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magicant avatar magicant commented on July 18, 2024

下り坂の制限速度区間で滑らかにブレーキを調整するには「目標速度に近付いたらノッチを緩めて衝撃を抑える」があった方がいい。となると「ブレーキの応答までのラグを考慮する (調整可能にする) ようにする」はどのみちやるべきか。

その場合「目標速度に近付くにつれて目標減速度が下がるように減速パターンを変化させる」は必ずしもやらなくて良そうだが、もしやるなら低速時に摩擦係数が上がる車両でもうまくゆくか実験してからだ。

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magicant avatar magicant commented on July 18, 2024

ad46473 で「ブレーキの応答までのラグを考慮する (調整可能にする) ようにする」っぽいことができるようになった

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magicant avatar magicant commented on July 18, 2024

目標速度に近付くにつれて目標減速度が下がるように減速パターンを変化させる

やはり低速時に摩擦係数が上がる車両では手前に止まりがちになる。目標速度が 0 の時は従来通りの方が良いか

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magicant avatar magicant commented on July 18, 2024

目標速度に近付くにつれて目標減速度が下がるように減速パターンを変化させる

ae10e9f で実装した

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