改进避障逻辑，避免过度转向#3297
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donghaiwang
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| # 在 ImprovedNeuralController 类的 apply_obstacle_avoidance 方法中，修改以下部分： | ||
| def apply_obstacle_avoidance(self, throttle, brake, steer, obstacle_info, speed): |
donghaiwang
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Dec 16, 2025
| if distance < self.emergency_brake_distance: | ||
| print(f"紧急刹车！距离障碍物: {distance:.1f}m") | ||
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| return 0.0, 1.0, 0.0 # 紧急情况下保持直行，只刹车 |
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需要贴运行效果 |
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This reverts commit 656fc55.
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1.分级避障：近距急刹，中距减速转向
2.速度自适应：根据距离计算安全目标速度
3.转向平滑：避免过度转向，保持控制稳定性
4.角度阈值：正前方
Uploading 屏幕录制 2025-12-01 093506.mp4…
±15°内才触发避障转向