# 差速轮运控算法输出参数模板。

schema_version: 1
session_id: replace_with_session_id
vehicle_id: replace_with_real_vehicle_id
chassis_type: differential
control_axis: combined
controller_algorithm: pid
control_role: multi_loop_pid
parameter_version: replace_with_control_parameter_version

estimated_params:
  pid_loops:
    - control_axis: longitudinal_control
      control_role: speed_loop
      loop_name: speed
      kp: 0.0
      ki: 0.0
      kd: 0.0
    - control_axis: lateral_control
      control_role: yaw_rate_loop
      loop_name: yaw_rate
      kp: 0.0
      ki: 0.0
      kd: 0.0
    - control_axis: longitudinal_control
      control_role: wheel_speed_inner_loop
      loop_name: left_right_wheel_speed
      kp: 0.0
      ki: 0.0
      kd: 0.0

quality:
  data_quality_passed: false
  suitable_for_commit: false
  auto_acceptance_passed: false
  validation_summary:
    rms_lateral_error_m: 0.0
    rms_heading_error_rad: 0.0
    rms_speed_error_ms: 0.0
    overshoot_ratio: 0.0
    settle_time_sec: 0.0
    stop_position_error_m: 0.0
    max_jerk: 0.0
    saturation_ratio: 0.0
