Update fleet crab walk control
This commit is contained in:
@@ -364,39 +364,32 @@ public class FleetRotateInPlaceTest : MovementTest
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}
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// ===== 车队联动-自动蟹行动作 =====
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// 以当前车队中心为起点，构造与车队朝向夹角 x、长度 y 的直线路径；执行侧复用
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// TickMultiVehicle 的脚本手动等价输入(mode=1)，也就是 FleetRemote 手动蟹行同一条下发链路。
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// 以当前车队中心为起点，构造指定方向和长度的直线路径；
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// 执行侧直接写 MultiVehicleAuto...，由 TickMultiVehicle 自动分支统一下发。
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//
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// 手动蟹行已验证丝滑，自动动作只额外做两件事：
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// 1) 读取主车 Detour 反推车队中心，计算沿直线的进度和横向偏差；
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// 2) 用小幅、带斜率限制的方向修正写 MultiVehicleScriptVx/Vy，避免几何控制器 bias/dTh 阶跃造成抖动。
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//
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// 与 FleetRemote 手动蟹行(mode==1)对照：TickMultiVehicle 仍负责合成 frontTh==rearTh 的蟹行舵角并广播给从车。
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// 控制思路参考 MDCSToolbox 几何控制器，但实现收在 MultiWheelC 内：
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// 1) 读取主车 Detour 反推车队中心，计算沿直线的进度、横向偏差和车身目标朝向偏差；
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// 2) 根据横向偏差给前后 GCP 同向修正，根据车身目标朝向偏差给前后 GCP 反向修正；
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// 3) 根据终点距离减速，并发布 ideal fleet center 给从车做前馈。
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//
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// 前提：在主车(MultiVehicleMasterEndpoint=="/")运行，且主车有 Detour 定位。
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public class FleetCrabWalk : MovementDefinition
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{
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/// <summary>与当前车队朝向的夹角(deg，逆时针为正)。</summary>
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/// <summary>路径方向相对启动时车队朝向的夹角(deg，逆时针为正)。</summary>
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public float CrabAngleDeg = 45f;
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/// <summary>路径方向相对车身目标朝向的夹角(deg，逆时针为正)。MovementTest 会设为 CrabAngleDeg，以保持启动时车身朝向。</summary>
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public float BodyToPathAngleDeg = 45f;
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/// <summary>路径长度(mm)。</summary>
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public float CrabLengthMm = 2000f;
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/// <summary>行驶速度(m/s)。</summary>
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public float CrabSpeed = 0.2f;
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/// <summary>兼容旧配置；当前脚本手动等价实现不再直接使用几何控制器 gcp 上限。</summary>
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/// <summary>前后 GCP 舵角修正上限(deg)。</summary>
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public float GcpThetaThreshold = 95f;
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/// <summary>横向误差转向增益，沿用 Stanley 形式：atan(gain * lateral / speed)。</summary>
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public float CorrectionGain = 1f;
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/// <summary>自动纠偏最大改向角(deg)。越小越接近手动蟹行，越大收敛越快。</summary>
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public float CorrectionAngleThreshold = 8f;
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/// <summary>脚本 Vx/Vy 命令斜率限制(m/s^2)，避免纠偏量变化造成舵角阶跃。</summary>
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public float CommandAccel = 0.4f;
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private bool _stopping;
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private void Cleanup()
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@@ -420,11 +413,20 @@ public class FleetCrabWalk : MovementDefinition
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Cleanup();
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}
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private static float Slew(float current, float target, float maxStep)
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private static float Clamp(float value, float min, float max)
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{
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var diff = target - current;
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if (Math.Abs(diff) <= maxStep) return target;
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return current + Math.Sign(diff) * maxStep;
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if (value < min) return min;
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if (value > max) return max;
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return value;
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}
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private static float ClampAbs(float value, float limit)
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{
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var absLimit = Math.Abs(limit);
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if (absLimit <= 0) return value;
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if (value > absLimit) return absLimit;
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if (value < -absLimit) return -absLimit;
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return value;
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}
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public override IEnumerable<bool> Get()
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@@ -437,7 +439,8 @@ public class FleetCrabWalk : MovementDefinition
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$"ENTER master?={conf.MultiVehicleMasterEndpoint == "/"} endpoint={conf.MultiVehicleMasterEndpoint} " +
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$"fleetNum={conf.MultiVehicleFleetNum} useDetect={conf.MultiVehicleUseDetect} " +
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$"syncUseDetour={conf.MultiVehicleSyncUseDetour} useIdealCenter={conf.MultiVehicleAutoUseIdealCenter} " +
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$"manualLike=true corrGain={CorrectionGain:0.00} corrMax={CorrectionAngleThreshold:0.0} accel={CommandAccel:0.00}",
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$"autoFields=true pathAngle={CrabAngleDeg:0.0} bodyToPath={BodyToPathAngleDeg:0.0} " +
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$"gcpLimit={GcpThetaThreshold:0.0} biasFac={conf.BiasFac:0.00} dthFac={conf.DthLinearFac:0.00}",
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"FleetCrabDbg");
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if (conf.MultiVehicleMasterEndpoint != "/")
