增加差速电机前馈与控制器曲率预瞄

2026-08-12 11:19:01 +08:00
parent 3043febd91
commit 6c6149c8d5
24 changed files with 366 additions and 19 deletions
@@ -62,6 +62,16 @@ namespace MultiWheelC
        /// </summary>
        public bool? StanleyUsesActualSpeed;

+        /// <summary>
+        /// 获取或设置本次动作的Stanley曲率前馈预瞄时间覆盖值，单位为s，0为关闭；为空时读取车辆配置。
+        /// </summary>
+        public double? StanleyCurvaturePreviewSeconds;
+
+        /// <summary>
+        /// 获取或设置本次动作的Stanley曲率前馈最大预瞄距离覆盖值，单位为m；为空时读取车辆配置。
+        /// </summary>
+        public double? StanleyMaximumCurvaturePreviewMeters;
+
        /// <summary>
        /// 获取或设置本次动作的Stanley横向修正上限覆盖值，单位为rad；为空时读取车辆配置。
        /// </summary>
@@ -180,6 +190,12 @@ namespace MultiWheelC
            var stanleyUsesActualSpeed =
                StanleyUsesActualSpeed ??
                config.ParkingStanleyUseActualSpeed;
+            var stanleyCurvaturePreviewSeconds =
+                StanleyCurvaturePreviewSeconds ??
+                config.ParkingStanleyCurvaturePreviewSeconds;
+            var stanleyMaximumCurvaturePreviewMeters =
+                StanleyMaximumCurvaturePreviewMeters ??
+                config.ParkingStanleyMaximumCurvaturePreviewMeters;
            var maximumCrossTrackCorrectionRadians =
                MaximumCrossTrackCorrectionRadians ??
                AngleMath.DegreesToRadians(
@@ -332,7 +348,9 @@ namespace MultiWheelC
                terminalBrakingPreviewMeters,
                terminalApproachDistanceMeters,
                terminalApproachGainPerSecond,
-                maximumTerminalApproachSpeedMetersPerSecond);
+                maximumTerminalApproachSpeedMetersPerSecond,
+                stanleyCurvaturePreviewSeconds,
+                stanleyMaximumCurvaturePreviewMeters);

            var clock = Stopwatch.StartNew();
            var previousCycleSeconds =