打通新版Stanley轨迹跟踪闭环并补充实验测试与数据分析脚本

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-06 15:14:12 +08:00
parent 47973cc94b
commit 19b1e49189
27 changed files with 3482 additions and 22 deletions
@@ -1 +1,126 @@
-// 保存一次控制周期需要的完整输入
+using System;
+using MultiWheelC.StateEstimation;
+using MultiWheelC.Trajectory;
+
+namespace MultiWheelC.Control.Abstractions
+{
+    /// <summary>
+    /// 保存一次轨迹跟踪控制周期使用的车辆状态、轨迹投影和真实时间间隔。
+    /// </summary>
+    public readonly struct PathTrackingContext
+    {
+        /// <summary>
+        /// 创建横向和纵向控制器共享的只读控制输入快照。
+        /// </summary>
+        public PathTrackingContext(
+            VehicleState vehicleState,
+            TrajectoryProjection projection,
+            double referenceSpeedMetersPerSecond,
+            double deltaTimeSeconds)
+        {
+            EnsureFinite(
+                referenceSpeedMetersPerSecond,
+                nameof(referenceSpeedMetersPerSecond));
+            EnsureFinitePositive(
+                deltaTimeSeconds,
+                nameof(deltaTimeSeconds));
+
+            VehicleState = vehicleState;
+            Projection = projection;
+            ReferenceSpeedMetersPerSecond =
+                referenceSpeedMetersPerSecond;
+            DeltaTimeSeconds = deltaTimeSeconds;
+        }
+
+        /// <summary>
+        /// 获取本周期经过校验的实际车辆位姿和速度状态。
+        /// </summary>
+        public VehicleState VehicleState { get; }
+
+        /// <summary>
+        /// 获取实际车体中心投影到参考轨迹后得到的参考状态和跟踪误差。
+        /// </summary>
+        public TrajectoryProjection Projection { get; }
+
+        /// <summary>
+        /// 获取本次控制计算距离上次计算的真实时间间隔，单位为s。
+        /// </summary>
+        public double DeltaTimeSeconds { get; }
+
+        /// <summary>
+        /// 获取轨迹投影点要求的有符号参考速度，单位为m/s。
+        /// </summary>
+        public double ReferenceSpeedMetersPerSecond { get; }
+
+        /// <summary>
+        /// 获取车辆在车体X轴方向上的实际纵向速度，单位为m/s。
+        /// </summary>
+        public double ActualLongitudinalSpeedMetersPerSecond =>
+            VehicleState.TwistInBody
+                .VxMetersPerSecond;
+
+        /// <summary>
+        /// 获取轨迹投影点的参考曲率，单位为1/m，左转为正。
+        /// </summary>
+        public double ReferenceCurvaturePerMeter =>
+            Projection.ReferencePoint
+                .CurvaturePerMeter;
+
+        /// <summary>
+        /// 获取参考轨迹相对车辆的有符号横向误差，单位为m，轨迹在车辆左侧时为正。
+        /// </summary>
+        public double LateralErrorMeters =>
+            Projection.LateralErrorMeters;
+
+        /// <summary>
+        /// 获取参考航向减实际车体航向的最短角差，单位为rad，逆时针为正。
+        /// </summary>
+        public double HeadingErrorRadians =>
+            Projection.HeadingErrorRadians;
+
+        /// <summary>
+        /// 获取当前投影位置沿参考轨迹到终点的剩余距离，单位为m。
+        /// </summary>
+        public double RemainingDistanceMeters =>
+            Projection.RemainingDistanceMeters;
+
+        /// <summary>
+        /// 获取实际速度是否已经由至少两个连续有效定位样本估算得到。
+        /// </summary>
+        public bool HasValidVelocityEstimate =>
+            VehicleState.HasValidVelocityEstimate;
+
+        /// <summary>
+        /// 检查控制周期是否为正有限值。
+        /// </summary>
+        private static void EnsureFinitePositive(
+            double value,
+            string parameterName)
+        {
+            if (double.IsNaN(value) ||
+                double.IsInfinity(value) ||
+                value <= 0.0)
+            {
+                throw new ArgumentOutOfRangeException(
+                    parameterName,
+                    "轨迹跟踪控制周期必须是正有限值。");
+            }
+        }
+
+        /// <summary>
+        /// 检查控制参考速度是否为有限值。
+        /// </summary>
+        private static void EnsureFinite(
+            double value,
+            string parameterName)
+        {
+            if (double.IsNaN(value) ||
+                double.IsInfinity(value))
+            {
+                throw new ArgumentOutOfRangeException(
+                    parameterName,
+                    "轨迹跟踪参考速度必须是有限值。");
+            }
+        }
+    }
+}