From a59499e6388ea9ad74119f49be8e0562968f2735 Mon Sep 17 00:00:00 2001 From: shenyuxiang Date: Mon, 10 Aug 2026 17:20:35 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=BD=A8=E8=BF=B9=E5=88=B6?= =?UTF-8?q?=E5=8A=A8=E4=B8=8E=E8=BD=AE=E9=80=9F=E5=8F=8D=E9=A6=88=E5=B9=B6?= =?UTF-8?q?=E8=A1=A5=E5=85=85=E5=AE=9E=E9=AA=8C=E8=AE=B0=E5=BD=95=E5=92=8C?= =?UTF-8?q?=E4=B8=AD=E8=8B=B1=E6=96=87=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../build/Medulla/plugins/CommonUsage.dll | Bin 144384 -> 144384 bytes .../build/Medulla/plugins/MedullaAdapter.dll | Bin 74240 -> 74240 bytes .../build/Medulla/plugins/MedullaAdapter.pdb | Bin 35552 -> 35556 bytes .../Execution/ParkingGeometricController.cs | 93 +++++- .../Experiments/CompositeMotionPlanTests.cs | 2 +- .../Experiments/NewControllerTrackingTests.cs | 4 +- .../Movements/TrajectoryTrackingMovement.cs | 8 +- .../WheelFeedbackVehicleStateProvider.cs | 274 ++++++++++++++++++ MultiWheelC/build/Clumsy/CommonUsage.dll | Bin 144384 -> 144384 bytes MultiWheelC/build/Clumsy/MultiWheelC.dll | Bin 143360 -> 143872 bytes MultiWheelC/build/Clumsy/MultiWheelC.pdb | Bin 59596 -> 59952 bytes README.md | 42 ++- README_en.md | 42 ++- .../plot_new_controller_experiment.py | 14 +- .../4m0.4/记录.txt | 0 .../4m0.4偏10/记录.txt | 21 ++ .../直线圆弧折线/记录.txt | 22 ++ .../直线圆弧直线/记录.txt | 10 + output/C/CommonUsage.dll | Bin 144384 -> 144384 bytes output/C/MultiWheelC.dll | Bin 143360 -> 143872 bytes output/C/MultiWheelC.pdb | Bin 59596 -> 59952 bytes output/M/CommonUsage.dll | Bin 144384 -> 144384 bytes output/M/MedullaAdapter.dll | Bin 74240 -> 74240 bytes output/M/MedullaAdapter.pdb | Bin 35552 -> 35556 bytes ref/CommonUsage.dll | Bin 144384 -> 144384 bytes 25 files changed, 482 insertions(+), 50 deletions(-) create mode 100644 MultiWheelC/StateEstimation/WheelFeedbackVehicleStateProvider.cs rename data_process/{新版控制器轨迹测试处理 => }/plot_new_controller_experiment.py (98%) create mode 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@@ -111,6 +117,11 @@ namespace MultiWheelC.Control.Execution /// public double MaximumDistanceToTrajectoryMeters { get; } + /// + /// 获取沿轨迹提前读取更低制动参考速度的距离,单位为m。 + /// + public double TerminalBrakingPreviewMeters { get; } + /// /// 获取控制器当前是否持有并正在执行一条轨迹。 /// @@ -288,7 +299,7 @@ namespace MultiWheelC.Control.Execution } /// - /// 在轨迹起点零速固定点处读取前方速度,并限制为低速起步命令。 + /// 在轨迹起步区域内保持最低释放速度,避免空间速度曲线零速固定点。 /// private double ResolveReferenceSpeedForControl( TrajectoryProjection projection) @@ -297,15 +308,18 @@ namespace MultiWheelC.Control.Execution projection.ReferencePoint .ReferenceSpeedMetersPerSecond; - var requiresStartupRelease = + currentReferenceSpeed = + ApplyTerminalBrakingPreview( + projection, + currentReferenceSpeed); + + var isInStartupRegion = projection.ArcLengthMeters <= StartupRegionMeters && projection.RemainingDistanceMeters > - FinishDistanceMeters && - Math.Abs(currentReferenceSpeed) <= - ZeroReferenceSpeedToleranceMetersPerSecond; + FinishDistanceMeters; - if (!requiresStartupRelease) + if (!isInStartupRegion) { return currentReferenceSpeed; } @@ -314,6 +328,7 @@ namespace MultiWheelC.Control.Execution _trajectory.TotalLengthMeters, projection.ArcLengthMeters + StartupPreviewDistanceMeters); + var previewReferenceSpeed = _trajectory .SampleAtArcLength( @@ -323,13 +338,67 @@ namespace MultiWheelC.Control.Execution if (Math.Abs(previewReferenceSpeed) <= ZeroReferenceSpeedToleranceMetersPerSecond) { - return 0.0; + return currentReferenceSpeed; } - return Math.Sign(previewReferenceSpeed) * - Math.Min( - Math.Abs(previewReferenceSpeed), - MaximumStartupSpeedMetersPerSecond); + var startupReleaseSpeed = + Math.Sign(previewReferenceSpeed) * + Math.Min( + Math.Abs(previewReferenceSpeed), + MaximumStartupSpeedMetersPerSecond); + + // 当前空间速度已经高于起步释放速度时, + // 正常交还给原始速度曲线。 + if (Math.Sign(currentReferenceSpeed) == + Math.Sign(startupReleaseSpeed) && + Math.Abs(currentReferenceSpeed) >= + Math.Abs(startupReleaseSpeed)) + { + return currentReferenceSpeed; + } + + return startupReleaseSpeed; + } + + /// + /// 采用前方更低的同方向参考速度,使车辆在终点减速段提前制动。 + /// + private double ApplyTerminalBrakingPreview( + TrajectoryProjection projection, + double currentReferenceSpeed) + { + if (TerminalBrakingPreviewMeters <= 0.0) + { + return currentReferenceSpeed; + } + + var previewArcLengthMeters = Math.Min( + _trajectory.TotalLengthMeters, + projection.ArcLengthMeters + + TerminalBrakingPreviewMeters); + var previewReferenceSpeed = + _trajectory + .SampleAtArcLength( + previewArcLengthMeters) + .ReferenceSpeedMetersPerSecond; + + var previewIsStop = + Math.Abs(previewReferenceSpeed) <= + ZeroReferenceSpeedToleranceMetersPerSecond; + var hasSameDirection = + Math.Sign(previewReferenceSpeed) == + Math.Sign(currentReferenceSpeed); + var previewIsSlower = + Math.Abs(previewReferenceSpeed) < + Math.Abs(currentReferenceSpeed); + + if (previewIsSlower && + (previewIsStop || hasSameDirection)) + { + return previewReferenceSpeed; + } + + return currentReferenceSpeed; } /// diff --git a/MultiWheelC/Experiments/CompositeMotionPlanTests.cs b/MultiWheelC/Experiments/CompositeMotionPlanTests.cs index 715b5e8..cb612d9 100644 --- a/MultiWheelC/Experiments/CompositeMotionPlanTests.cs +++ b/MultiWheelC/Experiments/CompositeMotionPlanTests.cs @@ -37,7 +37,7 @@ namespace MultiWheelC public double StraightMaximumSpeedMetersPerSecond = 0.40; // 直线限速。 public double CurveMaximumSpeedMetersPerSecond = 0.30; // 转弯和过渡段限速。 public double AccelerationMetersPerSecondSquared = 0.20; // 参考加速度。 - public double DecelerationMetersPerSecondSquared = 0.12; // 参考减速度。 + public double DecelerationMetersPerSecondSquared = 0.08; // 参考减速度。 public double PointSpacingMeters = 0.02; // 离散轨迹点间距。 /// diff --git a/MultiWheelC/Experiments/NewControllerTrackingTests.cs b/MultiWheelC/Experiments/NewControllerTrackingTests.cs index ceab046..0c8371e 100644 --- a/MultiWheelC/Experiments/NewControllerTrackingTests.cs +++ b/MultiWheelC/Experiments/NewControllerTrackingTests.cs @@ -124,7 +124,7 @@ namespace MultiWheelC /// /// 获取或设置参考速度减速度,单位为m/s²。 /// - public double DecelerationMetersPerSecondSquared = 0.10; + public double DecelerationMetersPerSecondSquared = 0.08; /// /// 获取或设置离散轨迹点间距,单位为m。 @@ -485,7 +485,7 @@ namespace MultiWheelC /// /// 获取或设置参考速度减速度,单位为m/s²。 /// - public double DecelerationMetersPerSecondSquared = 0.12; + public double DecelerationMetersPerSecondSquared = 0.08; /// /// 获取或设置离散轨迹点间距,单位为m。 diff --git a/MultiWheelC/Movements/TrajectoryTrackingMovement.cs b/MultiWheelC/Movements/TrajectoryTrackingMovement.cs index ad6f2cb..a69d0e7 100644 --- a/MultiWheelC/Movements/TrajectoryTrackingMovement.cs +++ b/MultiWheelC/Movements/TrajectoryTrackingMovement.cs @@ -126,6 +126,11 @@ namespace MultiWheelC public double FinishHeadingToleranceRadians = AngleMath.DegreesToRadians(3.0); + /// + /// 终点减速阶段提前读取参考速度的距离,单位为m。 + /// + public double TerminalBrakingPreviewMeters = 0.02; + /// /// 车辆允许偏离参考轨迹的最大欧氏距离,单位为m。 /// @@ -203,7 +208,8 @@ namespace MultiWheelC FinishDistanceMeters, FinishSpeedMetersPerSecond, FinishHeadingToleranceRadians, - MaximumDistanceToTrajectoryMeters); + MaximumDistanceToTrajectoryMeters, + TerminalBrakingPreviewMeters); var clock = Stopwatch.StartNew(); var previousCycleSeconds = diff --git a/MultiWheelC/StateEstimation/WheelFeedbackVehicleStateProvider.cs b/MultiWheelC/StateEstimation/WheelFeedbackVehicleStateProvider.cs new file mode 100644 index 0000000..77537a5 --- /dev/null +++ b/MultiWheelC/StateEstimation/WheelFeedbackVehicleStateProvider.cs @@ -0,0 +1,274 @@ +using System; +using CommonUsage.Chassis; +using MyParking.Shared; +using System.Diagnostics; + +namespace MultiWheelC.StateEstimation +{ + /// + /// 保留外部状态源的Detour位姿,并以舵轮电机反馈解算的车体纵向速度替换Detour差分纵向速度。 + /// + public sealed class WheelFeedbackVehicleStateProvider + : IVehicleStateProvider + { + private readonly Stopwatch _wheelSpeedClock = Stopwatch.StartNew(); + public const double DefaultVelocityFilterTimeConstantSeconds = + 0.10; + + private readonly object _syncRoot = new object(); + private readonly IVehicleStateProvider _poseProvider; + private readonly MultiWheelChassis _chassis; + private readonly FirstOrderLowPassFilter _longitudinalSpeedFilter; + + private bool _hasPreviousTimestamp; + private double _previousTimestampSeconds; + private bool _hasVelocityDiagnostics; + private double _latestDetourBodyVxMetersPerSecond; + private bool _latestDetourVelocityValid; + private double _latestRawWheelBodyVxMetersPerSecond; + private double _latestFilteredWheelBodyVxMetersPerSecond; + private bool _latestWheelVelocityValid; + + /// + /// 创建使用默认0.10s低通时间常数的电机反馈纵向速度状态源。 + /// + public WheelFeedbackVehicleStateProvider( + IVehicleStateProvider poseProvider, + MultiWheelChassis chassis) + : this( + poseProvider, + chassis, + DefaultVelocityFilterTimeConstantSeconds) + { + } + + /// + /// 创建使用指定低通时间常数的电机反馈纵向速度状态源。 + /// + public WheelFeedbackVehicleStateProvider( + IVehicleStateProvider poseProvider, + MultiWheelChassis chassis, + double velocityFilterTimeConstantSeconds) + { + _poseProvider = poseProvider ?? + throw new ArgumentNullException( + nameof(poseProvider)); + _chassis = chassis ?? + throw new ArgumentNullException( + nameof(chassis)); + _longitudinalSpeedFilter = + new FirstOrderLowPassFilter( + velocityFilterTimeConstantSeconds); + } + + /// + /// 获取最近一次读取失败的原因,正常时为空字符串。 + /// + public string LastFailureReason { get; private set; } = + string.Empty; + + /// + /// 读取Detour位姿和电机反馈速度,并组合成统一车辆状态。 + /// + public bool TryGetState(out VehicleState state) + { + lock (_syncRoot) + { + if (!_poseProvider.TryGetState( + out var poseState)) + { + state = default; + LastFailureReason = + "基础位姿状态源暂时不可用。"; + return false; + } + + try + { + var actualCarSpeed = + _chassis.GetCarSpeed(true); + var rawLongitudinalSpeedMetersPerSecond = + (double)actualCarSpeed.Vx; + + EnsureFinite( + rawLongitudinalSpeedMetersPerSecond, + "电机反馈车体纵向速度"); + + var wheelSpeedTimestampSeconds = + _wheelSpeedClock.Elapsed.TotalSeconds; + + var filteredLongitudinalSpeedMetersPerSecond = + UpdateLongitudinalSpeedFilter( + rawLongitudinalSpeedMetersPerSecond, + wheelSpeedTimestampSeconds, + out var hasValidWheelSpeedEstimate); + + _latestDetourBodyVxMetersPerSecond = + poseState.TwistInBody.VxMetersPerSecond; + _latestDetourVelocityValid = + poseState.HasValidVelocityEstimate; + _latestRawWheelBodyVxMetersPerSecond = + rawLongitudinalSpeedMetersPerSecond; + _latestFilteredWheelBodyVxMetersPerSecond = + filteredLongitudinalSpeedMetersPerSecond; + _latestWheelVelocityValid = + hasValidWheelSpeedEstimate; + _hasVelocityDiagnostics = true; + + // 第一阶段只替换控制器使用的车体纵向速度;横向速度和角速度 + // 继续使用Detour估计,避免轮速差和舵角误差放大Vy与Omega噪声。 + var twistInBody = new Twist2D( + filteredLongitudinalSpeedMetersPerSecond, + poseState.TwistInBody + .VyMetersPerSecond, + poseState.TwistInBody + .OmegaRadiansPerSecond); + + var twistInWorld = + FrameTransform2D + .TransformTwistAtSamePoint( + poseState.PoseInWorld, + twistInBody); + + state = new VehicleState( + poseState.SampleTimestampSeconds, + poseState.PoseInWorld, + twistInWorld, + hasValidWheelSpeedEstimate); + + LastFailureReason = string.Empty; + return true; + } + catch (Exception exception) + { + state = default; + LastFailureReason = + "舵轮电机反馈车体速度解算失败:" + + exception.Message; + return false; + } + } + } + + /// + /// 读取最近一帧Detour纵向速度和轮速解算纵向速度,供实验记录使用。 + /// + public bool TryGetLatestVelocityDiagnostics( + out double detourBodyVxMetersPerSecond, + out bool detourVelocityValid, + out double rawWheelBodyVxMetersPerSecond, + out double filteredWheelBodyVxMetersPerSecond, + out bool wheelVelocityValid) + { + lock (_syncRoot) + { + detourBodyVxMetersPerSecond = + _latestDetourBodyVxMetersPerSecond; + detourVelocityValid = + _latestDetourVelocityValid; + rawWheelBodyVxMetersPerSecond = + _latestRawWheelBodyVxMetersPerSecond; + filteredWheelBodyVxMetersPerSecond = + _latestFilteredWheelBodyVxMetersPerSecond; + wheelVelocityValid = + _latestWheelVelocityValid; + return _hasVelocityDiagnostics; + } + } + + /// + /// 清除电机反馈速度的时间基准和低通滤波历史。 + /// + public void Reset() + { + lock (_syncRoot) + { + _longitudinalSpeedFilter.Reset(); + _wheelSpeedClock.Restart(); + _hasPreviousTimestamp = false; + _previousTimestampSeconds = 0.0; + _hasVelocityDiagnostics = false; + _latestDetourBodyVxMetersPerSecond = 0.0; + _latestDetourVelocityValid = false; + _latestRawWheelBodyVxMetersPerSecond = 0.0; + _latestFilteredWheelBodyVxMetersPerSecond = 0.0; + _latestWheelVelocityValid = false; + LastFailureReason = string.Empty; + } + } + + /// + /// 使用真实状态时间间隔更新纵向速度低通滤波,并在首帧建立基准。 + /// + private double UpdateLongitudinalSpeedFilter( + double rawLongitudinalSpeedMetersPerSecond, + double timestampSeconds, + out bool hasValidWheelSpeedEstimate) + { + EnsureFiniteNonNegative( + timestampSeconds, + nameof(timestampSeconds)); + + if (!_hasPreviousTimestamp) + { + _longitudinalSpeedFilter.Reset( + rawLongitudinalSpeedMetersPerSecond); + _previousTimestampSeconds = timestampSeconds; + _hasPreviousTimestamp = true; + hasValidWheelSpeedEstimate = false; + return rawLongitudinalSpeedMetersPerSecond; + } + + var deltaTimeSeconds = + timestampSeconds - + _previousTimestampSeconds; + _previousTimestampSeconds = timestampSeconds; + + if (deltaTimeSeconds <= 0.0) + { + _longitudinalSpeedFilter.Reset( + rawLongitudinalSpeedMetersPerSecond); + hasValidWheelSpeedEstimate = false; + return rawLongitudinalSpeedMetersPerSecond; + } + + hasValidWheelSpeedEstimate = true; + return _longitudinalSpeedFilter.Update( + rawLongitudinalSpeedMetersPerSecond, + deltaTimeSeconds); + } + + /// + /// 检查采样时刻是否为非负有限值。 + /// + private static void EnsureFiniteNonNegative( + double value, + string parameterName) + { + EnsureFinite(value, parameterName); + + if (value < 0.0) + { + throw new ArgumentOutOfRangeException( + parameterName, + "采样时刻必须是非负有限值。"); + } + } + + /// + /// 检查状态输入是否为有限值。 + /// + private static void EnsureFinite( + double value, + string parameterName) + { + if (double.IsNaN(value) || + double.IsInfinity(value)) + { + throw new ArgumentOutOfRangeException( + parameterName, + "车辆状态输入必须是有限值。"); + } + } + } +} diff --git a/MultiWheelC/build/Clumsy/CommonUsage.dll b/MultiWheelC/build/Clumsy/CommonUsage.dll index 82a8d1d5586f0ac0393a53084b6c846b2fe31a56..b4d199e582d133bb4ffccb5d811aaf6020b3bc09 100644 GIT binary patch delta 19005 zcmXV1Wl$YWvwk7CyGw9)cL?t8?rs5svjhmPK?A`(xVs+Q5ALqPonYtkRoy?^yj1YW`kQfOA^##`u;%9E=dt3lu;Ak3v9{zf=eFjvvEb(5vf$$7=i#>C zG8f?Iwro*sfYOG8=~n#Hm|oNdW%OD5>wo_lE<^oi*beodhNhI}V3Af<_z9k3^N$zN zUvx&r>7U!7h=KpNzI^+C>;LA<5zCNgBXANshGvW?t4V$Nyzt+DMP2YdnhOy4SAiD3 zHs#sI6m^|^^BN7o{NmVnPc;Mj;uMkD!)DYXdHLDdG;OO;W_2iuvfxN3O!X3N2_U$D znUHb54+|Gl3Mc7NfR69rYx(=uqwfnKy#9OoUwlK)k$?9iH8qNg;^)tKfargmafsow zwTWtJP&_67Wx(bsmk6X=V{Xq`JMbr_}{^n`<@K=EE)AMEaTkZ58v_ccHbzq$AkL7VHsxfyrP)V=! 