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@@ -458,25 +461,34 @@ public class FleetCrabWalk : MovementDefinition
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DLog.Log($"CENTER 车队中心=({x0:0},{y0:0},{theta:0.0})", "FleetCrabDbg");
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var phi = CommonMath.RoundTh(theta + CrabAngleDeg);
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var targetBodyTh = CommonMath.RoundTh(phi - BodyToPathAngleDeg);
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var dst = CommonMath.Transform2D(new Vector2(x0, y0), phi, new Vector2(CrabLengthMm, 0));
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var phiRad = phi / 180.0 * Math.PI;
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var pathDir = new Vector2((float)Math.Cos(phiRad), (float)Math.Sin(phiRad));
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var pathLeft = new Vector2(-pathDir.Y, pathDir.X);
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DLog.Log(
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$"START center=({x0:0},{y0:0},{theta:0.0}) crabAngle={CrabAngleDeg:0.0} phi={phi:0.0} " +
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$"START center=({x0:0},{y0:0},{theta:0.0}) pathAngle={CrabAngleDeg:0.0} bodyToPath={BodyToPathAngleDeg:0.0} " +
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$"phi={phi:0.0} targetBody={targetBodyTh:0.0} " +
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$"len={CrabLengthMm:0} dst=({dst.X:0},{dst.Y:0}) speed={CrabSpeed:0.000}",
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"FleetCrabDbg");
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// 手动蟹行已验证丝滑：这里复用 TickMultiVehicle 的脚本手动等价输入(mode=1)，
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// 只在本动作内根据车队中心相对直线的横向误差缓慢调整 Vx/Vy 方向。
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self.MultiVehicleScriptEnabled = true;
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self.MultiVehicleScriptMode = 1;
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleScriptVx = 0;
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self.MultiVehicleScriptVy = 0;
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self.MultiVehicleScriptVth = 0;
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self.MultiVehicleAutoEnabled = true;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = 0;
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self.MultiVehicleAutoRearTh = 0;
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self.MultiVehicleAutoIdealX = x0;
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self.MultiVehicleAutoIdealY = y0;
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self.MultiVehicleAutoIdealTh = targetBodyTh;
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self.MultiVehicleAutoHasIdeal = true;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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self.PrimeMasterAutoFromSlam();
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DLog.Log("WARMUP 已启用脚本蟹行(mode=1)，等待编队成员就位…", "FleetCrabDbg");
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DLog.Log("WARMUP auto fields enabled, waiting for fleet members...", "FleetCrabDbg");
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var warmEnd = DateTime.Now.AddSeconds(2.0);
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var warmIter = 0;
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@@ -484,8 +496,17 @@ public class FleetCrabWalk : MovementDefinition
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while (!_stopping && DateTime.Now < warmEnd)
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{
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warmIter++;
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self.MultiVehicleScriptEnabled = true;
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self.MultiVehicleScriptMode = 1;
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleAutoEnabled = true;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = 0;
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self.MultiVehicleAutoRearTh = 0;
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self.MultiVehicleAutoIdealX = x0;
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self.MultiVehicleAutoIdealY = y0;
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self.MultiVehicleAutoIdealTh = targetBodyTh;
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self.MultiVehicleAutoHasIdeal = true;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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self.PrimeMasterAutoFromSlam();
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var snap = self.GetFleetCenterSnapshot();
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int cnt;
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@@ -493,7 +514,7 @@ public class FleetCrabWalk : MovementDefinition
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if (warmIter % 5 == 0)
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DLog.Log(
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$"WARMUP#{warmIter} 快照=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) tick={snap.Tick} " +
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$"scriptEn={self.MultiVehicleScriptEnabled} cnt={cnt}/{conf.MultiVehicleFleetNum}",
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$"autoEn={self.MultiVehicleAutoEnabled} scriptEn={self.MultiVehicleScriptEnabled} cnt={cnt}/{conf.MultiVehicleFleetNum}",
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"FleetCrabDbg");
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if (cnt >= conf.MultiVehicleFleetNum)
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{
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@@ -506,27 +527,30 @@ public class FleetCrabWalk : MovementDefinition
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yield return true;
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}
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if (!warmReady)
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DLog.Log("WARMUP 超时：编队仍未就位，继续进入脚本蟹行（若不动请查看 FleetDiagClumsy ready/cnt）",
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DLog.Log("WARMUP timeout: fleet members are not ready; continue with auto fields and safety interlock.",
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"FleetCrabDbg");
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Hedingben.ToastText($"车队蟹行 夹角{CrabAngleDeg:0.0}° 长度{CrabLengthMm:0}mm", "FleetCrab");
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Hedingben.ToastText($"车队蟹行 路径{CrabAngleDeg:0.0}° 车身夹角{BodyToPathAngleDeg:0.0}° 长度{CrabLengthMm:0}mm", "FleetCrab");
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var iter = 0;
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var cmdVx = 0f;
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var cmdVy = 0f;
