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# EMPlanner 架构梳理与 LS 优化启动日报
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> 日期：2026-08-04
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> 模块：emplanner
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> 证据原则：已验证事实、静态分析、对话发现和待验证风险必须分开表达。
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## 1. 今日结论摘要
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已依据 EMPlanner 当前说明和代码目录明确轨迹规划的分层架构与模块边界；LS 横向优化为当前开展方向，尚未在本日报中宣称完成或通过专项回归。
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## 2. 今日完成的工作
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- **确定 EMPlanner 轨迹规划分层架构**：明确从请求快照、方向段/Frenet 投影和静态走廊，到 LS、ST、轨迹装配、世界空间复核及上层滚动执行的职责划分。（证据：ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md）
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- **明确规划器与执行侧边界**：EMPlanner 仅产出经校验的时间轨迹；调度、轨迹交接、换向执行和控制命令由 TrajectoryExecution 承担。（证据：ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md、ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/README.md）
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- **梳理 LS 优化的接口边界**：LS 使用 l、dl、ddl、dddl 变量，在静态走廊与车辆几何约束下求解；求解器通过 IQpSolver/QuadraticProgram 抽象接入。（证据：ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md、ClumsyPilot/ParkrobTrajplanner/EMPlanner/Lateral/）
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## 3. 今日发现的问题
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### 3.1 LS 横向优化处于开展阶段 `ls-optimization-in-progress`
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- **证据等级**：对话发现
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- **实际现象**：当前已明确 LS 位于静态走廊之后、ST 之前，并承担横向路径优化与独立几何复核；本日报未取得本轮专项优化结果或回归输出。
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- **正确预期**：在不破坏静态走廊、导数、Frenet 分母和车辆曲率硬约束的前提下，形成可独立复核的横向候选轨迹。
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- **原因或当前假设**：优化参数、目标权重、收敛策略及专项场景的本轮验证证据尚待补充。
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- **影响**：LS 结果直接决定后续 ST 使用的实际 PathS 与轨迹可发布性，需先完成可行性和稳定性验证。
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## 4. 问题如何被发现及证据
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### ls-optimization-in-progress · LS 横向优化处于开展阶段
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用户说明当前正在开展 LS 优化工作。
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| 证据 | 引用 | 结果 |
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| --- | --- | --- |
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| LS 架构说明 | ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md | 文档定义 LS SQP、独立横向几何复核及其与 ST 的数据边界。 |
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| 当前工作说明 | 用户需求（2026-08-04） | 当前开展 LS 优化工作。 |
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## 5. 已采取的改善和验证结果
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- **ls-optimization-in-progress / 架构与接口静态核对 / 通过**：README 与 Lateral 目录表明 LS 的数据流、变量及求解器边界已定义；未执行 LS 专项运行测试。
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- **EMPlanner 架构静态核对 / 通过**：核对 README、Lateral 目录和当日 EMPlanner 提交记录；本次未运行构建或自动化测试。
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## 6. 尚未解决的风险与下一步
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- **ls-optimization-in-progress**：确定 LS 优化目标、权重和约束调参方案。
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- **ls-optimization-in-progress**：针对典型前进、倒车及走廊边界场景执行专项回归。
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- **P0 / emplanner**：细化并实现 LS 优化策略；完成标志：横向优化目标、约束和候选筛选策略形成可审查实现。
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- **P1 / emplanner**：执行 LS 专项回归；完成标志：典型前进、倒车和窄走廊场景均有可复核的运行结果。
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- **P1 / emplanner**：联调 LS 到 ST 的 PathS 输入；完成标志：ST 仅消费 LS 已复核且严格递增的实际 PathS，并保留验证记录。
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## 7. 证据索引
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- **EMPlanner 架构说明**：ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md
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- **当日 EMPlanner 提交记录**：git log --since='2026-08-04 00:00' -- ClumsyPilot/ParkrobTrajplanner/EMPlanner
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- **LS/ST 观测计划**：docs/superpowers/plans/2026-08-04-em-observation-movementtest.md
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<head>
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<body>
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<main id="daily-summary-app" data-selected-issue="">
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<header class="hero">
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<div>
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<p class="eyebrow">开发日报 · 问题与改善交互说明</p>
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<h1 id="report-title">今日工作总结</h1>
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<p id="report-summary" class="subtitle"></p>
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</div>
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<span id="report-date" class="date-chip"></span>
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</header>
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<section class="overview" aria-label="今日工作总览">
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<div class="stat"><strong id="achievement-count">0</strong><span>完成事项</span></div>
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<div class="stat"><strong id="issue-count">0</strong><span>发现问题</span></div>
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<div class="stat"><strong id="validation-count">0</strong><span>验证记录</span></div>
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<div class="stat"><strong id="next-count">0</strong><span>下一步</span></div>
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||||
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<h3>正确预期</h3>