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--- a/README.md +++ b/README.md @@ -16,8 +16,8 @@ | 阶段 | 当前状态 | 说明 | | --- | --- | --- | | 1. 单车基本功能 | 联调中 | 已接入运动控制、MCU 通信、轮组反馈、急停 IO、电池、灯光、遥控和诊断代码,仍需持续实车验证 | -| 2. 增加停车功能 | 部分开展 | 已提供夹臂控制、限位、报警和测试入口;轮胎识别、钻车和完整停车流程尚未实现 | -| 3. 优化跟踪方法 | 已启动 | 已加入直线、圆弧、S 型、蟹行测试、实验 CSV 记录和 Python 绘图工具 | +| 2. 增加停车功能 | 部分开展 | 已接入夹臂控制、限位和报警;夹臂动作测试当前已注释,轮胎识别、钻车和完整停车流程尚未实现 | +| 3. 优化跟踪方法 | 已启动 | 保留旧版 `SendMotion` 测试,并新增 Stanley 横向 + PID 纵向控制、组合运动计划、实验 CSV 和新版绘图工具 | | 4. 多车场景 | 暂不实施 | 多车参数和预研内容未参与当前编译,当前版本不提供多车联动 | ## 项目简介 @@ -41,7 +41,8 @@ MyParking 是一个面向多轮停车机器人底盘的 C# 工程,覆盖上层 | 单车运动 | 直线、圆弧、S 型轨迹,前进、蟹行和原地旋转 | | 底盘命令 | `SendMotion`、`SendXYThSpeed` 和虚拟阿克曼测试后端 | | 模式切换 | 正常、蟹行、自转模式;切换时先停车、预转舵轮并等待到位 | -| 跟踪控制 | 终点跟踪、直线跟踪、基于 Detour 的直线跟踪和蟹行运动坐标系跟踪 | +| 跟踪控制 | 旧版终点/直线/蟹行跟踪;新版 Stanley 横向控制、PID 纵向控制、前后 GCP 分配、轨迹偏离保护和终点状态判定 | +| 状态估计 | Detour 位姿与差分速度;新版实验可保留 Detour 位姿并用舵轮反馈解算、低通滤波后的车体纵向速度替代其差分纵向速度 | | 夹臂 | 左右夹臂速度命令、位置反馈、软限位、驱动报警、实体/虚拟遥控和目标位置动作 | | MCU 通信 | 串口桥打开、复位、版本/状态查询、数字 IO、CAN/串口同步收发和异步回调 | | 驱动与反馈 | 8 个驱动电机和 4 个舵轮的命令、速度/位置/舵角反馈及远程帧状态 | @@ -99,7 +100,9 @@ MyParking/ │ └── commonusage/ # CommonUsage 公共底盘库源码 ├── ref/ # 构建生成的 CommonUsage.dll(勿手工覆盖) ├── data_process/ -│ ├── 轨迹测试处理/ # 轨迹对比、误差、速度与角速度绘图 +│ ├── plot_new_controller_experiment.py # 新版控制器实验六子图工具 +│ ├── 新版控制器轨迹测试处理/ # 新版绘图工具的 Python 依赖 +│ ├── 旧版控制器轨迹测试处理/ # 旧版轨迹对比、误差和响应绘图 │ └── 电机响应处理/ # 舵轮响应快照分析 ├── docs/ │ ├── SteeringConstraintDesign.md # 舵轮限位设计讨论 @@ -186,7 +189,7 @@ output/M/MedullaAdapter.dll | CAN | 1 路,`500000 bit/s`,重试时间 `10 ms` | | 串口 | 3 路,`9600 bit/s`,接收帧时间 `10 ms` | | 电池通信端口索引 | `3` | -| 自转最大角速度 | `30 deg/s` | +| 遥控自转最大角速度 | `30 deg/s` | | 轮速诊断目录 | `logs\wheel-speed` | `docs/chassis参考.json` 是底盘参数样例;源码中尚未发现自动加载该文件的入口,实车参数仍应以宿主实际配置为准。 @@ -195,20 +198,20 @@ output/M/MedullaAdapter.dll ## 单车测试入口 -`MultiWheelC/MovementTests.cs` 当前注册: +`MultiWheelC/Experiments` 当前启用以下宿主测试入口: - `准备:四个舵轮与车头方向一致` - `SendMotion:连续前进4m` -- `SendXYThSpeed:原地自转90°` -- `SendXYThSpeed:原地自转180°` +- `SendXYThSpeed:输入角度原地自转` - `SendMotion:左转90°半径2m圆弧` - `SendMotion:蟹行直线4m` - `SendMotion:蟹行左转90°半径2m圆弧` - `SendMotion:4m S型曲线` -- `夹臂关闭测试` -- `夹臂启动测试` +- `新版控制器:4m直线轨迹跟踪` +- `新版控制器:直线-左半圆-直线轨迹跟踪` +- `新版控制器:直线-圆弧-折线组合测试` -这些测试由 Clumsy 宿主的测试界面执行,并不是 `dotnet test` 自动化测试。运动测试会按配置记录实验编号、参考轨迹、Detour 位姿和控制命令。 +这些测试由 Clumsy 宿主的测试界面执行,并不是 `dotnet test` 自动化测试。运动测试会按配置记录实验编号、参考轨迹、Detour 位姿、轮速解算速度和控制命令。`MultiWheelC/Experiments/ClampTests.cs` 中的夹臂测试目前整段注释,不会注册到宿主。 ## 实验数据分析 @@ -224,14 +227,23 @@ Medulla 的轮速诊断可通过 `StartWheelSpeedDiagnostic` / `StopWheelSpeedDi logs/wheel-speed/ ``` -### 轨迹测试处理 +### 新版控制器轨迹处理 ```powershell -python -m pip install -r data_process\轨迹测试处理\requirements.txt -python data_process\轨迹测试处理\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots" +python -m pip install -r data_process\新版控制器轨迹测试处理\requirements.txt +python data_process\plot_new_controller_experiment.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots" ``` -默认重采样频率为 `20 Hz`,滤波窗口为 `0.55 s`,可通过 `--frequency` 和 `--window` 调整。 +该工具为每份新版控制器 CSV 生成一张六子图总图,包含轨迹、横向/航向误差、速度和前后 GCP/四舵轮转角。省略 CSV 参数时,它只扫描 `data_process` 根目录及其 `data` 子目录。 + +### 旧版控制器轨迹处理 + +```powershell +python -m pip install -r data_process\旧版控制器轨迹测试处理\requirements.txt +python data_process\旧版控制器轨迹测试处理\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots" +``` + +旧版工具默认重采样频率为 `20 Hz`,滤波窗口为 `0.55 s`,可通过 `--frequency` 和 `--window` 调整。 ### 电机响应处理 diff --git a/README_en.md b/README_en.md index c52af29..af35086 100644 --- a/README_en.md +++ b/README_en.md @@ -16,8 +16,8 @@ The current work remains focused on the **single robot** and is in chassis integ | Stage | Current status | Notes | | --- | --- | --- | | 1. Basic single-robot functions | Integration in progress | Motion control, MCU communication, wheel feedback, emergency-stop I/O, battery, lights, remote control, and diagnostics are connected in code; physical validation is ongoing | -| 2. Add parking functions | Partially started | Clamp control, limits, alarms, and test entries exist; tire recognition, vehicle entry, and the complete parking workflow are not implemented | -| 3. Improve tracking | Started | Straight, arc, S-curve, and crab tests, experiment CSV recording, and Python plotting tools are available | +| 2. Add parking functions | Partially started | Clamp control, limits, and alarms are connected; the clamp movement tests are currently commented out, while tire recognition, vehicle entry, and the complete parking workflow are not implemented | +| 3. Improve tracking | Started | Legacy `SendMotion` tests remain, with new Stanley lateral + PID longitudinal control, composite motion plans, experiment CSVs, and a new plotting tool | | 4. Multi-robot scenarios | Deferred | Multi-robot R&D settings are excluded from the build, and the current version provides no fleet coordination | ## Overview @@ -41,7 +41,8 @@ No ROS/ROS 2, Docker, or Web simulator project is present. The plugins are loade | Single-robot motion | Straight, arc, and S-curve paths; forward, crab, and in-place rotation | | Chassis commands | `SendMotion`, `SendXYThSpeed`, and a virtual-Ackermann test backend | | Mode switching | Normal, crab, and spin modes; stop, pre-steer, and wait for wheel alignment before motion | -| Tracking | Destination tracking, line tracking, Detour-based line tracking, and crab motion-frame tracking | +| Tracking | Legacy destination, line, and crab tracking; new Stanley lateral control, PID longitudinal control, front/rear GCP allocation, path-deviation protection, and terminal-state checks | +| State estimation | Detour pose and differentiated velocity; new experiments can retain the Detour pose while replacing its differentiated longitudinal velocity with a low-pass-filtered body velocity derived from steer-wheel feedback | | Clamp | Left/right speed commands, position feedback, soft limits, driver alarms, physical/virtual remote control, and target-position actions | | MCU communication | Bridge open/reset, version/state queries, digital I/O, synchronous serial/CAN access, and asynchronous callbacks | | Drive and feedback | Commands and speed/position/steering feedback for eight drive motors and four steer modules, plus remote-frame state | @@ -99,7 +100,9 @@ MyParking/ │ └── commonusage/ # CommonUsage chassis-library source ├── ref/ # Generated CommonUsage.dll (do not overwrite by hand) ├── data_process/ -│ ├── 轨迹测试处理/ # Trajectory comparison, error, speed, and yaw plots +│ ├── plot_new_controller_experiment.py # Six-panel plots for new-controller trials +│ ├── 新版控制器轨迹测试处理/ # Python dependencies for the new plotting tool +│ ├── 旧版控制器轨迹测试处理/ # Legacy trajectory, error, and response plots │ └── 电机响应处理/ # Steering-response snapshot analysis ├── docs/ │ ├── SteeringConstraintDesign.md # Steering-limit design notes @@ -186,7 +189,7 @@ MCU defaults confirmed from the current source: | CAN | One channel at `500000 bit/s`, with a `10 ms` retry time | | Serial | Three channels at `9600 bit/s`, with a `10 ms` receive-frame time | | Battery port index | `3` | -| Maximum spin rate | `30 deg/s` | +| Maximum remote-control spin rate | `30 deg/s` | | Wheel-speed diagnostic directory | `logs\wheel-speed` | `docs/chassis参考.json` is a chassis-parameter example. No automatic loader for it was found in the source. Treat the actual host configuration as authoritative. @@ -195,20 +198,20 @@ Before physical testing, verify the port, vehicle ID, steering zero and limits, ## Single-Robot Test Entries -`MultiWheelC/MovementTests.cs` currently registers: +`MultiWheelC/Experiments` currently enables these host test entries: - `准备:四个舵轮与车头方向一致` - `SendMotion:连续前进4m` -- `SendXYThSpeed:原地自转90°` -- `SendXYThSpeed:原地自转180°` +- `SendXYThSpeed:输入角度原地自转` - `SendMotion:左转90°半径2m圆弧` - `SendMotion:蟹行直线4m` - `SendMotion:蟹行左转90°半径2m圆弧` - `SendMotion:4m S型曲线` -- `夹臂关闭测试` -- `夹臂启动测试` +- `新版控制器:4m直线轨迹跟踪` +- `新版控制器:直线-左半圆-直线轨迹跟踪` +- `新版控制器:直线-圆弧-折线组合测试` -These are run through the Clumsy host's test interface and are not an automated `dotnet test` suite. Motion tests record the experiment number, reference path, Detour pose, and control commands according to their configuration. +These are run through the Clumsy host's test interface and are not an automated `dotnet test` suite. Motion tests record the experiment number, reference path, Detour pose, wheel-derived velocity, and control commands according to their configuration. The clamp tests in `MultiWheelC/Experiments/ClampTests.cs` are currently commented out in full and are not registered with the host. ## Experiment Data Analysis @@ -224,14 +227,23 @@ Medulla wheel-speed diagnostics can be controlled with the `StartWheelSpeedDiagn logs/wheel-speed/ ``` -### Trajectory processing +### New-controller trajectory processing ```powershell -python -m pip install -r data_process\轨迹测试处理\requirements.txt -python data_process\轨迹测试处理\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots" +python -m pip install -r data_process\新版控制器轨迹测试处理\requirements.txt +python data_process\plot_new_controller_experiment.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots" ``` -The default resampling frequency is `20 Hz`, and the default filter window is `0.55 s`; use `--frequency` and `--window` to change them. +This tool creates one six-panel summary for each new-controller CSV, covering the path, lateral/heading errors, speed, and front/rear GCP and four-wheel steering angles. When no CSV is passed, it scans only the `data_process` root and its `data` subdirectory. + +### Legacy-controller trajectory processing + +```powershell +python -m pip install -r data_process\旧版控制器轨迹测试处理\requirements.txt +python data_process\旧版控制器轨迹测试处理\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots" +``` + +The legacy tool defaults to `20 Hz` resampling and a `0.55 s` filter window; use `--frequency` and `--window` to change them. ### Steering-response processing diff --git a/data_process/新版控制器轨迹测试处理/plot_new_controller_experiment.py b/data_process/plot_new_controller_experiment.py similarity index 98% rename from data_process/新版控制器轨迹测试处理/plot_new_controller_experiment.py rename to data_process/plot_new_controller_experiment.py index c7a7fcb..8af14eb 100644 --- a/data_process/新版控制器轨迹测试处理/plot_new_controller_experiment.py +++ b/data_process/plot_new_controller_experiment.py @@ -530,10 +530,16 @@ def plot_experiment( label="Detour估计Vx", ) if np.any(np.isfinite(data["wheel_filtered_speed"])): - axis.plot( - data["time"], - data["wheel_filtered_speed"], - linewidth=1.5, + wheel_filtered_valid = np.isfinite( + data["wheel_filtered_speed"] + ) + axis.scatter( + data["time"][wheel_filtered_valid], + data["wheel_filtered_speed"][wheel_filtered_valid], + color="tab:red", + s=14, + marker="o", + zorder=5, label="轮速解算滤波Vx(控制使用)", ) else: diff --git a/data_process/新版前后角解耦控制器测试处理/4m0.4/记录.txt b/data_process/新版前后角解耦控制器测试处理/4m0.4/记录.txt new file mode 100644 index 0000000..e69de29 diff --git a/data_process/新版前后角解耦控制器测试处理/4m0.4偏10/记录.txt b/data_process/新版前后角解耦控制器测试处理/4m0.4偏10/记录.txt new file mode 100644 index 0000000..c4080c8 --- /dev/null +++ b/data_process/新版前后角解耦控制器测试处理/4m0.4偏10/记录.txt @@ -0,0 +1,21 @@ +第一次: +: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.040m,航向误差=0.15°。