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var lastTime = DateTime.Now;
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var lastLog = DateTime.MinValue;
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var finishDistance = Math.Max(20f, conf.FinishDistance);
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var slowDistance = Math.Max(finishDistance + 1f, conf.SlowDistance);
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var baseSpeed = Math.Abs(CrabSpeed);
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var finishSpeed = Math.Min(baseSpeed, Math.Abs(conf.FinishSpeed));
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var gcpLimit = Math.Max(1f, Math.Abs(GcpThetaThreshold));
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var stopReason = "done";
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while (!_stopping)
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{
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iter++;
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var now = DateTime.Now;
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var dt = (float)Math.Min(0.2, Math.Max(0.001, (now - lastTime).TotalSeconds));
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lastTime = now;
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self.TryGetFleetCenterFromSlam(out var cx, out var cy, out var cth);
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if (!self.TryGetFleetCenterFromSlam(out var cx, out var cy, out var cth))
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{
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stopReason = "fleet center invalid";
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DLog.Log("ABORT: TryGetFleetCenterFromSlam returned false during auto crab.", "FleetCrabDbg");
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break;
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}
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var delta = new Vector2(cx - x0, cy - y0);
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var along = Vector2.Dot(delta, pathDir);
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var lateral = Vector2.Dot(delta, pathLeft);
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@@ -534,29 +558,37 @@ public class FleetCrabWalk : MovementDefinition
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if (remain <= finishDistance)
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break;
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var speed = Math.Abs(CrabSpeed);
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if (remain < conf.SlowDistance && conf.SlowDistance > 1)
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var speed = baseSpeed;
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if (remain < slowDistance)
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{
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var ratio = (float)Math.Pow(Math.Max(0, remain) / conf.SlowDistance, conf.SlowingPow);
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speed = ratio * (speed - Math.Abs(conf.FinishSpeed)) + Math.Abs(conf.FinishSpeed);
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var ratio = (float)Math.Pow(Clamp(Math.Max(0, remain) / slowDistance, 0f, 1f), conf.SlowingPow);
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speed = ratio * (baseSpeed - finishSpeed) + finishSpeed;
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}
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var correction = (float)(-Math.Atan(CorrectionGain * lateral / 1000f / Math.Max(speed, 0.3f)) / Math.PI * 180.0);
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correction = Math.Sign(correction) * Math.Min(Math.Abs(correction), Math.Abs(CorrectionAngleThreshold));
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var desiredWorldAngle = CommonMath.RoundTh(phi + correction);
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var localAngle = (float)CommonMath.ThDiff(desiredWorldAngle, cth);
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var localRad = localAngle / 180.0 * Math.PI;
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var targetVx = speed * (float)Math.Cos(localRad);
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var targetVy = speed * (float)Math.Sin(localRad);
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var maxStep = Math.Max(0.05f, CommandAccel) * dt;
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cmdVx = Slew(cmdVx, targetVx, maxStep);
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cmdVy = Slew(cmdVy, targetVy, maxStep);
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var baseCrabTh = (float)CommonMath.ThDiff(phi, cth);
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var headingErr = (float)CommonMath.ThDiff(targetBodyTh, cth);
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var dthItem = ClampAbs(conf.DthLinearFac * headingErr, conf.DthLinearThreshold);
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var biasItem = (float)(-Math.Atan(conf.BiasFac * lateral / 1000f / Math.Max(speed, 0.3f)) / Math.PI * 180.0);
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biasItem = ClampAbs(biasItem, conf.BiasThreshold);
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var frontTh = ClampAbs(baseCrabTh + biasItem + dthItem, gcpLimit);
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var rearTh = ClampAbs(baseCrabTh + biasItem - dthItem, gcpLimit);
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var idealAlong = Clamp(along, 0f, CrabLengthMm);
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var ideal = new Vector2(x0, y0) + pathDir * idealAlong;
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self.MultiVehicleScriptEnabled = true;
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self.MultiVehicleScriptMode = 1;
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self.MultiVehicleScriptVx = cmdVx;
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self.MultiVehicleScriptVy = cmdVy;
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleScriptVx = 0;
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self.MultiVehicleScriptVy = 0;
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self.MultiVehicleScriptVth = 0;
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self.MultiVehicleAutoEnabled = true;
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self.MultiVehicleAutoVx = speed;
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self.MultiVehicleAutoFrontTh = frontTh;
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self.MultiVehicleAutoRearTh = rearTh;
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self.MultiVehicleAutoIdealX = ideal.X;
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self.MultiVehicleAutoIdealY = ideal.Y;
