240 lines
8.8 KiB
C
240 lines
8.8 KiB
C
#include "corridor_ctrl.h"
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#include <math.h>
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#include <stdbool.h>
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#include <stdint.h>
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/* ====================== 内部状态 ====================== */
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static CorridorCtrlConfig_t s_cfg;
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static bool s_initialized = false;
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static float s_last_w_cmd = 0.0f;
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static uint32_t s_last_t_ms = 0U;
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/* 辅助：浮点数限幅 */
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static inline float clampf(float val, float lo, float hi)
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{
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if (val < lo) return lo;
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if (val > hi) return hi;
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return val;
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}
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void CorridorCtrl_Init(const CorridorCtrlConfig_t *config)
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{
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s_cfg = *config;
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s_initialized = true;
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s_last_w_cmd = 0.0f;
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s_last_t_ms = 0U;
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}
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void CorridorCtrl_Compute(const CorridorState_t *state,
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const CorridorObs_t *obs,
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float imu_wz,
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RawCmd_t *out_cmd)
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{
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if (!s_initialized) {
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out_cmd->v = 0.0f;
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out_cmd->w = 0.0f;
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out_cmd->flags = 0U;
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return;
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}
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/* ========================================================
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* 出沟保护: 当前激光检测到接近出口时，停止使用左右激光控制
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* 避免出沟时左右激光数据突变导致车身大幅度转向
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* ======================================================== */
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bool near_exit = false;
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if ((obs->valid_mask & (1U << 4)) != 0U) { /* 前激光有效 (bit 4) */
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if (obs->d_front <= s_cfg.exit_front_dist) {
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near_exit = true;
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}
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}
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/* ========================================================
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* 核心控制律:
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* w_cmd = kp_theta * e_th + kd_theta * (-imu_wz) + kp_y * e_y
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*
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* - kp_theta * e_th : 比例项，车头偏了就回转
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* - kd_theta * (-imu_wz) : 微分阻尼，等价于"阻止车头继续转"
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* 用 IMU 直接读数做微分项，比差分 e_th 更丝滑无噪声
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* - kp_y * e_y : 横向纠偏，车身偏了就产生角速度拉回来
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*
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* 出沟保护: 接近出口时，仅使用航向保持，不使用横向和角度纠偏
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* ======================================================== */
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float w_cmd;
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bool escape_active = false;
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bool front_guard_active = false;
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float kp_theta_eff = s_cfg.kp_theta;
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float kp_y_eff = s_cfg.kp_y;
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float w_max_eff = s_cfg.w_max;
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if (!near_exit && s_cfg.startup_dist > 0.01f && state->s < s_cfg.startup_dist) {
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float ratio = state->s / s_cfg.startup_dist;
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if (ratio < 0.0f) ratio = 0.0f;
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if (ratio > 1.0f) ratio = 1.0f;
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kp_y_eff = s_cfg.kp_y * (s_cfg.startup_kp_y_scale + (1.0f - s_cfg.startup_kp_y_scale) * ratio);
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w_max_eff = s_cfg.w_max * (s_cfg.startup_w_scale + (1.0f - s_cfg.startup_w_scale) * ratio);
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if (w_max_eff < 0.25f) {
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w_max_eff = 0.25f;
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}
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}
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if (near_exit) {
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/* 接近出口: 仅保持航向惯性，禁用左右激光控制 */
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w_cmd = -(s_cfg.kd_theta * imu_wz);
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} else {
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/* 正常控制: 完整PD控制律 */
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w_cmd = -(kp_theta_eff * state->e_th
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+ s_cfg.kd_theta * imu_wz
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+ kp_y_eff * state->e_y);
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/* ========================================================
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* 近墙脱离保护:
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* 当某一侧平均距离已经明显过小，说明车身已经在擦壁或即将擦壁。
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* 此时不能只等 EKF 慢慢回中，直接叠加一个远离墙面的转向保护项。
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* ======================================================== */
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{
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bool left_front_ok = ((obs->valid_mask & (1U << 0)) != 0U);
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bool left_rear_ok = ((obs->valid_mask & (1U << 1)) != 0U);
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bool right_front_ok = ((obs->valid_mask & (1U << 2)) != 0U);
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bool right_rear_ok = ((obs->valid_mask & (1U << 3)) != 0U);
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float w_escape = 0.0f;
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float left_min = 10.0f;
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float right_min = 10.0f;
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if (left_front_ok && obs->d_lf < left_min) left_min = obs->d_lf;
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if (left_rear_ok && obs->d_lr < left_min) left_min = obs->d_lr;
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if (right_front_ok && obs->d_rf < right_min) right_min = obs->d_rf;
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if (right_rear_ok && obs->d_rr < right_min) right_min = obs->d_rr;
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if (left_min < s_cfg.wall_escape_dist) {
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float err = s_cfg.wall_escape_dist - left_min;
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w_escape -= s_cfg.wall_escape_kp * err; /* 左侧很近 -> 轻微右转 */
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escape_active = true;
