diff --git a/MultiWheel/MultiWheelC/PilotConfig.cs b/MultiWheel/MultiWheelC/PilotConfig.cs
index cd27e9e..b5d93db 100644
--- a/MultiWheel/MultiWheelC/PilotConfig.cs
+++ b/MultiWheel/MultiWheelC/PilotConfig.cs
@@ -184,6 +184,9 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "轮胎跟踪:离车时切换至盲走距离")] public float TireFollowingLeaveCarWalkBlindSwitchingDistance = 1200f;
 
     [FieldMember(desc = "轮胎跟踪:测试钻轮胎数量")] public int TireFollowingTireNum = 1;
+    [FieldMember(desc = "轮胎跟踪:过近距离")] public float TireFollowingCloseDistance = 1400;
     [FieldMember(desc = "轮胎跟踪:距离过近角度忽略阈值")] public float TireFollowingAngleIgnoreThr = 0.2f;
+    [FieldMember(desc = "轮胎跟踪:Y最大平均数")] public int TireFollowingYAverageFrameCount = 5;
+
     #endregion
 }
diff --git a/MultiWheel/MultiWheelC/TireFollowing.cs b/MultiWheel/MultiWheelC/TireFollowing.cs
index 12302a1..4998ef7 100644
--- a/MultiWheel/MultiWheelC/TireFollowing.cs
+++ b/MultiWheel/MultiWheelC/TireFollowing.cs
@@ -122,6 +122,7 @@ namespace MultiWheelC
         private Painter _painter;
         private List<float> _remainDistanceList = new List<float>();
         private List<float> _remainAngleList = new List<float>();
+        private List<float> _targetYList = new List<float>();
 
         private List<DetectFilter> SetFilters(float guessCenterX, float guessCenterY)
         {
@@ -350,7 +351,7 @@ namespace MultiWheelC
                 var targetPos = new Vector2((target.Src.X + target.Dst.X) / 2f, (target.Src.Y + target.Dst.Y) / 2f);
                 var dis2target = (float)Math.Sqrt(Math.Pow(targetPos.X, 2) + Math.Pow(targetPos.Y, 2));
                 //距离较近以后角度容易跳变
-                if (dis2target < 1400 && Math.Abs(targetAngle) > PilotDefinition.Conf.TireFollowingAngleIgnoreThr)
+                if (dis2target < PilotDefinition.Conf.TireFollowingCloseDistance && Math.Abs(targetAngle) > PilotDefinition.Conf.TireFollowingAngleIgnoreThr)
                 {
                     yield return true;
                     continue;
@@ -375,9 +376,22 @@ namespace MultiWheelC
                 {
                     lastDetectX = ((target.Src + target.Dst) / 2f).X;
                     lastDetectY = ((target.Src + target.Dst) / 2f).Y;
-                    _painter.DrawLine(Color.GreenYellow, path.CarPath.Src, path.CarPath.Dst, endArrow: true);
 
-                    var rd = (float)LessMath.PerpendicularPosition(0, 0, path.CarPath.Dst.X, path.CarPath.Dst.Y,
+                    var currentY = path.CarPath.Dst.Y;
+                    if (Math.Abs(targetAngle) < PilotDefinition.Conf.TireFollowingAngleIgnoreThr &&
+                        dis2target < PilotDefinition.Conf.TireFollowingCloseDistance)
+                    {
+                        _targetYList.Add(currentY);
+                        while (_targetYList.Count > PilotDefinition.Conf.TireFollowingYAverageFrameCount) _targetYList.RemoveAt(0);
+                    }
+
+                    var trackDstY = _targetYList.Count > 0 ? _targetYList.Average() : currentY;
+                    Hedingben.ToastText($"target Y:{_targetYList.Count}  {trackDstY}", "target Y");
+
+                    var trackDst = new Vector2(path.CarPath.Dst.X, trackDstY);
+                    _painter.DrawLine(Color.GreenYellow, path.CarPath.Src, trackDst, endArrow: true);
+
+                    var rd = (float)LessMath.PerpendicularPosition(0, 0, trackDst.X, trackDst.Y,
                         path.CarPath.Src.X, path.CarPath.Src.Y);
                     _remainDistanceList.Add(rd);
                     while (_remainDistanceList.Count > 3) _remainDistanceList.RemoveAt(0);
@@ -395,8 +409,8 @@ namespace MultiWheelC
                                 detectors[detectorIndex].LeaveSrcFunction(detectors[detectorIndex].SrcId);
                                 DLog.Log($"释放预取车点{detectors[detectorIndex].SrcId}", "TireFollowing");
                             }
-                            WalkBlindCarPathDstX = path.CarPath.Dst.X;
-                            WalkBlindCarPathDstY = path.CarPath.Dst.Y;
+                            WalkBlindCarPathDstX = trackDst.X;
+                            WalkBlindCarPathDstY = trackDst.Y;
                             WalkBlindCarPathDstTh = angle2target + WalkBlindTh;
                             DLog.Log($"切换至第一次盲走时刻目标点:{WalkBlindCarPathDstX:F2} " +
                                                                 $"{WalkBlindCarPathDstY:F2} " +
@@ -410,6 +424,7 @@ namespace MultiWheelC
                             _lastRRLEncoder = PilotDefinition.Self.RRLActualPos;
                             _lastRRREncoder = PilotDefinition.Self.RRRActualPos;
                             _remainDistanceList.Clear();
+                            _targetYList.Clear();
                             lastDetectX = detectors[detectorIndex + 1].StartGuessingX;
                             lastDetectY = detectors[detectorIndex + 1].StartGuessingY;
                             continue;
@@ -420,8 +435,8 @@ namespace MultiWheelC
                         if (detectors[detectorIndex].SwitchWalkBlindCondition(rd))
                         {
                             WalkBlindStage2 = true;
-                            WalkBlindCarPathDstX = path.CarPath.Dst.X;
-                            WalkBlindCarPathDstY = path.CarPath.Dst.Y;
+                            WalkBlindCarPathDstX = trackDst.X;
+                            WalkBlindCarPathDstY = trackDst.Y;
                             WalkBlindCarPathDstTh = angle2target + WalkBlindTh;
                             DLog.Log($"切换至最后一次盲走时刻目标点:{WalkBlindCarPathDstX:F2} " +
                                                                 $"{WalkBlindCarPathDstY:F2} " +
@@ -444,11 +459,12 @@ namespace MultiWheelC
                             _lastRRLEncoder = PilotDefinition.Self.RRLActualPos;
                             _lastRRREncoder = PilotDefinition.Self.RRRActualPos;
                             _remainDistanceList.Clear();
+                            _targetYList.Clear();
                             continue;
                         }
                     }
                     DLog.Log($"投影点剩余距离:{rd:F2}", "TireFollowing");
-                    var track = new LineTrack(path.CarPath.Src, path.CarPath.Dst);
+                    var track = new LineTrack(path.CarPath.Src, trackDst);
                     track.CarDirectionBias = CarDirection;
                     controller.UpdateTracks(new List<AbstractTrack> { track });
                     NoTarget = false;