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self.MultiVehicleAutoIdealTh = targetBodyTh;
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self.MultiVehicleAutoHasIdeal = true;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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if ((DateTime.Now - lastLog).TotalMilliseconds >= 300)
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{
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@@ -566,8 +598,11 @@ public class FleetCrabWalk : MovementDefinition
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lock (self.FleetLock) fleetCnt = self.MultiVehicleFleet.Count;
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DLog.Log(
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$"ITER#{iter} center=({cx:0},{cy:0},{cth:0.0}) snap=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) " +
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$"along={along:0} lateral={lateral:0} remain={remain:0} corr={correction:0.0} " +
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$"localAngle={localAngle:0.0} cmd=({cmdVx:0.000},{cmdVy:0.000}) cnt={fleetCnt}/{conf.MultiVehicleFleetNum}",
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$"along={along:0} lateral={lateral:0} remain={remain:0} headingErr={headingErr:0.0} " +
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$"baseTh={baseCrabTh:0.0} bias={biasItem:0.0} dth={dthItem:0.0} " +
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$"auto=(vx:{speed:0.000},fTh:{frontTh:0.0},rTh:{rearTh:0.0}) " +
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$"ideal=({ideal.X:0},{ideal.Y:0},{targetBodyTh:0.0}) scriptEn={self.MultiVehicleScriptEnabled} " +
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$"cnt={fleetCnt}/{conf.MultiVehicleFleetNum}",
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"FleetCrabDbg");
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}
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yield return true;
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@@ -576,14 +611,20 @@ public class FleetCrabWalk : MovementDefinition
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if (_stopping)
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stopReason = "stop";
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self.MultiVehicleScriptVx = 0;
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self.MultiVehicleScriptVy = 0;
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self.MultiVehicleScriptVth = 0;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = 0;
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self.MultiVehicleAutoRearTh = 0;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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var settleEnd = DateTime.Now.AddMilliseconds(Math.Max(100, conf.MultiVehicleSyncInterval * 3));
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while (!_stopping && DateTime.Now < settleEnd)
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{
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self.MultiVehicleScriptEnabled = true;
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self.MultiVehicleScriptMode = 1;
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleAutoEnabled = true;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = 0;
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self.MultiVehicleAutoRearTh = 0;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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yield return true;
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}
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@@ -604,12 +645,10 @@ public class FleetCrabWalkTest : MovementTest
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_proc = new FleetCrabWalk
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{
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CrabAngleDeg = PilotDefinition.Conf.FleetCrabAngleDeg,
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BodyToPathAngleDeg = PilotDefinition.Conf.FleetCrabAngleDeg,
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CrabLengthMm = PilotDefinition.Conf.FleetCrabLengthMm,
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CrabSpeed = PilotDefinition.Conf.FleetCrabSpeed,
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GcpThetaThreshold = PilotDefinition.Conf.FleetCrabGcpThetaThreshold,
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CorrectionGain = PilotDefinition.Conf.FleetCrabCorrectionGain,
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CorrectionAngleThreshold = PilotDefinition.Conf.FleetCrabCorrectionAngleDeg,
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CommandAccel = PilotDefinition.Conf.FleetCrabCommandAccel
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GcpThetaThreshold = PilotDefinition.Conf.FleetCrabGcpThetaThreshold
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};
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_task = new DriveTask(_proc.Get());
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_task.Wait();
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@@ -23,6 +23,8 @@ public class PilotConfig : MultiWheelPilotConfig
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// 注意：无论该开关如何，自动模式下整队姿态(反推/广播车队中心、SLAM 间距、自动安全门)始终依赖 Detour 全局定位；
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// 主车自动模式必调用 getCartLocation()，若无有效全局定位该调用会阻塞 → 联动线程阻塞不下发速度（安全停车）。
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[FieldMember(desc = "[sync] 定位是否参与车队内姿态纠正(不影响整队姿态计算)")] public bool MultiVehicleSyncUseDetour = false;
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// 手动外部遥控联动默认只走 2 腿检测/几何同步，避免 Detour getCartLocation 阻塞导致遥控和检测可视化变慢。
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[FieldMember(desc = "[sync] 手动联动是否启用定位姿态纠正(默认关闭)")] public bool MultiVehicleManualUseDetourCorrection = false;
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|
||||
[FieldMember(desc = "多车联动：总车数")] public int MultiVehicleFleetNum = 2;
|
||||
[FieldMember(desc = "联动线程周期(ms)")] public int MultiVehicleSyncInterval = 50;
|
||||
@@ -96,6 +98,9 @@ public class PilotConfig : MultiWheelPilotConfig
|
||||
[FieldMember(desc = "Playground WebAPI 基地址")]
|
||||
public string PlaygroundWebApiUrl = "http://localhost:18090";
|
||||
|
||||
[FieldMember(desc = "MultiVehicle rotate pose WebAPI diagnostics (simulation only)")]
|
||||
public bool MultiVehicleRotatePoseWebApiDiagEnabled = false;
|
||||
|
||||
[FieldMember(desc = "Playground 小车名称（场景 robots[].name）")]
|
||||
public string PlaygroundRobotName = "agv_multi_1";
|
||||
|
||||
@@ -149,9 +154,9 @@ public class PilotConfig : MultiWheelPilotConfig
|
||||
public bool FleetRotateUseDetourHeading = true;
|
||||
|
||||
// ===== 车队联动-自动蟹行（FleetCrabWalk）=====
|
||||
// 以当前车队中心为起点，构造与车队朝向夹角 FleetCrabAngleDeg、长度 FleetCrabLengthMm 的直线路径，
|
||||
// 复用脚本手动等价输入(mode=1)斜向平移；动作侧只把横向误差转换成小幅、带斜率限制的蟹行方向修正。
|
||||
