增加差速电机前馈与控制器曲率预瞄

2026-08-12 11:19:01 +08:00
parent 3043febd91
commit 6c6149c8d5
24 changed files with 366 additions and 19 deletions
@@ -55,6 +55,12 @@ public partial class PilotConfig
    [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曲率前馈预瞄时间(s)，0为关闭")]
+    public float ParkingStanleyCurvaturePreviewSeconds = 0.15f;
+
+    [FieldMember(desc = "停车控制：Stanley曲率前馈最大预瞄距离(m)")]
+    public float ParkingStanleyMaximumCurvaturePreviewMeters = 0.12f;
+
    [FieldMember(desc = "停车控制：Stanley横向修正上限(deg)")]
    public float ParkingMaximumCrossTrackCorrectionDegrees = 10f;