添加直线-半圆组合轨迹测试并调优Stanley参数与夹臂限位类型

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-06 17:54:09 +08:00
parent 19b1e49189
commit f8881bc243
5 changed files with 730 additions and 7 deletions
@@ -38,7 +38,7 @@ namespace MultiWheelC
        /// <summary>
        /// Stanley横向误差增益，单位为1/s。
        /// </summary>
-        public double StanleyCrossTrackGainPerSecond = 1.0;
+        public double StanleyCrossTrackGainPerSecond = 0.4;

        /// <summary>
        /// Stanley航向误差增益。
@@ -48,7 +48,7 @@ namespace MultiWheelC
        /// <summary>
        /// Stanley低速分母保护速度，单位为m/s。
        /// </summary>
-        public double StanleyMinimumSpeedMetersPerSecond = 0.05;
+        public double StanleyMinimumSpeedMetersPerSecond = 0.15;

        /// <summary>
        /// 获取或设置Stanley是否优先使用Detour估算的实际速度。