[FieldMember(desc = "车队蟹行：与车队朝向夹角(deg，逆时针为正)")]
|
||||
// 以当前车队中心为起点，构造一条直线路径；MovementTest 中车身保持启动朝向追踪该路径。
|
||||
// 动作侧参考几何控制器的路径跟踪思路，直接写入 MultiVehicleAuto... 字段，不再复用脚本手动链路。
|
||||
[FieldMember(desc = "车队蟹行：路径方向相对启动时车队朝向夹角(deg，逆时针为正；路径在车右侧x度时填-x)")]
|
||||
public float FleetCrabAngleDeg = 45f;
|
||||
|
||||
[FieldMember(desc = "车队蟹行：路径长度(mm)")]
|
||||
@@ -160,19 +165,9 @@ public class PilotConfig : MultiWheelPilotConfig
|
||||
[FieldMember(desc = "车队蟹行：行驶速度(m/s)")]
|
||||
public float FleetCrabSpeed = 0.2f;
|
||||
|
||||
// 兼容旧版几何控制器实现；当前自动蟹行走脚本手动等价输入，不再直接使用该上限。
|
||||
[FieldMember(desc = "车队蟹行：旧几何控制器gcp角度上限(deg)")]
|
||||
[FieldMember(desc = "车队蟹行：GCP舵角修正上限(deg)")]
|
||||
public float FleetCrabGcpThetaThreshold = 95f;
|
||||
|
||||
[FieldMember(desc = "车队蟹行：横向误差纠偏增益")]
|
||||
public float FleetCrabCorrectionGain = 1f;
|
||||
|
||||
[FieldMember(desc = "车队蟹行：自动纠偏最大改向角(deg)")]
|
||||
public float FleetCrabCorrectionAngleDeg = 8f;
|
||||
|
||||
[FieldMember(desc = "车队蟹行：脚本速度命令斜率(m/s^2)")]
|
||||
public float FleetCrabCommandAccel = 0.4f;
|
||||
|
||||
// ===== 2腿检测（单线雷达识别两腿托盘 / 轮胎）=====
|
||||
[FieldMember(desc = "2腿检测：雷达名（逗号分隔可多个）")]
|
||||
public string TwoLegLidarName = "rear_left_lidar_1,rear_right_lidar_1";
|
||||
|
||||
@@ -176,6 +176,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
private DateTime _mvRemoteInputLastLog = DateTime.MinValue;
|
||||
private DateTime _mvRemoteDecisionLastLog = DateTime.MinValue;
|
||||
private DateTime _mvNotifyApplyLastLog = DateTime.MinValue;
|
||||
private DateTime _mvRotateWheelOutputLastLog = DateTime.MinValue;
|
||||
|
||||
private void LogMultiVehicleRemoteInput(bool isMaster, bool scriptOn, bool manualEnabled, bool autoEnabled,
|
||||
int manualMode, float manualVx, float manualVy, float manualVth)
|
||||
@@ -207,6 +208,38 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
DLog.Log($"car{CarNum} {msg}", "MultiVehicleRemoteDbg");
|
||||
}
|
||||
|
||||
private void LogRotateWheelOutputs(MultiWheelChassis chassis, string phase, float omega, bool force = false)
|
||||
{
|
||||
var now = DateTime.Now;
|
||||
if (!force && (now - _mvRotateWheelOutputLastLog).TotalMilliseconds < 300) return;
|
||||
_mvRotateWheelOutputLastLog = now;
|
||||
|
||||
#pragma warning disable CS0612, CS0618
|
||||
var wheels = chassis.GetSteerWheels();
|
||||
#pragma warning restore CS0612, CS0618
|
||||
var parts = new List<string>();
|
||||
for (var i = 0; i < wheels.Count; i++)
|
||||
{
|
||||
var wheel = wheels[i];
|
||||
if (wheel is DiffSteerWheel diff)
|
||||
{
|
||||
parts.Add(
|
||||
$"w{i}:tgt={diff.GetSendAngle():0.0} read={diff.ReadAngle():0.0} " +
|
||||
$"L={diff.GetLeftSendSpeed():0.000} R={diff.GetRightSendSpeed():0.000}");
|
||||
}
|
||||
else
|
||||
{
|
||||
parts.Add(
|
||||
$"w{i}:tgt={wheel.GetSendAngle():0.0} read={wheel.ReadAngle():0.0} " +
|
||||
$"v={wheel.GetSendSpeed():0.000}");
|
||||
}
|
||||
}
|
||||
|
||||
DLog.Log(
|
||||
$"car{CarNum} phase={phase} omega={omega:0.000} " + string.Join(" | ", parts),
|
||||
"MultiVehicleRotateWheelOutput");
|
||||
}
|
||||
|
||||
private void SetMultiVehicleMotionFeasible(bool feasible, string reason = "")
|
||||
{
|
||||
_multiVehicleMotionFeasible = feasible;
|
||||
@@ -598,7 +631,8 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
$"| SCRIPT en={MultiVehicleScriptEnabled} mode={MultiVehicleScriptMode} Vx={MultiVehicleScriptVx:0.000} Vy={MultiVehicleScriptVy:0.000} Vth={MultiVehicleScriptVth:0.0} " +
|
||||
$"| gate: manualEnabled={manualEnabled} autoEnabled={autoEnabled} notifFresh={notifFresh} " +
|
||||
$"notifManualEn={(MultiVehicleNotification != null ? MultiVehicleNotification.ManualEnabled.ToString() : "null")} " +
|
||||
$"fleetCnt={fleetCnt}/{Conf.MultiVehicleFleetNum} useDetect={Conf.MultiVehicleUseDetect} useDetour={Conf.MultiVehicleSyncUseDetour}");
|
||||
$"fleetCnt={fleetCnt}/{Conf.MultiVehicleFleetNum} useDetect={Conf.MultiVehicleUseDetect} " +
|
||||
$"useDetour={Conf.MultiVehicleSyncUseDetour} manualDetour={Conf.MultiVehicleManualUseDetourCorrection}");
|
||||
}
|
||||
|
||||
if (!manualEnabled && !autoEnabled)
|
||||
@@ -650,9 +684,11 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
// false 仅表示"定位不参与车队内姿态纠正"，不影响下面整队姿态计算。
|
||||
// - slamRead：本车本轮是否读取 Detour 全局位姿。"整个车队姿态的计算"(主车反推/广播车队中心、
|
||||
// SLAM 间距、自动模式安全门)始终依赖全局定位 —— 故自动模式下主车必读，与开关无关；
|
||||
// 纠偏开启时本车也读。读取若因无有效定位阻塞，则联动线程随之阻塞、不下发速度（安全停车）。
|
||||
// 手动外部遥控默认不读 Detour，避免 getCartLocation 阻塞拖慢 2 腿检测；确需手动 POS 纠偏时再开
|
||||
// MultiVehicleManualUseDetourCorrection。
|
||||
var autoMode = autoEnabled && !manualEnabled;
|
||||
var useDetourCorrection = Conf.MultiVehicleSyncUseDetour;
|
||||
var manualDetourCorrection = manualEnabled && Conf.MultiVehicleManualUseDetourCorrection;
|
||||
var useDetourCorrection = Conf.MultiVehicleSyncUseDetour && (!manualEnabled || manualDetourCorrection);
|
||||
var slamRead = useDetourCorrection || (isMaster && autoMode);
|
||||
float selfX = 0, selfY = 0, selfTh = 0;
|
||||
if (slamRead)
|
||||
@@ -689,8 +725,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
if (fleetMode == 2)
|
||||
{
|
||||
// 原地旋转：摇杆左右 → 绕车队中心角速度(deg/s)。底盘 SetOriginBias 已设为车队中心。
|
||||
var rotateInput = scriptOn ? manualVth : ClampFloat(manualVth, -1f, 1f);
|
||||
fleetOmega = scriptOn ? rotateInput : rotateInput * Conf.ManualCarSyncVthFac;
|
||||
fleetOmega = manualVth;
|
||||
fleetVx = 0;
|
||||
fleetFrontTh = 0;
|
||||
fleetRearTh = 0;
|
||||
@@ -701,7 +736,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
{
|
||||
// 手动蟹行：Vx 只表示线速度，Vy 表示方向摇杆比例(-1..1)，由 VyFac 映射为舵角。
|
||||
var speed = manualVx * Conf.ManualCarSyncVxFac;
|
||||
var crabRatio = Math.Max(-60f, Math.Min(60f, manualVy));
|
||||
var crabRatio = Math.Max(-90f, Math.Min(90f, manualVy));
|
||||
var crabAngle = crabRatio * Conf.ManualCarSyncVyFac;
|
||||
crabInputVx = speed;
|
||||
crabInputVy = crabRatio;
|
||||
@@ -1125,27 +1160,41 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
rotCompVx, rotCompVy, rotCompOmega);
|
||||
}
|
||||
else if (rotating)
|
||||
{
|
||||
// Preparation calls SendRotateMotion with zero delta; after release it would starve the speed ramp.
|
||||
if (!MultiVehicleRotateWheelsReady)
|
||||
{
|
||||
motionOk = PrepareMultiVehicleRotateWheels(chassis, requestedFleetOmega,
|
||||
rotCompVx, rotCompVy, rotCompOmega, rampStop: false);
|
||||
if (motionOk && MultiVehicleRotateWheelsReady)
|
||||
rotateHoldForAlignment = true;
|
||||
fleetOmega = 0;
|
||||
chassis.RampStop();
|
||||
if (!motionOk || !MultiVehicleRotateWheelsReady)
|
||||
{
|
||||
LogMultiVehicleRemoteDecision(
|
||||
$"ROTATE_HOLD_LOCAL_ALIGN master={isMaster} manual={manualEnabled} auto={autoEnabled} " +
|
||||
$"requestedOmega={requestedFleetOmega:0.000} align={_multiVehicleRotateAlignDetail}", true);
|
||||
}
|
||||
else
|
||||
{
|
||||
LogMultiVehicleRemoteDecision(
|
||||
$"ROTATE_HOLD_LOCAL_READY master={isMaster} manual={manualEnabled} auto={autoEnabled} " +
