diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp
index 0c27966..1523d60 100644
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
@@ -949,8 +949,9 @@ class fu_node : public rclcpp::Node
         }
 
         LOG_INFO_THROTTLE(1000, "[障碍物分析] 距离：%d栅格 | 宽度：%d栅格 | 左边缘：%d | 右边缘：%d",
-                 state_machine_->obstacle_analysis.obstacle_distance, state_machine_->obstacle_analysis.obstacle_width,
-                 state_machine_->obstacle_analysis.left_edge, state_machine_->obstacle_analysis.right_edge);
+                          state_machine_->obstacle_analysis.obstacle_distance,
+                          state_machine_->obstacle_analysis.obstacle_width, state_machine_->obstacle_analysis.left_edge,
+                          state_machine_->obstacle_analysis.right_edge);
     }
 
     // ======== 计算行驶状态 ========
@@ -1012,16 +1013,12 @@ class fu_node : public rclcpp::Node
 
         // 检查栅格数据新鲜度（超过3秒认为数据过期）
         auto now = node_clock_->now();
-        double grid_age = 0.0;
-        {
-            std::lock_guard<std::mutex> lock(grid_mutex_);
-            grid_age = (now - last_grid_time_).seconds();
-        }
-
         // 如果有有效栅格数据，即使稍微过期也继续使用（只要数据不是太旧）
+        double grid_age = 0.0;
         bool is_grid_valid = false;
         {
             std::lock_guard<std::mutex> lock(grid_mutex_);
+            grid_age = (now - last_grid_time_).seconds();
             is_grid_valid = grid_data_valid_;
         }