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update 增加停车机器人钻车等代码 实现停车机器人能力的瘦身代码

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shuai.li
2026-06-29 11:46:02 +08:00
parent d935e847ec
commit 8b19a15fbb
7 changed files with 1443 additions and 4 deletions
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MultiWheel/MultiWheelC/PilotConfig.cs
+55
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@@ -131,4 +131,59 @@ public class PilotConfig : MultiWheelPilotConfig
[FieldMember(desc = "2腿检测：ROI滤波框宽(mm)")]
public float TwoLegFilterWidth = 600f;
#region
[FieldMember(desc = "轮胎识别:识别框长")] public float TireFilterLength = 1800f;
[FieldMember(desc = "轮胎识别:识别框宽")] public float TireFilterWidth = 600f;
[FieldMember(desc = "轮胎识别:轮胎间距")] public float TireTwoLegWidth = 800f;
[FieldMember(desc = "轮胎识别:轮胎识别允许误差")] public float TireTwoLegWidthErr = 100f;
[FieldMember(desc = "轮胎识别:轮胎聚类最小点云数")] public int TireTwoLegBlobPtCount = 15;
[FieldMember(desc = "轮胎识别:前雷达参数")] public float TireFrontTwoLegBlobDist = 100f;
[FieldMember(desc = "轮胎识别:前雷达参数")] public float TireFrontTwoLegBlobSize = 200f;
[FieldMember(desc = "轮胎识别:前雷达参数")] public int TireFrontPadding = 5;
[FieldMember(desc = "轮胎识别:前雷达参数")] public int TireFrontTwoLegPillarFindingScope = 20;
[FieldMember(desc = "轮胎识别:前雷达参数")] public int TireFrontTwoLegSgnDir = 1;
[FieldMember(desc = "轮胎识别:前雷达参数")] public float TireFrontTwoLegCenterChangeX = 0;
[FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegBlobDist = 100f;
[FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegBlobSize = 200f;
[FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackPadding = 5;
[FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackTwoLegPillarFindingScope = 20;
[FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackTwoLegSgnDir = 1;
[FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegCenterChangeX = 0;
[FieldMember(desc = "抱夹控制pid:Kp")] public float ClampControlKp = 0.1f;
[FieldMember(desc = "抱夹控制pid:Ki")] public float ClampControlKi = 0f;
[FieldMember(desc = "抱夹控制pid:Kd")] public float ClampControlKd = 0f;
[FieldMember(desc = "抱夹控制pid:MaxI")] public float ClampControlMaxI = 0f;
[FieldMember(desc = "抱夹控制pid:Acc")] public float ClampControlSpeedAcc = 1f;
[FieldMember(desc = "抱夹控制pid:Thresh")] public float ClampControlThresh = 0.2f;
[FieldMember(desc = "抱夹控制pid:DeadZone")] public float ClampControlDeadZone = 5f;
[FieldMember(desc = "抱夹最大速度")] public float MaxClampSpeed = 1.5f;
[FieldMember(desc = "直线行走距离")] public float LineTrackDistance = 1000f;
[FieldMember(desc = "直线行走最大速度")] public float LineTrackMaxSpeed = 0.3f;
[FieldMember(desc = "直线行走Kp")] public float LineTrackKp = 0.2f;
[FieldMember(desc = "直线行走Ki")] public float LineTrackKi = 0f;
[FieldMember(desc = "直线行走Kd")] public float LineTrackKd = 0f;
[FieldMember(desc = "直线行走DeadZone")] public float LineTrackDeadZone = 50f;
[FieldMember(desc = "轮胎跟踪:切换至盲走距离")] public float TireFollowingWalkBlindSwitchingDistance = 1200f;
[FieldMember(desc = "轮胎跟踪:识别第一对轮胎的初始距离")] public float TireFollowingStage1GuessX = 2000f;
[FieldMember(desc = "轮胎跟踪:识别第二对轮胎的初始距离")] public float TireFollowingStage2GuessX = 2475f;
[FieldMember(desc = "轮胎跟踪:盲走停止距离")] public float TireFollowingWalkBlindFinishDistance = 10f;
[FieldMember(desc = "轮胎跟踪:减速距离")] public float TireFollowingSlowDistance = 200f;
[FieldMember(desc = "轮胎跟踪:最大速度")] public float TireFollowingMaxSpeed = 0.2f;
[FieldMember(desc = "轮胎跟踪:前雷达识别路径偏移X")] public float TireFollowingFrontLidarPathTransformationX = 253f;
[FieldMember(desc = "轮胎跟踪:前雷达识别路径偏移Y")] public float TireFollowingFrontLidarPathTransformationY = 13f;
[FieldMember(desc = "轮胎跟踪:前雷达识别路径偏移Th")] public float TireFollowingFrontLidarWalkBlindTh = -1f;
[FieldMember(desc = "轮胎跟踪:后雷达识别路径偏移X")] public float TireFollowingBackLidarPathTransformationX = 148f;
[FieldMember(desc = "轮胎跟踪:后雷达识别路径偏移Y")] public float TireFollowingBackLidarPathTransformationY = 2f;
[FieldMember(desc = "轮胎跟踪:后雷达识别路径偏移Th")] public float TireFollowingBackLidarWalkBlindTh = 0f;
[FieldMember(desc = "轮胎跟踪:离车时后雷达识别路径偏移X")] public float TireFollowingLeaveCarBackLidarPathTransformationX = 1500f;
[FieldMember(desc = "轮胎跟踪:离车时切换至盲走距离")] public float TireFollowingLeaveCarWalkBlindSwitchingDistance = 1200f;
[FieldMember(desc = "轮胎跟踪:测试钻轮胎数量")] public int TireFollowingTireNum = 1;
[FieldMember(desc = "轮胎跟踪:距离过近角度忽略阈值")] public float TireFollowingAngleIgnoreThr = 0.2f;
#endregion
}