtils taskDistanceUtils;
 
 
     @PostMapping(value = "createProcessTask")
@@ -306,9 +308,10 @@ public class CurrTaskController extends BaseController {
     }
     @PostMapping(value = "testRgv")
     @ApiOperation(value = "测试rgv避让逻辑")
-    private Boolean testRgv(@RequestBody TestRgv testRgv) throws IOException {
-        TaskDistanceUtils taskDistanceUtils=new TaskDistanceUtils();
-        return taskDistanceUtils.conflictForVehicle(testRgv.getVehicleId(),testRgv.getStartPoint(),testRgv.getEndPoint(),testRgv.getOtherVehicle());
+    private String testRgv(@RequestBody TestRgv testRgv) throws IOException {
+        Long aLong = taskDistanceUtils.chooseVehicle(testRgv.getStartPoint(), testRgv.getEndPoint());
+        Boolean aBoolean = taskDistanceUtils.conflictForVehicle(testRgv.getVehicleId(), testRgv.getStartPoint(), testRgv.getEndPoint(), testRgv.getOtherVehicle());
+        return String.valueOf(aLong)+String.valueOf(aBoolean);
     }
     private Integer sendTaskToRgv(Integer taskType,Long vehicleId, Long currTaskId, Long startPoint, Long endPoint, Integer processNumber) {
         Map<String, Object> json = new HashMap();
diff --git a/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java b/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
index e91f6c9..aba695b 100644
--- a/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
+++ b/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
@@ -91,7 +91,7 @@ public class AsynRunTaskService extends BaseService {
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
         List<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().eq(CurrTaskDet.CURR_TASK_ID, currTask));
         //检查车辆是否冲突，冲突则避让
-        rgvStatus(vehicleId, currTask);
+        rgvStatus(vehicleId, currTask,currTask.getStartPosition(),currTask.getTargetPosition());
         //新建一条执行任务的关系表存放任务执行信息
         RunTask runTask = new RunTask();
         runTask.setTaskId(currTask.getId());
@@ -180,7 +180,7 @@ public class AsynRunTaskService extends BaseService {
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);List<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().eq(CurrTaskDet.CURR_TASK_ID, currTask));
         //检查车辆是否冲突，冲突则避让
-        rgvStatus(vehicleId, currTask);
+        rgvStatus(vehicleId, currTask,location.getCode(),currTask.getTargetPosition());
         //新建一条执行任务的关系表存放任务执行信息
         RunTask runTask = new RunTask();
         runTask.setTaskId(currTask.getId());
@@ -280,7 +280,7 @@ public class AsynRunTaskService extends BaseService {
         //Location location = locationServiceBiz.getById(currTask.getLocationId());
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
         //检查车辆是否冲突，冲突则避让
-        rgvStatus(vehicleId, currTask);
+        rgvStatus(vehicleId, currTask,currTask.getStartPosition(),location.getCode());
         //新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
         RunTask runTask = new RunTask();
         runTask.setTaskId(currTask.getId());
@@ -367,8 +367,9 @@ public class AsynRunTaskService extends BaseService {
     public void asynRunTaskForKilnToWarehouse(Long currTaskId, Long vehicleId) throws IOException {
         CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
         VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
+        Location location = locationServiceBiz.getOne(new QueryWrapper<Location>().eq(Location.CODE, currTask.getOutTargetPosition()));
         //检查车辆是否冲突，冲突则避让
-        rgvStatus(vehicleId, currTask);
+        rgvStatus(vehicleId, currTask,currTask.getStartPosition(),location.getCode());
         //新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
         RunTask runTask = new RunTask();
         runTask.setTaskId(currTask.getId());
@@ -379,7 +380,7 @@ public class AsynRunTaskService extends BaseService {
         runTask.setEndPosition(currTask.getOutTargetPosition());
         runTaskServiceBiz.save(runTask);
         //更新 location 表对应库位状态为占用
-        Location location = locationServiceBiz.getOne(new QueryWrapper<Location>().eq(Location.CODE, currTask.getOutTargetPosition()));
+
         location.setStatus(1);
         location.setUpdateTime(LocalDateTime.now());
         locationServiceBiz.updateById(location);
@@ -1337,7 +1338,7 @@ public class AsynRunTaskService extends BaseService {
      * @param currTask
      * @throws IOException
      */
-    private void rgvStatus(Long vehicleId,CurrTask currTask) throws IOException {
+    private void rgvStatus(Long vehicleId,CurrTask currTask,String startPosition,String targetPosition) throws IOException {
         Long currTaskId = currTask.getId();
         if (vehicleId==1){
             Long anotherVehicleId=2L;
@@ -1346,7 +1347,7 @@ public class AsynRunTaskService extends BaseService {
                 //获取RGV2当前位置
                 Double rgv2CurrPosition = RGVCurrPosition(2);
                 //两辆小车是否冲突
-                Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv2CurrPosition);
+                Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, startPosition, targetPosition, rgv2CurrPosition);
                 if (conflictBoolean){
                     Integer status = moveRgv(2, currTaskId,  2,0);
                     if (status!=1){