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
@@ -123,8 +123,9 @@ namespace MultiWheelC.Control.Lateral
                    context.HeadingErrorRadians,
                    MaximumHeadingCorrectionRadians);

+            // 横向误差已经按轨迹执行点序定义；倒车轨迹的点序会自然
+            // 翻转横向轴，因此共同转角不能再按行驶方向重复反号。
            var commonAngleRadians =
-                travelDirection *
                crossTrackCorrectionRadians;
            var differentialAngleRadians =
                feedforwardAngleRadians +