|
||||
$"requestedOmega={requestedFleetOmega:0.000} align={_multiVehicleRotateAlignDetail}", true);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
motionOk = chassis.SendRotateMotion(fleetOmega,
|
||||
localCompensateX: rotCompVx, localCompensateY: rotCompVy,
|
||||
localCompensateTh: rotCompOmega);
|
||||
MultiVehicleRotateWheelsReady = motionOk &&
|
||||
TryCheckRotateWheelAlignment(chassis,
|
||||
Conf.InPlaceRotateWheelAlignDeg,
|
||||
out _multiVehicleRotateAlignDetail);
|
||||
}
|
||||
else
|
||||
{
|
||||
rotateHoldForAlignment = true;
|
||||
fleetOmega = 0;
|
||||
chassis.RampStop();
|
||||
var activeAligned = TryCheckRotateWheelAlignment(chassis,
|
||||
Conf.InPlaceRotateWheelAlignDeg, out _multiVehicleRotateAlignDetail);
|
||||
if (!motionOk)
|
||||
MultiVehicleRotateWheelsReady = false;
|
||||
if (!activeAligned)
|
||||
LogMultiVehicleRemoteDecision(
|
||||
$"ROTATE_HOLD_LOCAL_ALIGN master={isMaster} manual={manualEnabled} auto={autoEnabled} " +
|
||||
$"requestedOmega={requestedFleetOmega:0.000} align={_multiVehicleRotateAlignDetail}", true);
|
||||
$"ROTATE_ACTIVE_ALIGN_WAIT master={isMaster} manual={manualEnabled} auto={autoEnabled} " +
|
||||
$"requestedOmega={requestedFleetOmega:0.000} align={_multiVehicleRotateAlignDetail}");
|
||||
}
|
||||
}
|
||||
else
|
||||
@@ -1165,6 +1214,8 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
canMove = false;
|
||||
LogMultiVehicleStop(fleetStopReason, true);
|
||||
}
|
||||
LogRotateWheelOutputs(chassis, rotateHoldForAlignment ? "hold-align" : (rotating ? "rotate" : "idle"),
|
||||
fleetOmega);
|
||||
LogMultiVehicleRemoteDecision(
|
||||
$"SEND_ROTATE master={isMaster} manual={manualEnabled} canMove={canMove} ready={fleetReady} ok={motionOk} " +
|
||||
$"holdAlign={rotateHoldForAlignment} wheelReady={MultiVehicleRotateWheelsReady} fleetReady={MultiVehicleRotateFleetReady} " +
|
||||
@@ -1173,7 +1224,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
$"fleetCnt={fleetCount}/{Conf.MultiVehicleFleetNum}");
|
||||
|
||||
// 仅主车：读取两车实际 sim 位姿，量化"开环横向滑移"来源（节流 ~200ms）。
|
||||
if (isMaster)
|
||||
if (isMaster && Conf.MultiVehicleRotatePoseWebApiDiagEnabled)
|
||||
LogRotatePoseSample();
|
||||
}
|
||||
else
|
||||
@@ -1653,6 +1704,8 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
|
||||
/// </summary>
|
||||
private void LogRotatePoseSample()
|
||||
{
|
||||
if (!Conf.MultiVehicleRotatePoseWebApiDiagEnabled) return;
|
||||
|
||||
var now = DateTime.Now;
|
||||
if ((now - _rotPoseLastLog).TotalMilliseconds < 200) return;
|
||||
_rotPoseLastLog = now;
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
> 本文档汇总 **当前仓库状态、外部依赖、运行/日志路径、代码地图与待解决问题**，便于后续继续调试「车队联动-自动蟹行」。
|
||||
>
|
||||
> 最后更新：2026-06-29
|
||||
> 最后更新：2026-07-01
|
||||
|
||||
---
|
||||
|
||||
@@ -11,8 +11,8 @@
|
||||
| 阶段 | 状态 | 说明 |
|
||||
|------|------|------|
|
||||
| 动作能启动、能下发运动 | ✅ 已解决 | 方案 1（预热）修复了启动期 `(0,0,0)` 快照导致 `Track()` 立即结束（`iter=0`）的问题 |
|
||||
| 路径跟踪质量 | 🔧 已改，待实测 | 2026-06-29 继续处理：自动蟹行改为复用手动蟹行同款 `mode=1` 下发链路，只叠加小幅平滑横向纠偏 |
|
||||
| 与手动蟹行对照 | ✅ 已验证 | 手动模式（FleetRemote `mode==1`）丝滑；因此自动抖动主要来自纠偏链路而非底盘执行能力 |
|
||||
| 路径跟踪质量 | 🔧 已改，待实测 | 2026-07-01 改为自动字段链路；MovementTest 中 `FleetCrabAngleDeg=-x` 表示车身保持当前角度，以 x 度夹角追踪路径 |
|
||||
| 与手动蟹行对照 | ✅ 已验证 | 手动模式（FleetRemote `mode==1`）仍保留；自动蟹行不再复用脚本手动链路 |
|
||||
|
||||
**触发方式**：主车 Clumsy → MovementTest 面板 → **「车队联动-自动蟹行」**（`FleetCrabWalkTest`）。
|
||||
|
||||
@@ -36,37 +36,39 @@
|
||||
- 已处理：`TickMultiVehicle` 每拍开头的 `PublishFleetCenter(0,0,0)` 已移除，避免动作/控制线程并发读到假中心。
|
||||
|
||||
2. **横向纠偏 `bias` 项在蟹行模式下的参考系**
|
||||
- `MultiWheelGeometricController.PerformGoing` 中 `bias = -bias` 后按 Stanley 形式修正 gcp（`BiasFac` / `BiasThreshold`）。
|
||||
- 蟹行时 `thDiff` 来自路径切线（≈夹角），`dTh` 参考固定 `CrabTargetHeading`；若 `bias` 符号或 fleet 中心更新滞后，会持续向一侧推。
|
||||
- 已绕开：`FleetCrabWalk` 当前不再用几何控制器直接下发 gcp；改为 Detour 计算 `along/lateral/remain`，再写脚本 `MultiVehicleScriptVx/Vy`。
|
||||
- 当前实现不改 MDCSToolbox，只参考几何控制器思路在 `MultiWheelC` 内计算。
|
||||
- `lateral` 通过 `BiasFac/BiasThreshold` 转为前后 GCP 同向修正；`headingErr` 通过 `DthLinearFac/DthLinearThreshold` 转为前后 GCP 反向修正。
|
||||
- 输出直接写 `MultiVehicleAutoVx/FrontTh/RearTh/IdealX/Y/Th`，由 `TickMultiVehicle` 自动分支统一下发。
|
||||
- MovementTest 会令 `BodyToPathAngleDeg = FleetCrabAngleDeg`，因此 `targetBodyTh = pathTh - BodyToPathAngleDeg = 启动时车队朝向`。
|
||||
|
||||
3. **`MultiVehicleSyncUseDetour=true` 时的 POS 补偿与控制器抢方向盘**
|
||||
- 当前 `deploy/clumsy_agv1/clumsy.json` 中 `MultiVehicleSyncUseDetour: true`。
|
||||
- 各车 SLAM 偏差经 `PosBias*` 叠加到 `SendMotion`，可能与几何控制器横向纠偏形成耦合振荡。
|
||||
|
||||
4. **动作期间关闭了 `MultiVehicleAutoUseIdealCenter`**
|
||||
- 有意为之（避免 ideal 中心回灌快照、抹平真实 bias）。副作用是仅依赖「快照中心 + bias 闭环」，对快照质量更敏感。
|
||||
4. **理想车队中心前馈**
|
||||
- 当前动作会发布 `MultiVehicleAutoIdealX/Y/Th`。
|
||||
- `MultiVehicleAutoUseIdealCenter=true` 时，从车使用该理想中心做 layout 前馈；关闭后只用当前广播中心和补偿项。
|
||||
|
||||
5. **路径/起点几何**
|
||||
- 起点：`TryGetFleetCenterFromSlam()`；路径：`LineTrack(x0,y0 → dst)`，`phi = theta + CrabAngleDeg`。
|
||||
- 若 `theta` 与运行时 `CenterTh` 不一致，或 layout 反推中心与控制器使用的快照中心有系统偏差，会表现为沿某一轴漂移。
|
||||
|
||||
**建议下一轮日志对照**：
|
||||
- `FleetCrabDbg`：`lateral` 是否收敛、`corr/localAngle/cmd` 是否平滑、有无到达纠偏上限
|
||||
- `MultiVehicleDbg`：`frontTh/rearTh/speed` 是否接近手动蟹行、POS/Detect 补偿是否在持续驱动，`CRAB in/raw/limit/rev` 是否显示 `raw=-95°` 这类角度未被反向等价转换
|
||||
- 如需回退旧几何控制器路线，再看 `CrabDbg` 的 `bias/biasItem/gcp/fleetPos`
|
||||
- `FleetCrabDbg`：`lateral` 是否收敛、`headingErr` 是否收敛、`bias/dth` 是否到达阈值、`auto(vx,fTh,rTh)` 是否稳定
|
||||
- `MultiVehicleDbg`：自动分支是否为 `auto:true/manual:false/script:false`，`BASE/SEND` 是否接近 `FleetCrabDbg` 输出，POS/Detect 补偿是否持续驱动
|
||||
- 重点看 `FleetCrabGcpThetaThreshold`、`BiasThreshold`、`DthLinearThreshold` 三个限幅是否过早截断纠偏
|
||||
|
||||
**2026-06-29 DLog 结论（自动蟹行仍抖动）**：
|
||||
- `FleetCrabDbg` 中 `along/lateral/remain/corr/localAngle/cmd` 基本平滑，横向误差多在几十 mm 内，未见路径控制器发散。
|
||||
**2026-06-29 DLog 结论（旧脚本链路下自动蟹行仍抖动）**：
|
||||
- 旧 `FleetCrabDbg` 中 `along/lateral/remain/旧方向修正/旧命令` 基本平滑，横向误差多在几十 mm 内，未见路径控制器发散。
|
||||
- 主/从 `MultiVehicleDbg` 中 `BASE vx` 在正负之间跳，同时 `fTh/rTh` 在 `+90°/-90°` 附近翻转；这是同一横移矢量被错误地按 ±90° 边界转换成两种等价表示，底盘执行层会看到接近 180° 的转向跳变。
|
||||
- POS 补偿在该批日志中为关闭/零补偿（`corr:false`、`POS comp 0`），Detect 补偿有小幅值但不是主因。
|
||||
- 因此本轮判定为 **mode=1 蟹行矢量合成把 ±90° 误当舵角边界**，不是优先调 `FleetCrabCorrectionGain`。Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 默认约为 `-120/+120`，自动蟹行应允许 `-95°` 直接下发。
|
||||
- 因此本轮判定为 **mode=1 蟹行矢量合成把 ±90° 误当舵角边界**，不是优先调横向纠偏增益。Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 默认约为 `-120/+120`，自动蟹行应允许 `-95°` 直接下发。
|
||||
|
||||
**2026-06-29 DLog 结论（±120 修复后仍 Y+ 漂移）**：
|
||||
- Clumsy 侧 `MultiVehicleDbg` 已显示 `CRAB raw=-9x`、`limit=120.0`、`rev:false`，`BASE vx` 不再正负翻转，说明上层 `mode=1` 表达已连续，剧烈抖动问题已消失。
|
||||
- 但 `FleetCrabDbg` 中 `lateral` 仍从 `0` 单调增长到约 `+171mm`，`corr` 到达 `-8°` 上限后无法拉回；主/从 `DETECT dy` 也增长到百毫米量级，`DETECT comp y` 达到 `20mm/s` 上限。
|
||||