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</div>
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<p id="concept-note" class="concept-note">概念示意：没有数值证据时不绘制虚构比例。</p>
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<div class="solution-layout">
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<div>
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<h3>改善步骤</h3>
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<div id="solution-steps" class="solution-steps"></div>
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</div>
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<article class="solution-detail">
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<h3 id="solution-title">尚未记录改善</h3>
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<p id="solution-result">当前只保留问题和下一步，不把候选方案写成已完成。</p>
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<div class="step-controls">
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<button id="previous-solution" type="button" class="step-control">上一步</button>
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<button id="next-solution" type="button" class="step-control">下一步</button>
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<section class="validation-section">
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<h2>验证门</h2>
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<div id="validation-gates" class="validation-gates"></div>
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</section>
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<section class="roadmap-section">
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<h2>下一步路线图</h2>
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<div id="roadmap" class="roadmap"></div>
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</section>
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<footer>本页与 Markdown 主报告来自同一结构化事实源。键盘左右方向键可切换问题。</footer>
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||||
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<template id="issue-button-template"><button type="button" class="issue-button" aria-pressed="false"><span></span><small></small></button></template>
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||||
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<template id="solution-step-template"><button type="button" class="solution-step" aria-pressed="false"></button></template>
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||||
<template id="validation-gate-template"><article class="validation-gate"><h3></h3><strong></strong><p></p></article></template>
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<template id="roadmap-item-template"><article class="roadmap-item"><strong></strong><div><h3></h3><p></p></div></article></template>
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</main>
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|
||||
<script id="report-data" type="application/json">{"date":"2026-08-04","title":"EMPlanner 架构梳理与 LS 优化启动日报","summary":"已依据 EMPlanner 当前说明和代码目录明确轨迹规划的分层架构与模块边界；LS 横向优化为当前开展方向，尚未在本日报中宣称完成或通过专项回归。","modules":["emplanner"],"achievements":[{"title":"确定 EMPlanner 轨迹规划分层架构","detail":"明确从请求快照、方向段/Frenet 投影和静态走廊，到 LS、ST、轨迹装配、世界空间复核及上层滚动执行的职责划分。","evidence":["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md"]},{"title":"明确规划器与执行侧边界","detail":"EMPlanner 仅产出经校验的时间轨迹；调度、轨迹交接、换向执行和控制命令由 TrajectoryExecution 承担。","evidence":["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md","ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/README.md"]},{"title":"梳理 LS 优化的接口边界","detail":"LS 使用 l、dl、ddl、dddl 变量，在静态走廊与车辆几何约束下求解；求解器通过 IQpSolver/QuadraticProgram 抽象接入。","evidence":["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md","ClumsyPilot/ParkrobTrajplanner/EMPlanner/Lateral/"]}],"issues":[{"id":"ls-optimization-in-progress","title":"LS 横向优化处于开展阶段","module":"emplanner","evidence_level":"对话发现","discovery":"用户说明当前正在开展 LS 优化工作。","actual":"当前已明确 LS 位于静态走廊之后、ST 之前，并承担横向路径优化与独立几何复核；本日报未取得本轮专项优化结果或回归输出。","expected":"在不破坏静态走廊、导数、Frenet 分母和车辆曲率硬约束的前提下，形成可独立复核的横向候选轨迹。","cause":"优化参数、目标权重、收敛策略及专项场景的本轮验证证据尚待补充。","impact":"LS 结果直接决定后续 ST 使用的实际 PathS 与轨迹可发布性，需先完成可行性和稳定性验证。","improvements":[],"validation":[{"name":"架构与接口静态核对","status":"通过","detail":"README 与 Lateral 目录表明 LS 的数据流、变量及求解器边界已定义；未执行 LS 专项运行测试。"}],"next_steps":["确定 LS 优化目标、权重和约束调参方案。","针对典型前进、倒车及走廊边界场景执行专项回归。"],"evidence":[{"label":"LS 架构说明","reference":"ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md","result":"文档定义 LS SQP、独立横向几何复核及其与 ST 的数据边界。"},{"label":"当前工作说明","reference":"用户需求（2026-08-04）","result":"当前开展 LS 优化工作。"}],"conceptual_visual":true}],"validations":[{"name":"EMPlanner 架构静态核对","status":"通过","detail":"核对 README、Lateral 目录和当日 EMPlanner 提交记录；本次未运行构建或自动化测试。"}],"next_steps":[{"priority":"P0","module":"emplanner","action":"细化并实现 LS 优化策略","done_when":"横向优化目标、约束和候选筛选策略形成可审查实现。"},{"priority":"P1","module":"emplanner","action":"执行 LS 专项回归","done_when":"典型前进、倒车和窄走廊场景均有可复核的运行结果。"},{"priority":"P1","module":"emplanner","action":"联调 LS 到 ST 的 PathS 输入","done_when":"ST 仅消费 LS 已复核且严格递增的实际 PathS，并保留验证记录。"}],"sources":[{"label":"EMPlanner 架构说明","reference":"ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md"},{"label":"当日 EMPlanner 提交记录","reference":"git log --since='2026-08-04 00:00' -- ClumsyPilot/ParkrobTrajplanner/EMPlanner"},{"label":"LS/ST 观测计划","reference":"docs/superpowers/plans/2026-08-04-em-observation-movementtest.md"}]}</script>
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||||
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||||
|
||||
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|
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</html>
|
||||
Reference in New Issue
Block a user