fix: reject overflowing curvature transitions

2026-07-30 16:56:22 +08:00
parent 0fc64f7693
commit 1e307bc89f
3 changed files with 48 additions and 1 deletions
@@ -46,6 +46,11 @@ internal sealed class CurvatureTransitionDetector
                CoarsePathPoint left = request.CoarsePath[leftIndex];
                CoarsePathPoint right = request.CoarsePath[leftIndex + 1];
                double delta = right.VehicleCurvature - left.VehicleCurvature;
+                if (!NumericGuard.IsFinite(delta))
+                {
+                    reason = "局部 G2 曲率事件跳变溢出。";
+                    return false;
+                }
                if (Math.Abs(delta) >= threshold)
                {
                    detected.Add(new CurvatureTransition(