模型每类阈值+配置热重载+雷达纯距离触发+速度min不叠加+弯道参数化

lib/global.h

@@ -31,7 +31,11 @@ const std::string cone_hold_frames_file  = "./cone_hold_frames";
 const std::string brake_scale_file = "./brake_scale";
 const std::string brake_max_file   = "./brake_max";
 
+const std::string curve_slope_file = "./curve_slope";
+const std::string curve_min_file   = "./curve_min";
+
 const std::string lidar_thresh_file      = "./lidar_thresh";
+const std::string lidar_pre_file         = "./lidar_pre";
 const std::string lidar_near_file        = "./lidar_near";
 const std::string lidar_far_file         = "./lidar_far";
 const std::string lidar_near_start_file  = "./lidar_near_start";
@@ -71,7 +75,11 @@ struct CfgCache {
     double brake_scale     = 10;    // 速度(pps) → 刹车占空比(ns) 缩放系数
     int    brake_max       = 10000; // 最大刹车占空比 (ns)
 
-    int    lidar_thresh      = 300;   // 激光障碍判定距离阈值 (mm)
+    double curve_slope     = 0.4;   // 弯道减速斜率 (越大越猛)
+    double curve_min       = 0.8;   // 弯道最低速度倍率
+
+    int    lidar_thresh      = 300;   // 激光障碍判定距离阈值 (mm), 必须<此值才触发
+    int    lidar_pre         = 800;   // 预触发去抖窗口, <此值开始攒帧
     int    lidar_near        = 50;    // row=lt_h-1 对应的物理距离 (mm)
     int    lidar_far         = 1200;  // row=10 对应的物理距离 (mm)
     int    lidar_near_start  = 1;     // near_valid 检测起始偏移

lib/vl53l0x.h

@@ -14,6 +14,8 @@ public:
 	~VL53L0X();
 
 	bool init();
+	bool startMeasure();
+	bool readResult(VL53L0X_RangingMeasurementData_t &data);
 	bool readRange(VL53L0X_RangingMeasurementData_t &data);
 	bool stop();