完善Detour状态估计与轨迹跟踪验证

MultiWheelC/Configuration/PilotConfig.ParkingControl.cs

@@ -27,9 +27,28 @@ public partial class PilotConfig
     [FieldMember(desc = "停车控制：Detour速度预测航向残差(deg)")]
     public float ParkingDetourVelocityHeadingResidualDegrees = 5f;
 
+    [FieldMember(desc = "停车控制：Detour航向异常确认新帧数")]
+    public int ParkingDetourHeadingOutlierConfirmationFrames = 3;
+
+    [FieldMember(desc = "停车控制：Detour航向异常短时预测超时(s)")]
+    public float ParkingDetourHeadingOutlierPredictionTimeoutSeconds =
+        0.30f;
+
     [FieldMember(desc = "停车控制：Detour静止确认时间(s)")]
     public float ParkingDetourStationaryConfirmationSeconds = 0.35f;
 
+    [FieldMember(desc = "停车控制：Detour跳变确认新帧数")]
+    public int ParkingDetourJumpConfirmationFrames = 3;
+
+    [FieldMember(desc = "停车控制：Detour跳变确认超时(s)")]
+    public float ParkingDetourJumpConfirmationTimeoutSeconds = 0.60f;
+
+    [FieldMember(desc = "停车控制：Detour自动坐标连续化最大平移(m)")]
+    public float ParkingDetourMaximumAutomaticFrameShift = 0.15f;
+
+    [FieldMember(desc = "停车控制：Detour自动坐标连续化最大航向变化(deg)")]
+    public float ParkingDetourMaximumAutomaticHeadingShiftDegrees = 5f;
+
     [FieldMember(desc = "停车控制：Detour线速度滤波时间常数(s)")]
     public float ParkingDetourLinearVelocityFilterSeconds = 0.15f;
 
@@ -115,10 +134,12 @@ public partial class PilotConfig
     public float InPlaceRotateMinimumSpeed = 1f;
 
     [FieldMember(desc = "停车控制：原地自转最大角速度(deg/s)")]
-    public float InPlaceRotateMaxSpeed = 47.5f;
+    // public float InPlaceRotateMaxSpeed = 47.5f;
+    public float InPlaceRotateMaxSpeed = 30f;
 
     [FieldMember(desc = "停车控制：原地自转角加速度(deg/s²)")]
-    public float InPlaceRotateAcc = 60f;
+    // public float InPlaceRotateAcc = 60f;
+    public float InPlaceRotateAcc = 40f;
 
     [FieldMember(desc = "停车控制：原地自转超时(s)")]
     public float InPlaceRotateTimeoutSec = 15f;