- 进一步检查 Playground 发现：`D:\MDCS\Source\Core\Medulla\Playground\default_scene.json` 与运行目录 `bin\Debug\net8.0\default_scene.json` 中两台 `multi-steering` 仍为 `"maxSteeringAngle": 90`，而 `ActuatorModels.cs` 会把模块舵角 clamp 到 `[-MaxSteeringAngleRad,+MaxSteeringAngleRad]`。
|
||||
- 这意味着 Clumsy 发出的 `-98°` 路径纠偏，在 Playground 实际执行时会被夹回 `-90°`，纠偏分量被吞掉；这比继续调 `FleetCrabCorrectionGain` 更像 Y+ 漂移的直接原因。
|
||||
- 这意味着 Clumsy 发出的 `-98°` 路径纠偏，在 Playground 实际执行时会被夹回 `-90°`，纠偏分量被吞掉；这比继续调横向纠偏增益更像 Y+ 漂移的直接原因。
|
||||
- 已把 Playground 源码场景和运行目录场景改为 `maxSteeringAngle: 120`，并在仿真器中加入 `multi-steering clamp` 节流日志；复测前必须重启 Playground 使场景重载。若复测时仍出现该日志，说明还有其他配置或场景副本在限制舵角。
|
||||
|
||||
### 2.2 两车抖动、不丝滑
|
||||
@@ -82,7 +84,7 @@
|
||||
**建议对照实验**：
|
||||
- 手动 FleetRemote 蟹行（同速度、同角度）是否也抖
|
||||
- 临时 `MultiVehicleSyncUseDetour=false` 复测
|
||||
- 看 `FleetCrabDbg` 的 `corr/localAngle/cmd` 与 `MultiVehicleDbg` 的 `frontTh/rearTh` 是否周期跳变
|
||||
- 看 `FleetCrabDbg` 的 `auto(vx,fTh,rTh)` 与 `MultiVehicleDbg` 的 `BASE/SEND` 是否周期跳变
|
||||
|
||||
---
|
||||
|
||||
@@ -214,8 +216,8 @@ DLog 由 **Clumsy 进程工作目录**下的 `dlog\` 管理（FundamentalLib）
|
||||
|
||||
| Topic | 来源 | 内容 |
|
||||
|-------|------|------|
|
||||
| **`FleetCrabDbg`** | `MovementTests.cs` | `ENTER/CENTER/START/WARMUP/ITER/DONE`，含 `along/lateral/remain/corr/localAngle/cmd` |
|
||||
| **`CrabDbg`** | `MultiWheelGeometricController.cs` | 旧几何控制器路线诊断；当前脚本蟹行实现不再依赖 |
|
||||
| **`FleetCrabDbg`** | `MovementTests.cs` | `ENTER/CENTER/START/WARMUP/ITER/DONE`，含 `along/lateral/remain/headingErr/baseTh/bias/dth/auto/ideal` |
|
||||
| **`CrabDbg`** | `MultiWheelGeometricController.cs` | MDCSToolbox 几何控制器诊断；当前自动蟹行只参考其思路，不修改也不依赖该源码 |
|
||||
| **`MultiVehicleDbg`** | `PilotDefinition.cs` | 联动循环：速度、舵角、补偿、ready 状态 |
|
||||
| **`FleetDiagClumsy`** | `PilotDefinition.cs` | 精简 fleet 诊断（带 `car{N}` 前缀） |
|
||||
| **`MultiVehicle`** | `PilotDefinition.cs` | 初始化、心跳、HTTP 错误 |
|
||||
@@ -223,9 +225,9 @@ DLog 由 **Clumsy 进程工作目录**下的 `dlog\` 管理（FundamentalLib）
|
||||
|
||||
### 6.3 建议抓取顺序（排查漂移/抖动）
|
||||
|
||||
1. 主车 `FleetCrabDbg`：`WARMUP done` → `ITER#` 中 `lateral/remain/corr/localAngle/cmd`
|
||||
2. 主车 + 从车 `MultiVehicleDbg`：`frontTh/rearTh`、`PosBias*`、是否 `ready=false`
|
||||
3. 若回退旧几何控制器路线，再看主车 `CrabDbg`：`bias` 是否单调增大；`fleetPos` 是否偶发 `(0,0,0)`
|
||||
1. 主车 `FleetCrabDbg`：`WARMUP done` → `ITER#` 中 `lateral/remain/headingErr/bias/dth/auto(vx,fTh,rTh)`
|
||||
2. 主车 + 从车 `MultiVehicleDbg`：`auto:true/manual:false`、`BASE/SEND`、`PosBias*`、是否 `ready=false`
|
||||
3. 若怀疑 MDCSToolbox 自动路径，再看主车 `CrabDbg`；当前 `FleetCrabWalk` 不直接调用该控制器
|
||||
4. 从车 `FleetDiagClumsy`：是否频繁掉线 / register 超时
|
||||
|
||||
---
|
||||
@@ -237,23 +239,26 @@ MovementTest「车队联动-自动蟹行」
|
||||
FleetCrabWalk.Get()
|
||||
TryGetFleetCenterFromSlam() → 路径起点 (x0,y0,θ)
|
||||
phi = theta + FleetCrabAngleDeg
|
||||
MultiVehicleScriptEnabled = true
|
||||
MultiVehicleScriptMode = 1 → 复用 FleetRemote 手动蟹行下发链路
|
||||
BodyToPathAngleDeg = FleetCrabAngleDeg
|
||||
targetBodyTh = phi - BodyToPathAngleDeg = theta
|
||||
MultiVehicleScriptEnabled = false
|
||||
MultiVehicleAutoEnabled = true → 进入 TickMultiVehicle 自动分支
|
||||
WARMUP → 等编队成员就位
|
||||
loop:
|
||||
TryGetFleetCenterFromSlam() → 当前车队中心
|
||||
along/lateral/remain → 沿线进度、横向偏差、剩余距离
|
||||
corr = clamp(Stanley(lateral), ±FleetCrabCorrectionAngleDeg)
|
||||
localAngle = (phi + corr) - currentTheta
|
||||
Vx/Vy slew limit → FleetCrabCommandAccel 平滑
|
||||
MultiVehicleScriptVx/Vy = cmd
|
||||
along/lateral/remain/headingErr → 沿线进度、横向偏差、剩余距离、车身目标朝向偏差
|
||||
bias = clamp(Stanley(lateral), ±BiasThreshold)
|
||||
dth = clamp(DthLinearFac * (targetBodyTh-currentTheta), ±DthLinearThreshold)
|
||||
frontTh/rearTh = clamp(phi-currentTheta + bias ± dth, ±FleetCrabGcpThetaThreshold)
|
||||
ideal = pathStart + pathDir * clamp(along, 0, FleetCrabLengthMm)
|
||||
MultiVehicleAutoVx/FrontTh/RearTh/Ideal* = cmd
|
||||
PilotDefinition.TickMultiVehicle (50ms)
|
||||
manual/script mode==1
|
||||
Vx/Vy → speed + frontTh==rearTh
|
||||
auto branch
|
||||
MultiVehicleAuto* → speed + frontTh/rearTh + ideal center
|
||||
notify → 从车 SendMotion + POS/Detect 补偿
|
||||
```
|
||||
|
||||
**对照 baseline**：`PilotDefinition.cs` 手动分支 `fleetMode == 1`（FleetRemote 蟹行）直接合成 `frontTh/rearTh`，不经几何控制器 `bias` 闭环。
|
||||
**对照 baseline**：`PilotDefinition.cs` 手动分支 `fleetMode == 1`（FleetRemote 蟹行）仍直接合成 `frontTh/rearTh`；自动蟹行当前不走该分支。
|
||||
|
||||
---
|
||||
|
||||
@@ -263,15 +268,14 @@ MovementTest「车队联动-自动蟹行」
|
||||
|
||||
| 字段 | 默认 | 作用 |
|
||||
|------|------|------|
|
||||
| `FleetCrabAngleDeg` | 45 | 路径与车队朝向夹角 (deg) |
|
||||
| `FleetCrabAngleDeg` | 45 | 路径方向相对启动时车队朝向的夹角 (deg)。MovementTest 同时把车身-路径夹角设为该值；若输入“路径与小车夹角 x 度”，应填 `-x` 以保持当前车身角度 |
|
||||
| `FleetCrabLengthMm` | 2000 | 路径长度 (mm) |
|
||||
| `FleetCrabSpeed` | 0.2 | 速度 (m/s) |
|
||||
| `FleetCrabGcpThetaThreshold` | 95 | 兼容旧几何控制器实现；当前脚本蟹行不直接使用 |
|
||||
| `FleetCrabCorrectionGain` | 1.0 | 横向误差纠偏增益 |
|
||||
| `FleetCrabCorrectionAngleDeg` | 8 | 自动纠偏最大改向角，越小越接近手动蟹行 |
|
||||
| `FleetCrabCommandAccel` | 0.4 | 脚本 `Vx/Vy` 命令斜率限制(m/s²) |
|
||||
| `FleetCrabSpeed` | 0.2 | 巡航速度 (m/s)，接近终点时由通用减速参数下调 |
|
||||
| `FleetCrabGcpThetaThreshold` | 95 | 自动蟹行输出 `frontTh/rearTh` 的绝对值上限，应给实际舵角限位与 `AngleLimitMarginDeg` 留余量 |
|
||||
|
||||
动作行为：当前不再改 `MultiVehicleAutoUseIdealCenter`，结束/急停会清零 `MultiVehicleScript*` 和 `MultiVehicleAuto*`。
|
||||
已删除旧字段：`FleetCrabCorrectionGain`、`FleetCrabCorrectionAngleDeg`、`FleetCrabCommandAccel`。旧 `clumsy.json` 若残留这些 key，会被配置反序列化忽略，不能再作为有效调参项。
|
||||
|
||||
动作行为：当前不再改 `MultiVehicleAutoUseIdealCenter`，结束/急停会清零 `MultiVehicleAuto*`，并保持 `MultiVehicleScriptEnabled=false`。
|
||||
|
||||
### 8.2 影响跟踪/手感的全局项（节选）
|
||||
|
||||
@@ -282,7 +286,12 @@ MovementTest「车队联动-自动蟹行」
|
||||
| `TestCarSyncDistance` | 2400 | 与 Playground 双车间距一致 |
|
||||
| `MultiVehicleSyncInterval` | 50 | 联动周期 ms |
|
||||
| `DriveTaskInterval` | 50 | `clumsy.json` 顶层 |
|
||||
| `BiasFac` / `DthLinearFac` 等 | 继承 `MultiWheelPilotConfig` | 几何控制器 PID 形态参数 |
|
||||
| `BiasFac` / `BiasThreshold` | 继承 `MultiWheelPilotConfig` | 横向偏差 `lateral` → 前后 GCP 同向修正 |
|
||||
| `DthLinearFac` / `DthLinearThreshold` | 继承 `MultiWheelPilotConfig` | 车身目标朝向偏差 `headingErr` → 前后 GCP 反向修正 |
|
||||
| `SlowDistance` / `SlowingPow` / `FinishDistance` / `FinishSpeed` | 继承 `BasicPilotConfig` | 自动蟹行终点减速和结束判定 |
|
||||
| `MultiVehicleAutoUseIdealCenter` | true（默认） | 使用自动蟹行发布的 ideal center 给从车做前馈 |
|
||||
| `MultiVehicleAutoRequireFleetCenter` | true（默认） | 自动模式无有效车队中心时整队停车 |
|
||||
| `MultiVehicleAutoCmdTimeoutMs` | 0（auto） | 自动命令新鲜度超时，避免控制器停发后沿末速度滑行 |
|
||||
|
||||
详见 [MultiVehicleConfig.md](./MultiVehicleConfig.md) §2–§6。
|
||||
|
||||
@@ -296,20 +305,20 @@ MovementTest「车队联动-自动蟹行」
|
||||
| 蟹行要求朝向不变但有纠偏 | `CrabHoldHeading` + `CrabTargetHeading`；保留 `dTh` |
|
||||
| 多车 firstTurn 破坏队形 | `MultiVehicleSync` 时跳过 `firstTurnN`（TODO 整队预旋转） |
|
||||
| gcp 被 45° 上限截断 | 动作侧 `GcpThetaThreshold=95` |
|
||||
| ideal 中心抹平横向误差 | 动作期间关 `MultiVehicleAutoUseIdealCenter` |
|
||||
| ideal 中心抹平横向误差 | 已改为显式发布 `MultiVehicleAutoIdealX/Y/Th`，由 `MultiVehicleAutoUseIdealCenter` 控制是否前馈 |