, stack: + at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205 + at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 246 + at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592 + + *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.040m,航向误差=0.15°。, stack: + at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257 + at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112 + +第三次: + +: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.032m,航向误差=0.10°。, stack: + at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205 + at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 246 + at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592 + + *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.032m,航向误差=0.10°。, stack: + at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257 + at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112 + diff --git a/data_process/新版前后角解耦控制器测试处理/直线圆弧折线/记录.txt b/data_process/新版前后角解耦控制器测试处理/直线圆弧折线/记录.txt new file mode 100644 index 0000000..0b5dc62 --- /dev/null +++ b/data_process/新版前后角解耦控制器测试处理/直线圆弧折线/记录.txt @@ -0,0 +1,22 @@ +第二次: +: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.037m,航向误差=0.27°。, stack: + at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205 + at MultiWheelC.CompositeStopTurnGoTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\CompositeMotionPlanTests.cs:line 211 + at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592 + + *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.037m,航向误差=0.27°。, stack: + at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257 + at MultiWheelC.MotionPlanExecutor.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\MotionPlanExecutor.cs:line 174 + at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112 + +第二次: +: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.033m,航向误差=0.27°。, stack: + at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205 + at MultiWheelC.CompositeStopTurnGoTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\CompositeMotionPlanTests.cs:line 211 + at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592 + + *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.033m,航向误差=0.27°。, stack: + at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257 + at MultiWheelC.MotionPlanExecutor.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\MotionPlanExecutor.cs:line 174 + at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112 + diff --git a/data_process/新版前后角解耦控制器测试处理/直线圆弧直线/记录.txt b/data_process/新版前后角解耦控制器测试处理/直线圆弧直线/记录.txt new file mode 100644 index 0000000..3a845c1 --- /dev/null +++ b/data_process/新版前后角解耦控制器测试处理/直线圆弧直线/记录.txt @@ -0,0 +1,10 @@ +第二次: +: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.034m,航向误差=0.11°。, stack: + at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205 + at MultiWheelC.NewControllerStraightSemicircleStraightTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 613 + at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592 + + *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳,但终点精度不满足要求:位置误差=0.034m,航向误差=0.11°。, stack: + at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257 + at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in 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