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}
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if (right_min < s_cfg.wall_escape_dist) {
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float err = s_cfg.wall_escape_dist - right_min;
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w_escape += s_cfg.wall_escape_kp * err; /* 右侧很近 -> 轻微左转 */
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escape_active = true;
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}
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w_escape = clampf(w_escape, -s_cfg.wall_escape_w_max, s_cfg.wall_escape_w_max);
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w_cmd += w_escape;
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/* 前角防呆：
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* 如果某一侧前角已经明显很近，就绝不允许继续朝这一侧打方向。
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* 这专门处理“已贴左墙却继续左打 / 已贴右墙却继续右打”的情况。 */
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{
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float front_guard_dist = s_cfg.wall_escape_dist + 0.01f;
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if (left_front_ok && obs->d_lf < front_guard_dist) {
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float err = front_guard_dist - obs->d_lf;
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float w_guard = 0.15f + 0.20f * (err / front_guard_dist);
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if (w_cmd > -w_guard) {
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w_cmd = -w_guard;
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}
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front_guard_active = true;
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}
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if (right_front_ok && obs->d_rf < front_guard_dist) {
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float err = front_guard_dist - obs->d_rf;
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float w_guard = 0.15f + 0.20f * (err / front_guard_dist);
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if (w_cmd < w_guard) {
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w_cmd = w_guard;
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}
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front_guard_active = true;
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}
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}
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}
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}
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/* 角速度限幅：防止 PD 溢出导致原地打转 */
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w_cmd = clampf(w_cmd, -w_max_eff, w_max_eff);
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/* 近墙保护触发时，再对总角速度做一次更保守的限幅，
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* 防止“贴墙 -> 一把猛打 -> 前向安全仲裁介入”的连锁反应。 */
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if (escape_active) {
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w_cmd = clampf(w_cmd, -0.60f, 0.60f);
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}
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if (front_guard_active) {
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w_cmd = clampf(w_cmd, -0.35f, 0.35f);
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}
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/* 角速度变化率限幅：抑制单拍突变，避免看起来像“突然失控猛打方向”。 */
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{
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float dt = 0.01f;
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if (s_last_t_ms != 0U && state->t_ms > s_last_t_ms) {
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dt = (float)(state->t_ms - s_last_t_ms) * 0.001f;
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if (dt <= 0.0f || dt > 0.1f) {
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dt = 0.01f;
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}
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}
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{
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float max_step = s_cfg.w_slew_rate * dt;
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float delta = w_cmd - s_last_w_cmd;
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delta = clampf(delta, -max_step, max_step);
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w_cmd = s_last_w_cmd + delta;
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}
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s_last_w_cmd = w_cmd;
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s_last_t_ms = state->t_ms;
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}
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/* ========================================================
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* 线速度策略:
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* 基础巡航速度 v_cruise，
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* 当角速度偏大时适当降速（弯道减速），保持运动学协调
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* 公式: v = v_cruise * (1 - k * |w/w_max|)
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* k 取 0.3~0.5 较保守
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* ======================================================== */
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float speed_reduction = 0.0f;
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{
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float w_ratio = fabsf(w_cmd) / w_max_eff;
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float db = s_cfg.speed_reduction_deadband;
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if (db < 0.0f) db = 0.0f;
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if (db > 0.95f) db = 0.95f;
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if (w_ratio > db) {
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float active_ratio = (w_ratio - db) / (1.0f - db);
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speed_reduction = s_cfg.speed_reduction_k * active_ratio;
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}
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}
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float v_cmd = s_cfg.v_cruise * (1.0f - speed_reduction);
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/* 近墙脱离时轻微降速，避免“贴着墙还继续冲” */
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if (escape_active) {
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v_cmd *= 0.80f;
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}
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if (front_guard_active) {
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v_cmd *= 0.65f;
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}
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/* 线速度限幅：不允许倒车，不允许超速 */
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v_cmd = clampf(v_cmd, 0.0f, s_cfg.v_max);
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/* ========================================================
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* 置信度降级保护:
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* 当滤波器健康度 conf 过低（两边雷达全瞎），
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* 说明走廊参照完全丢失，降低线速度防止盲飞
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*
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* 注意：阈值不宜过高，否则会过度降级导致控制器失效
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* ======================================================== */
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if (state->conf < 0.2f) {
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/* 健康度极低：速度打三折，保持航向惯性滑行 */
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v_cmd *= 0.3f;
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} else if (state->conf < 0.4f) {
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/* 健康度较低（单侧退化）：速度打七折 */
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v_cmd *= 0.7f;
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}
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/* 输出赋值 */
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out_cmd->t_ms = state->t_ms;
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out_cmd->v = v_cmd;
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out_cmd->w = w_cmd;
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out_cmd->flags = 0U;
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}
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