100 lines
4.4 KiB
JSON
100 lines
4.4 KiB
JSON
{
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"date": "2026-08-04",
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"title": "EMPlanner 架构梳理与 LS 优化启动日报",
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"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。",
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"modules": ["emplanner"],
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"achievements": [
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{
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"title": "确定 EMPlanner 轨迹规划分层架构",
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"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。",
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"evidence": ["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md"]
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},
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{
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"title": "明确规划器与执行侧边界",
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"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。",
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"evidence": ["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md", "ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/README.md"]
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},
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{
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"title": "梳理 LS 优化的接口边界",
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"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。",
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"evidence": ["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md", "ClumsyPilot/ParkrobTrajplanner/EMPlanner/Lateral/"]
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}
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],
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"issues": [
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{
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"id": "ls-optimization-in-progress",
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"title": "LS 横向优化处于开展阶段",
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"module": "emplanner",
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"evidence_level": "对话发现",
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"discovery": "用户说明当前正在开展 LS 优化工作。",
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"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。",
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"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。",
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"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。",
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"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。",
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"improvements": [],
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"validation": [
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{
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"name": "架构与接口静态核对",
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"status": "通过",
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"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。"
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}
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],
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"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。"],
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"evidence": [
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{
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"label": "LS 架构说明",
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"reference": "ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md",
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"result": "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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},
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{
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"label": "当前工作说明",
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"reference": "用户需求（2026-08-04）",
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"result": "当前开展 LS 优化工作。"
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}
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],
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"conceptual_visual": true
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}
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],
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"validations": [
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{
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"name": "EMPlanner 架构静态核对",
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"status": "通过",
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"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。"
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}
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],
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"next_steps": [
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{
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"priority": "P0",
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"module": "emplanner",
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"action": "细化并实现 LS 优化策略",
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"done_when": "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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},
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{
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"priority": "P1",
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"module": "emplanner",
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"action": "执行 LS 专项回归",
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"done_when": "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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},
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{
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"priority": "P1",
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"module": "emplanner",
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"action": "联调 LS 到 ST 的 PathS 输入",
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"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。"
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}
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],
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"sources": [
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{
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"label": "EMPlanner 架构说明",
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"reference": "ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md"
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},
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{
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"label": "当日 EMPlanner 提交记录",
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"reference": "git log --since='2026-08-04 00:00' -- ClumsyPilot/ParkrobTrajplanner/EMPlanner"
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},
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{
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"label": "LS/ST 观测计划",
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"reference": "docs/superpowers/plans/2026-08-04-em-observation-movementtest.md"
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}
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]
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}
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