集中停车控制配置并完善终点逼近和周期诊断

2026-08-11 17:46:52 +08:00
parent 33a33af710
commit 3043febd91
30 changed files with 2946 additions and 30 deletions
@@ -0,0 +1,171 @@
+using ClumsyCore;
+
+namespace MultiWheelC;
+
+/// <summary>
+/// 定义停车状态估计、轨迹跟踪和原地自转使用的车辆级参数。
+/// </summary>
+public partial class PilotConfig
+{
+    #region 停车控制-状态估计
+
+    [FieldMember(desc = "停车控制：Detour最大合理线速度(m/s)")]
+    public float ParkingDetourMaximumLinearSpeed = 1.20f;
+
+    [FieldMember(desc = "停车控制：Detour最大合理角速度(deg/s)")]
+    public float ParkingDetourMaximumAngularSpeedDegrees = 45f;
+
+    [FieldMember(desc = "停车控制：Detour位置跳变余量(m)")]
+    public float ParkingDetourPositionJumpMargin = 0.03f;
+
+    [FieldMember(desc = "停车控制：Detour航向跳变余量(deg)")]
+    public float ParkingDetourHeadingJumpMarginDegrees = 5f;
+
+    [FieldMember(desc = "停车控制：Detour速度预测位置残差(m)")]
+    public float ParkingDetourVelocityPositionResidual = 0.04f;
+
+    [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静止确认时间(s)")]
+    public float ParkingDetourStationaryConfirmationSeconds = 0.35f;
+
+    [FieldMember(desc = "停车控制：Detour线速度滤波时间常数(s)")]
+    public float ParkingDetourLinearVelocityFilterSeconds = 0.15f;
+
+    [FieldMember(desc = "停车控制：Detour角速度滤波时间常数(s)")]
+    public float ParkingDetourAngularVelocityFilterSeconds = 0.20f;
+
+    [FieldMember(desc = "停车控制：电机反馈速度滤波时间常数(s)")]
+    public float ParkingWheelVelocityFilterSeconds = 0.10f;
+
+    #endregion
+
+    #region 停车控制-Stanley
+
+    [FieldMember(desc = "停车控制：Stanley横向误差增益(1/s)")]
+    public float ParkingStanleyCrossTrackGain = 0.4f;
+
+    [FieldMember(desc = "停车控制：Stanley航向误差增益")]
+    public float ParkingStanleyHeadingGain = 1.0f;
+
+    [FieldMember(desc = "停车控制：Stanley最低分母速度(m/s)")]
+    public float ParkingStanleyMinimumSpeed = 0.15f;
+
+    [FieldMember(desc = "停车控制：Stanley使用电机实际速度")]
+    public bool ParkingStanleyUseActualSpeed = true;
+
+    [FieldMember(desc = "停车控制：Stanley横向修正上限(deg)")]
+    public float ParkingMaximumCrossTrackCorrectionDegrees = 10f;
+
+    [FieldMember(desc = "停车控制：Stanley航向修正上限(deg)")]
+    public float ParkingMaximumHeadingCorrectionDegrees = 10f;
+
+    #endregion
+
+    #region 停车控制-纵向PID
+
+    [FieldMember(desc = "停车控制：纵向速度Kp")]
+    public float ParkingLongitudinalKp = 0.5f;
+
+    [FieldMember(desc = "停车控制：纵向速度Ki(1/s)")]
+    public float ParkingLongitudinalKi = 0f;
+
+    [FieldMember(desc = "停车控制：纵向速度Kd(s)")]
+    public float ParkingLongitudinalKd = 0f;
+
+    [FieldMember(desc = "停车控制：纵向积分修正上限(m/s)")]
+    public float ParkingMaximumIntegralCorrection = 0.05f;
+
+    [FieldMember(desc = "停车控制：纵向速度误差死区(m/s)")]
