84 lines
2.9 KiB
C
84 lines
2.9 KiB
C
#include "corridor_ctrl.h"
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#include <math.h>
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#include <stdbool.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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/* 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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}
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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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* 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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float w_cmd = -(s_cfg.kp_theta * state->e_th
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+ s_cfg.kd_theta * imu_wz
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+ s_cfg.kp_y * state->e_y);
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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, -s_cfg.w_max, s_cfg.w_max);
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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 = s_cfg.speed_reduction_k * fabsf(w_cmd) / s_cfg.w_max;
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float v_cmd = s_cfg.v_cruise * (1.0f - speed_reduction);
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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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if (state->conf < 0.3f) {
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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 < 0.6f) {
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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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