Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

strategy/speed.cpp

@@ -0,0 +1,47 @@
+#include "speed.hpp"
+#include <algorithm>
+#include <cmath>
+
+static float current_speed   = 0.0f;
+static float max_speed       = 40.0f;
+static float accel_rate      = 2.0f;
+static float decel_rate      = 5.0f;
+
+void speed_strategy_reset()
+{
+    current_speed = 0.0f;
+}
+
+float calc_base_speed(const TrackInfo& info)
+{
+    float target = max_speed * 0.7f;  // 默认中速
+
+    switch (info.scene)
+    {
+        case TRACK_STRAIGHT:
+            target = max_speed;
+            break;
+        case TRACK_GENTLE_CURVE:
+            target = max_speed * 0.6f;
+            break;
+        case TRACK_SHARP_CURVE:
+            target = max_speed * 0.35f;
+            break;
+        case TRACK_LOST_LINE:
+            target = max_speed * 0.2f;
+            break;
+        case TRACK_CROSS:
+            target = max_speed * 0.5f;
+            break;
+    }
+
+    if (std::fabs(info.deviation) > 0.6f)
+        target *= 0.6f;
+
+    float diff = target - current_speed;
+    float rate = (diff > 0) ? accel_rate : decel_rate;
+    current_speed += rate * (diff > 0 ? 1 : -1) * 0.01f;
+    current_speed = std::clamp(current_speed, 0.0f, max_speed);
+
+    return current_speed;
+}