            rl, rr = 0, 0
            for i in range(h_end, h_start):
                rl += np.sum(step2[i][:int(l_k * i + l_b)]) / 255
                rr += np.sum(step2[i][int(r_k * i + r_b):]) / 255
            sl = np.sum(step2[h_end:h_start, :640 - gap]) / 255 - rl
            sr = np.sum(step2[h_end:h_start, 640 + gap:]) / 255 - rr
            realthr_common = int(max(max(sl, sr) * thr_common_base, thr_common_min))
            state = 0 if abs(sl - sr) < realthr_common else 1 if sl < sr else 2
            is_pesd = False
            print(thr_pesd_area, sl, sr)
            if sl > thr_pesd_area and sr > thr_pesd_area:
                is_pesd = True
                if rr < thr_pesd_force:
                    state = 1