|
||||
| Tick 中间窗口发布 `(0,0,0)` 假中心 | 已移除 tick 开头 `PublishFleetCenter(0,0,0)` |
|
||||
| 自动蟹行纠偏导致抖动 | 已改为脚本手动蟹行链路 + 小幅平滑横向纠偏 |
|
||||
| 自动蟹行纠偏导致抖动 | 已改为自动字段链路，按 `lateral/headingErr/remain` 计算 `MultiVehicleAuto*` |
|
||||
| 接近纯横移时速度符号/舵角表示翻转 | `fleetMode==1` 改为按 `MultiVehicleCrabSteerLimitDeg`（默认 120°）归一化；`-95°` 直接下发，超过上限才做速度取反的等价转换，并在 `MultiVehicleDbg` 输出 `CRAB in/raw/limit/rev` |
|
||||
|
||||
---
|
||||
|
||||
## 10. 后续工作建议（优先级）
|
||||
|
||||
1. **复测 -90° 自动蟹行**：重点看 `MultiVehicleDbg` 的 `CRAB raw=-9x`、`limit=120.0`、`rev:false`，以及 `BASE vx/fTh/rTh` 是否不再正负翻转。
|
||||
2. **A/B：`MultiVehicleCrabSteerLimitDeg`** 默认 120，应与 Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 匹配；若实际轮角限制不同，先同步该值。
|
||||
3. **A/B：`FleetCrabCorrectionAngleDeg`** 先试 4、8、12：4 最接近手动，12 收敛更快；当前不再因跨 ±90° 直接翻面。
|
||||
4. **A/B：`MultiVehicleSyncUseDetour=false`** 若仍抖，跑同一条蟹行，区分脚本纠偏 vs POS 补偿贡献。
|
||||
5. **路径误差**：若仍持续 Y+ 漂移，看 `lateral` 是否持续单向增长；若增长但 `corr` 已到上限，增大 `FleetCrabCorrectionAngleDeg` 或 `FleetCrabCorrectionGain`。
|
||||
1. **复测自动蟹行**：重点看 `FleetCrabDbg` 的 `auto=(vx,fTh,rTh)` 与 `MultiVehicleDbg` 的 `auto:true/manual:false` 是否一致。
|
||||
2. **A/B：`FleetCrabGcpThetaThreshold`** 默认 95，应与实车舵角限制和 `AngleLimitMarginDeg` 匹配；若输出很快被限幅，先核对该值。
|
||||
3. **A/B：`BiasFac/BiasThreshold`** 若 `lateral` 单向增长，先看 `bias` 是否到上限；需要更强横向纠偏时调这组参数。
|
||||
4. **A/B：`DthLinearFac/DthLinearThreshold`** 若车队朝向偏差收敛慢或前后 GCP 差动过大，调这组参数。
|
||||
5. **A/B：`MultiVehicleSyncUseDetour=false`** 若仍抖，跑同一条蟹行，区分自动路径纠偏 vs POS 补偿贡献。
|
||||
6. **notify 平滑**（中长期）：见 `MultiVehicleAutoSyncReview.md` §F。
|
||||
|
||||
---
|
||||
|
||||
+32
-19
@@ -144,28 +144,45 @@ TwoLegGuessX = -(TestCarSyncDistance - DeltaDetectCenter)
|
||||
|
||||
## 6. 自动蟹行动作（FleetCrabWalk / MovementTest「车队联动-自动蟹行」）
|
||||
|
||||
在 Clumsy 侧 MovementTest 面板触发，以**当前车队中心**为起点，构造一条与车队朝向夹角 `FleetCrabAngleDeg`、长度 `FleetCrabLengthMm` 的**直线路径**，执行侧复用 FleetRemote 已验证丝滑的脚本手动等价输入（`MultiVehicleScriptEnabled + mode=1`）让整队**斜向平移（蟹行）**：
|
||||
在 Clumsy 侧 MovementTest 面板触发，以**当前车队中心**为起点，构造一条与启动时车队朝向夹角 `FleetCrabAngleDeg`、长度 `FleetCrabLengthMm` 的**直线路径**。MovementTest 会保持启动时车身朝向追踪路径；因此如果“路径相对小车”的夹角为 `x` 度（路径在车体右侧为正），应配置 `FleetCrabAngleDeg = -x`。当前实现不再复用脚本手动链路，而是参考几何控制器思路，在 `MultiWheelC` 内计算并写入 `MultiVehicleAuto...` 字段：
|
||||
|
||||
- 动作每拍读取主车 Detour 反推车队中心，计算直线进度 `along`、横向偏差 `lateral` 和剩余距离 `remain`。
|
||||
- 横向偏差只转成一个**小幅、带斜率限制的蟹行方向修正**，再写入 `MultiVehicleScriptVx/Vy`；`TickMultiVehicle` 仍按手动蟹行逻辑合成 `frontTh==rearTh` 并广播从车。
|
||||
- 这样保留手动蟹行的平滑执行链路，同时让自动动作具备温和的路径纠偏；避免旧几何控制器 `bias/dTh` 直接叠到 gcp 时出现舵角阶跃。
|
||||
- **前提**：在**主车**（`MultiVehicleMasterEndpoint="/"`）上运行，且主车有 Detour 定位（用于反推车队中心起点）。
|
||||
- 动作每拍读取主车 Detour 反推车队中心，计算直线进度 `along`、横向偏差 `lateral`、剩余距离 `remain` 和车身目标朝向偏差 `headingErr`。
|
||||
- `lateral` 通过 `BiasFac/BiasThreshold` 转为前后 GCP 同向舵角修正；`headingErr` 通过 `DthLinearFac/DthLinearThreshold` 转为前后 GCP 反向舵角修正。
|
||||
- 动作直接输出 `MultiVehicleAutoVx/FrontTh/RearTh/IdealX/IdealY/IdealTh`，由 `TickMultiVehicle` 的自动分支统一广播、下发 `SendMotion`，并继续受识别丢失、成员超时、舵角余量不足等整队缓停联锁保护。
|
||||
- **前提**：在**主车**（`MultiVehicleMasterEndpoint="/"`）上运行，且主车有 Detour 定位（用于反推车队中心起点与运行中闭环）。
|
||||
|
||||
| 字段（`clumsy.json` → `msConf`） | 含义 | 默认值 |
|
||||
|------|------|--------|
|
||||
| `FleetCrabAngleDeg` | 蟹行路径**与当前车队朝向的夹角**(deg，逆时针为正)。决定斜行方向：0=正前方，90=正左方平移，-90=正右方。稳态下即各舵轮的蟹行角 | `45` |
|
||||
| `FleetCrabAngleDeg` | 蟹行路径方向相对**启动时车队朝向**的夹角(deg，逆时针为正)。MovementTest 同时把车身-路径夹角设为该值，因此 `FleetCrabAngleDeg=-x` 会让车身保持启动朝向，并以 `x` 度夹角追踪路径 | `45` |
|
||||
| `FleetCrabLengthMm` | 蟹行路径**长度**(mm)，沿夹角方向行驶该距离后停车结束 | `2000` |
|
||||
| `FleetCrabSpeed` | 蟹行**行驶速度**(m/s) | `0.2` |
|
||||
| `FleetCrabGcpThetaThreshold` | 兼容旧几何控制器实现的 gcp 舵角上限；当前脚本手动等价实现不直接使用 | `95` |
|
||||
| `FleetCrabCorrectionGain` | 横向误差纠偏增益。增大后收敛更快，但更容易出现方向摆动 | `1` |
|
||||
| `FleetCrabCorrectionAngleDeg` | 自动纠偏最大改向角(deg)。越小越接近手动蟹行，越大纠偏越强 | `8` |
|
||||
| `FleetCrabCommandAccel` | `Vx/Vy` 命令斜率限制(m/s²)，抑制纠偏方向突变 | `0.4` |
|
||||
| `MultiVehicleCrabSteerLimitDeg` | mode=1 蟹行舵角上限，应与 Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 匹配；`-95°` 在默认 120° 内会直接下发 | `120` |
|
||||
| `FleetCrabSpeed` | 蟹行巡航速度(m/s)，写入 `MultiVehicleAutoVx`；接近终点时会被 `SlowDistance/SlowingPow/FinishSpeed` 降速 | `0.2` |
|
||||
| `FleetCrabGcpThetaThreshold` | 自动蟹行输出 `frontTh/rearTh` 的绝对值上限(deg)。应小于实际舵角可行范围，并给 `AngleLimitMarginDeg` 留余量 | `95` |
|
||||
|
||||
自动蟹行还会使用下列通用控制参数：
|
||||
|
||||
| 字段 | 影响 | 默认来源 |
|
||||
|------|------|----------|
|
||||
| `BiasFac` / `BiasThreshold` | 横向偏差 `lateral` → 前后 GCP 同向修正。增大后收敛更快，但过大可能摆动 | `MultiWheelPilotConfig` |
|
||||
| `DthLinearFac` / `DthLinearThreshold` | 车身目标朝向偏差 `headingErr` → 前后 GCP 反向修正，用于保持车身与路径夹角 | `MultiWheelPilotConfig` |
|
||||
| `SlowDistance` / `SlowingPow` / `FinishDistance` / `FinishSpeed` | 终点减速和结束判定 | `BasicPilotConfig` |
|
||||
| `MultiVehicleAutoUseIdealCenter` | 是否把自动蟹行计算出的 `IdealX/Y/Th` 广播给从车做前馈 | `true` |
|
||||
| `MultiVehicleAutoRequireFleetCenter` | 自动模式是否要求有效车队中心；定位/车队中心失效时整队停车 | `true` |
|
||||
| `MultiVehicleAutoCmdTimeoutMs` | 自动命令新鲜度超时，0 表示按联动周期自动计算 | `0` |
|
||||
| `MultiVehicleUseDetect` / `MultiVehicleDetectBias*` | 互识别纠正与安全门；检测丢失时整队停车 | 见 §5 |
|
||||
| `MultiVehicleSyncUseDetour` / `MultiVehiclePosBias*` | 车队内姿态纠正（POS 补偿）；不影响整车队中心计算 | 见 §5 |
|
||||
|
||||
已删除的旧自动蟹行参数：
|
||||
|
||||
| 已删除字段 | 原用途 | 当前替代 |
|
||||
|------------|--------|----------|
|
||||
| `FleetCrabCorrectionGain` | 旧脚本链路的横向误差纠偏增益 | `BiasFac` |
|
||||
| `FleetCrabCorrectionAngleDeg` | 旧脚本链路的最大改向角 | `BiasThreshold` / `FleetCrabGcpThetaThreshold` |
|
||||
| `FleetCrabCommandAccel` | 旧脚本链路的 `Vx/Vy` 斜率限制 | 由自动联动周期、底盘速度斜坡和终点减速共同约束 |
|
||||
|
||||
**行为要点 / 注意**
|
||||
|
||||
- 当前实现不走 `MultiVehicleAuto*`/`MultiVehicleSendMotion`，也不再临时改 `MultiVehicleAutoUseIdealCenter`；结束/急停会清零脚本字段。
|
||||
- `FleetCrabDbg` 会记录 `along/lateral/remain/corr/localAngle/cmd(Vx,Vy)`；`MultiVehicleDbg` 可继续对照最终 `frontTh≈rearTh`、是否有 POS/Detect 补偿，以及 `CRAB in/raw/limit/rev` 是否在舵角上限内保持连续表达。
|
||||
- 当前实现走 `MultiVehicleAuto*` 自动字段链路，不再开启 `MultiVehicleScriptEnabled`，也不受 `MultiVehicleCrabSteerLimitDeg` 影响（该字段只影响手动 `mode=1` 蟹行）。
|
||||
- `FleetCrabDbg` 会记录 `along/lateral/remain/headingErr/baseTh/bias/dth/auto(vx,fTh,rTh)/ideal`；`MultiVehicleDbg` 可继续对照最终 `BASE/SEND`、POS/Detect 补偿、ready/stop 状态。
|
||||
- `MultiVehicleUseDetect=true` 时仍受 2 腿检测安全门约束（检测丢失会被置零停车）。
|
||||
- Playground 双车场景的 `actuator.maxSteeringAngle` 也必须与该上限一致；若仍为 `90`，Clumsy 发出的 `-98°` 纠偏会在仿真执行层被夹回 `-90°`，表现为纯横移路径无法收敛。
|
||||
|
||||
@@ -202,11 +219,7 @@ TwoLegGuessX = -(TestCarSyncDistance - DeltaDetectCenter)
|
||||
"FleetCrabAngleDeg": 45,
|
||||
"FleetCrabLengthMm": 2000,
|
||||
"FleetCrabSpeed": 0.2,
|
||||
"FleetCrabGcpThetaThreshold": 95,
|
||||
"FleetCrabCorrectionGain": 1.0,
|
||||
"FleetCrabCorrectionAngleDeg": 8,
|
||||
"FleetCrabCommandAccel": 0.4,
|
||||
"MultiVehicleCrabSteerLimitDeg": 120
|
||||
"FleetCrabGcpThetaThreshold": 95
|
||||
```
|
||||
|
||||
```text
|
||||
|
||||
Reference in New Issue
Block a user