斑马线: 3f去抖/-1衰减/3s停车/赛道外忽略/丢线忽略/reject日志; 起步弹射2x/0.7s; 斑马线后delay1.5s改foresee=35/5s; PWM构造先归零防瞬动

src/MotorController.cpp

@@ -7,6 +7,7 @@ MotorController::MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned
     : pwmController(pwmchip, pwmnum), directionGPIO(gpioNum)
 {
     pwmController.setPeriod(period_ns);
+    pwmController.setDutyCycle(0);               // 先归零再使能, 防止 sysfs 残留值导致电机瞬动
     directionGPIO.setDirection("out");
     pwmController.enable();
 }

src/camera.cpp

@@ -86,7 +86,7 @@ static int          g_box_count = 0;
 //  g_zc_min_cy:  本轮追踪中斑马线出现时的最小 cy (越小=越远)
 //  g_ztime:      进入 Z_STOP / Z_COOLDOWN 的时间戳
 // ═══════════════════════════════════════════════════════════
-static constexpr int ZEBRA_MIN_FRAMES = 5;      // 连续确认帧数
+static constexpr int ZEBRA_MIN_FRAMES = 3;      // 连续确认帧数
 static constexpr int ZEBRA_FAR_CY     = 80;     // 远处 cy 阈值: 斑马线必须曾出现在 cy≤80
 static int g_zc_frames = 0;
 static int g_zc_min_cy = 120;                    // 初始设远 (120=从未检测到)
@@ -426,6 +426,12 @@ static void run_model_inference()
 // ═══════════════════════════════════════════════════════════
 static bool zebra_process()
 {
+    // 双边丢线超过50% → 不采纳任何斑马线检测
+    if (g_lost_rows > line_tracking_height / 2) {
+        if (g_cfg.debug) printf("[ZEBRA] 忽略: 丢线%d/%d行\n", g_lost_rows, line_tracking_height);
+        return false;
+    }
+
     bool zebra_seen = false;
     bool zebra_near = false;
     int  zebra_cy   = 0;
@@ -434,6 +440,30 @@ static bool zebra_process()
     // 遍历检测框, 找第一个斑马线
     for (int i = 0; i < g_box_count; ++i) {
         if (g_boxes[i].cls != MD_ZEBRA) continue;
+        // ── 赛道内占比检查: 框80%以上在赛道外 → 忽略 ──
+        {
+            float bx = (float)line_tracking_width  / raw_frame.cols;
+            float by = (float)line_tracking_height / raw_frame.rows;
+            int bx1 = (int)((g_boxes[i].cx - g_boxes[i].w/2) * bx);
+            int by1 = (int)((g_boxes[i].cy - g_boxes[i].h/2) * by);
+            int bx2 = (int)((g_boxes[i].cx + g_boxes[i].w/2) * bx);
+            int by2 = (int)((g_boxes[i].cy + g_boxes[i].h/2) * by);
+            int overlap = 0, area = (bx2 - bx1) * (by2 - by1);
+            if (area > 0) {
+                int y0 = std::max(0,    std::min(by1, line_tracking_height - 1));
+                int y1 = std::min(by2,  line_tracking_height - 1);
+                for (int y = y0; y <= y1 && y >= 0; ++y) {
+                    if (left_line[y] == -1 || right_line[y] == -1) continue;
+                    int ol = std::max(0, std::min(bx2, right_line[y]) - std::max(bx1, left_line[y]));
+                    overlap += ol;
+                }
+            }
+            if (area > 0 && (float)overlap / area < 0.2f) {
+                if (g_cfg.debug) printf("[ZEBRA] 忽略: 赛道内仅%.0f%% cf=%.2f\n",
+                                        (float)overlap / area * 100, g_boxes[i].conf);
+                continue;  // 赛道内<20% → 忽略
+            }
+        }
         zebra_cy  = (int)g_boxes[i].cy;
         zebra_cf  = g_boxes[i].conf;
         zebra_seen = true;
@@ -447,7 +477,7 @@ static bool zebra_process()
 
     // 未检测到 → 衰减去抖计数
     if (!zebra_seen) {
-        if (g_zc_frames > 0) g_zc_frames = std::max(0, g_zc_frames - 2);  // 每帧 -2 快速衰减
+        if (g_zc_frames > 0) g_zc_frames = std::max(0, g_zc_frames - 1);  // 每帧 -1 衰减
         if (g_zc_frames == 0) g_zc_min_cy = 120;    // 完全衰减 → 重置远处追踪
     }
 
