改进传统控制器的避障逻辑#3312
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donghaiwang
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Dec 16, 2025
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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): |
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要保证程序能够正常运行 |
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1.基于速度的动态安全距离：车距=速度×0.4秒
2.比例减速：根据实际与安全距离比值调节刹车力度
3.智能变道：优先检查相邻可用车道，选择小幅度转向
4.容错设计：无相邻车道时微调方向避障
12.16.mp4