完善Detour状态估计与轨迹跟踪验证

2026-08-19 17:38:17 +08:00
parent d8de901a80
commit 0d5539e595
55 changed files with 4473 additions and 387 deletions
@@ -0,0 +1,47 @@
+编译命令：
+powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
+
+
+1. TrajectoryPoint.cs       已完成
+2. Trajectory2D.cs          下一步
+3. TrajectoryProjection.cs  定义一次投影结果
+4. TrajectoryProjector.cs   实现连续线段投影
+5. TrajectoryBuilder.cs     原始离散点转标准轨迹
+
+1. VehicleState.cs
+        ↓
+2. FirstOrderLowPassFilter.cs
+        ↓
+3. VelocityEstimator2D.cs
+        ↓
+4. IVehicleStateProvider.cs
+        ↓
+5. DetourVehicleStateProvider.cs
+
+
+private const double LinearVelocityFilterTimeConstantSeconds =
+    0.15;
+
+private const double AngularVelocityFilterTimeConstantSeconds =
+    0.20;
+
+PathTrackingContext.cs
+LateralControlCommand.cs
+ILateralController.cs
+ILongitudinalController.cs
+GcpMotionCommand.cs
+AckermannGcpAllocator.cs
+StanleyLateralController.cs
+PidLongitudinalController.cs
+GcpCommandExecutor.cs
+ParkingGeometricController.cs
+
+
+
+把前后GCP转角分解成两个模态：
+共同转角 = (前GCP转角 + 后GCP转角) / 2
+差动转角 = (前GCP转角 - 后GCP转角) / 2
+
+
+
+