@@ -458,12 +488,19 @@ static bool zebra_process()
         if (zebra_near && g_zc_frames >= ZEBRA_MIN_FRAMES && g_zc_min_cy <= ZEBRA_FAR_CY) {
             play_zebra_audio();                      // I2C 语音播报
             g_zstate = Z_STOP; g_ztime = now;
-            if (g_cfg.debug) printf("[ZEBRA] cy=%d cf=%.2f 停车4s 冷却5s\n", zebra_cy, zebra_cf);
+            if (g_cfg.debug) printf("[ZEBRA] cy=%d cf=%.2f 停车3s 冷却5s\n", zebra_cy, zebra_cf);
             g_zc_frames = 0; g_zc_min_cy = 120;     // 重置, 为下次检测做准备
+        } else if (zebra_seen && g_cfg.debug) {
+            if (!zebra_near)
+                printf("[ZEBRA] 忽略: 太远 cy=%d <= %d\n", zebra_cy, (int)g_cfg.zebrasee);
+            else if (g_zc_frames < ZEBRA_MIN_FRAMES)
+                printf("[ZEBRA] 忽略: 帧数不足 %d/%d cy=%d\n", g_zc_frames, ZEBRA_MIN_FRAMES, zebra_cy);
+            else if (g_zc_min_cy > ZEBRA_FAR_CY)
+                printf("[ZEBRA] 忽略: 未曾远距出现 min_cy=%d > %d\n", g_zc_min_cy, ZEBRA_FAR_CY);
         }
         break;
     case Z_STOP:
-        if (now - g_ztime >= 4) {                    // 停车 4 秒
+        if (now - g_ztime >= 3) {                   // 停车 3 秒
             g_zstate = Z_COOLDOWN; g_ztime = now;
             if (g_cfg.debug) printf("[ZEBRA] 起步\n");
         }
@@ -863,12 +900,12 @@ static void detect_sharp_turn()
 static void steering_update()
 {
     if (!g_cfg.start) return;
-    // foresee (显示空间像素) → check_row (巡线空间行号)
+    // 斑马线起步后延迟1.5s, 再5s内缩短前瞻, 先走稳再改
-    // double scale = 1.0;
+    double eff_foresee = g_cfg.foresee;
-    // if (g_sharp_turn) scale = g_cfg.sharp_turn_scale;
+    if (g_zstate == Z_COOLDOWN && time(nullptr) - g_ztime >= 2
-    // else if (g_lost_rows > 15) scale = g_cfg.foresee_lost_scale;
+        && time(nullptr) - g_ztime < 5)
-    // double eff_foresee = g_cfg.foresee * scale;
+        eff_foresee = 35;
-    int check_row = (int)g_cfg.foresee / calc_scale;
+    int check_row = (int)eff_foresee / calc_scale;
     if (check_row < 0 || check_row >= line_tracking_height) return;
     if (mid_line[check_row] == -1) return;           // 丢线行 → 跳过
 
@@ -904,10 +941,43 @@ static void steering_update()
 //  调用 ControlUpdate(final_spd, block) 执行:
 //    block = zebra_block || tl_block → 编码器比例刹车
 //    否则 → 开环占空比驱动
+//
+//  起步弹射: 启动/斑马线恢复后 1.5x 速度持续 0.5s 快速起步
 // ═══════════════════════════════════════════════════════════
+static struct timespec g_boost_end   = {0, 0};
+static double         g_boost_mul    = 2.0;
+static constexpr double BOOST_SECS  = 0.7;
+
+static void trigger_boost()
+{
+    clock_gettime(CLOCK_MONOTONIC, &g_boost_end);
+    g_boost_end.tv_nsec += (long)(BOOST_SECS * 1e9);
+    if (g_boost_end.tv_nsec >= 1000000000L) {
+        g_boost_end.tv_sec += 1;
+        g_boost_end.tv_nsec -= 1000000000L;
+    }
+}
+
+static double boost_factor()
+{
+    struct timespec now;
+    clock_gettime(CLOCK_MONOTONIC, &now);
+    if (now.tv_sec > g_boost_end.tv_sec) return 1.0;
+    if (now.tv_sec == g_boost_end.tv_sec && now.tv_nsec >= g_boost_end.tv_nsec) return 1.0;
+    return g_boost_mul;
+}
+
 static void motor_update(bool zebra_block, bool tl_block)
 {
-    double spd = target_speed;
+    // 起步弹射检测
+    static int prev_start = 0;
+    static ZState prev_zstate = Z_NORMAL;
+    if (g_cfg.start && !prev_start) trigger_boost();           // 启动
+    if (prev_zstate == Z_STOP && g_zstate == Z_COOLDOWN) trigger_boost(); // 斑马线起步
+    prev_start  = g_cfg.start;
+    prev_zstate = g_zstate;
+
+    double spd = target_speed * boost_factor();
 
     // 弯道减速: 舵机偏差越大 → 速度越低
     double curve = 1.0 - std::abs(g_steer_deviation) * g_cfg.curve_slope;