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fix: stabilize stopped-start EM planning and add txt diagnostics

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This commit is contained in:
梁薄云
2026-08-07 15:51:31 +08:00
parent f2970d0aff
commit d378ad6257
13 changed files with 373 additions and 53 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs
+37
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@@ -15,6 +15,7 @@ internal static class LongitudinalIntegrationChecks
VerifiesRollingOptimizationKeepsANonzeroTerminalSpeed();
VerifiesFullDirectionScheduleIsIndependentFromPublicationCadence();
VerifiesFullDirectionStaticStartMakesProgress();
VerifiesFullDirectionNearZeroSpeedUsesStaticStartSeed();
VerifiesFullDirectionPublicationDoesNotDuplicateItsTerminalHold();
VerifiesExactStopIncludesAStabilizationTail();
VerifiesLastStrictCandidateSurvivesLaterTimeout();
@@ -150,6 +151,42 @@ internal static class LongitudinalIntegrationChecks
"full segment stops at the terminal boundary");
}
private static void VerifiesFullDirectionNearZeroSpeedUsesStaticStartSeed()
{
EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
configuration.Scheduling.SolverTimeoutSeconds = 5d;
configuration.Solver.MaximumOsqpIterations = 100000;
LateralPath path = new LateralPath(new[]
{
Point(0d, 0d, 0d),
Point(2.5d, 2.5d, 0d),
Point(5d, 5d, 0d),
}, true);
EmPlanningStatus status = new PathSpeedLimitBuilder().Build(path, TravelDirection.Forward, 0.01d,
EmTerminalType.Goal, configuration, out PathSpeedLimit speedLimit, out string failureReason);
Verification.Equal(EmPlanningStatus.Success, status, "near-zero envelope: " + failureReason);
status = new FullDirectionSegmentScheduleBuilder().TryBuild(path, speedLimit, 0.01d, 0d,
configuration.Longitudinal.DesiredForwardSpeedMetersPerSecond, configuration,
out LongitudinalKnotSchedule schedule, out failureReason);
Verification.Equal(EmPlanningStatus.Success, status, "near-zero schedule: " + failureReason);
var input = new LongitudinalPlanningInput(path, TravelDirection.Forward, 0.01d, 0d,
EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, configuration,
EmPlanningScope.FullDirectionSegment, schedule, Array.Empty<double>(), Array.Empty<double>());
LongitudinalPlanningResult result = new LongitudinalPlanner(new OsqpNativeSolver()).Plan(input,
CancellationToken.None);
Verification.True(result.Status == EmPlanningStatus.Success || result.Status == EmPlanningStatus.SuccessWithFallback,
"near-zero full-direction start succeeds: " + result.FailureReason);
LongitudinalCandidate candidate = result.Candidate ??
throw new InvalidOperationException("Near-zero full-direction candidate was missing.");
Verification.NearlyEqual(path.Points[path.Points.Count - 1].PathS, candidate.S[candidate.S.Count - 1],
"near-zero start reaches the terminal boundary");
Verification.NearlyEqual(0d, candidate.U[candidate.U.Count - 1],
"near-zero start stops at the terminal boundary");
}
private static void VerifiesFullDirectionPublicationDoesNotDuplicateItsTerminalHold()
{
EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();