feat: select complete EM direction segments

2026-08-06 20:55:47 +08:00
parent f4e89b4b4f
commit 048b4f618e
5 changed files with 74 additions and 11 deletions
@@ -55,7 +55,8 @@ public sealed class EmPlanningService : IEmPlanningService
            double initialAcceleration = request.VehicleState.LongitudinalAccelerationMetersPerSecondSquared ?? 0d;
            var horizonSelector = new PlanningHorizonSelector();
            EmPlanningStatus horizonStatus = horizonSelector.Select(segment, startProjection.ReferenceS, initialProgressSpeed,
-                initialAcceleration, configuration, out PlanningHorizonSelection horizon, out string horizonReason);
+                initialAcceleration, request.PlanningScope, configuration, out PlanningHorizonSelection horizon,
+                out string horizonReason);
            if (horizonStatus != EmPlanningStatus.Success)
                return Failure(horizonStatus, request, horizonReason);
            ReferenceHorizonSlice slice = ReferenceHorizonSlicer.Slice(segment, horizon.WindowEndReferenceS);
@@ -212,6 +213,6 @@ public sealed class EmPlanningService : IEmPlanningService
            ";reference=" + (request.ReferencePathId ?? string.Empty) +
            ";state=" + (request.VehicleState == null ? string.Empty : request.VehicleState.SequenceId.ToString()) +
            ";previous=" + (request.PreviousTrajectoryId ?? string.Empty) +
-            ";segment=" + request.SegmentIndex;
+            ";segment=" + request.SegmentIndex + ";scope=" + request.PlanningScope;
    }
 }