+    public float ParkingLongitudinalSpeedErrorDeadband = 0.025f;
+
+    [FieldMember(desc = "停车控制：最大命令速度(m/s)")]
+    public float ParkingMaximumCommandSpeed = 0.50f;
+
+    #endregion
+
+    #region 停车控制-原地自转
+
+    [FieldMember(desc = "停车控制：原地自转Kp")]
+    public float InPlaceRotateKp = 1.05f;
+
+    [FieldMember(desc = "停车控制：原地自转Ki")]
+    public float InPlaceRotateKi = 0f;
+
+    [FieldMember(desc = "停车控制：原地自转Kd")]
+    public float InPlaceRotateKd = 0f;
+
+    [FieldMember(desc = "停车控制：原地自转积分限幅")]
+    public float InPlaceRotateMaxI = 0f;
+
+    [FieldMember(desc = "停车控制：原地自转到位角度容差(deg)")]
+    public float InPlaceRotateArriveDeg = 1.5f;
+
+    [FieldMember(desc = "停车控制：原地自转起转前舵轮对齐容差(deg)")]
+    public float InPlaceRotateWheelAlignDeg = 2f;
+
+    [FieldMember(desc = "停车控制：原地自转最小有效角速度(deg/s)")]
+    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;
+
+    [FieldMember(desc = "停车控制：原地自转角加速度(deg/s²)")]
+    public float InPlaceRotateAcc = 60f;
+
+    [FieldMember(desc = "停车控制：原地自转超时(s)")]
+    public float InPlaceRotateTimeoutSec = 15f;
+
+    #endregion
+
+    #region 停车控制-舵轮回正
+
+    [FieldMember(desc = "停车控制：舵轮回正到位容差(deg)")]
+    public float ParkingWheelForwardToleranceDegrees = 2f;
+
+    [FieldMember(desc = "停车控制：舵轮回正稳定确认时间(s)")]
+    public float ParkingWheelForwardStableSeconds = 0.3f;
+
+    [FieldMember(desc = "停车控制：舵轮回正超时(s，0关闭)")]
+    public float ParkingWheelForwardTimeoutSeconds = 10f;
+
+    #endregion
+
+    #region 停车控制-GCP与完成条件
+
+    [FieldMember(desc = "停车控制：最大GCP转角(deg)")]
+    public float ParkingMaximumGcpAngleDegrees = 45f;
+
+    [FieldMember(desc = "停车控制：最大GCP转角速度(deg/s)")]
+    public float ParkingMaximumGcpAngleRateDegreesPerSecond = 15f;
+
+    [FieldMember(desc = "停车控制：终点距离容差(m)")]
+    public float ParkingFinishDistance = 0.03f;
+
+    [FieldMember(desc = "停车控制：终点速度容差(m/s)")]
+    public float ParkingFinishSpeed = 0.02f;
+
+    [FieldMember(desc = "停车控制：终点航向容差(deg)")]
+    public float ParkingFinishHeadingToleranceDegrees = 3f;
+
+    [FieldMember(desc = "停车控制：终点制动预瞄距离(m)")]
+    public float ParkingTerminalBrakingPreview = 0.02f;
+
+    [FieldMember(desc = "停车控制：终点单向逼近范围(m)")]
+    public float ParkingTerminalApproachDistance = 0.10f;
+
+    [FieldMember(desc = "停车控制：终点单向逼近增益(1/s)")]
+    public float ParkingTerminalApproachGain = 0.8f;
+
+    [FieldMember(desc = "停车控制：终点单向逼近最大速度(m/s)")]
+    public float ParkingTerminalMaximumApproachSpeed = 0.05f;
+
+    [FieldMember(desc = "停车控制：最大轨迹偏离距离(m)")]
+    public float ParkingMaximumDistanceToTrajectory = 0.30f;
+
+    [FieldMember(desc = "停车控制：轨迹执行超时(s)")]
+    public float ParkingExecutionTimeoutSeconds = 120f;
+
+    #endregion
+}