diff --git a/MultiWheel/MultiWheelC/AGV.cs b/MultiWheel/MultiWheelC/AGV.cs
index e857a63..07e0911 100644
--- a/MultiWheel/MultiWheelC/AGV.cs
+++ b/MultiWheel/MultiWheelC/AGV.cs
@@ -70,20 +70,20 @@ namespace MultiWheelC
             }
         }
 
-        //参数1：tireNum 需要钻过的轮胎对数量
-        //参数2：frontLidarDetect true:前雷达识别  false:后雷达识别
+        //����1��tireNum ��Ҫ�������̥������
+        //����2��frontLidarDetect true:ǰ�״�ʶ��  false:���״�ʶ��
         public void TireFollowing(int tireNum, bool frontLidarDetect, int srcId, int dstId)
         {
             while (!TryLock(dstId))
             {
                 Thread.Sleep(50);
             }
-            DLog.Log($"锁点{dstId}完成", "TireFollowing");
-            var lidarName = frontLidarDetect ? "前雷达" : "后雷达";
-            DLog.Log($"开始钻车动作，通过{lidarName}识别结果钻{tireNum}对轮胎", "TireFollowing");
+            DLog.Log($"����{dstId}���", "TireFollowing");
+            var lidarName = frontLidarDetect ? "ǰ�״�" : "���״�";
+            DLog.Log($"��ʼ�공������ͨ��{lidarName}ʶ������{tireNum}����̥", "TireFollowing");
             if (tireNum != 1 && tireNum != 2)
             {
-                DLog.Log($"TireNum必须是1或2 (当前输入:{tireNum})", "TireFollowing");
+                DLog.Log($"TireNum������1��2 (��ǰ����:{tireNum})", "TireFollowing");
                 return;
             }
 
@@ -91,20 +91,20 @@ namespace MultiWheelC
             {
                 while (!TryLock(dstId))
                 {
-                    Console.WriteLine("等待锁取货点中...");
+                    Console.WriteLine("�ȴ���ȡ������...");
                     Thread.Sleep(200);
                 }
-                Console.WriteLine($"锁点{dstId}完成");
+                Console.WriteLine($"����{dstId}���");
                 Thread.Sleep(1000);
-                Console.WriteLine($"开始钻车动作，通过{lidarName}识别结果钻{tireNum}对轮胎");
+                Console.WriteLine($"��ʼ�공������ͨ��{lidarName}ʶ������{tireNum}����̥");
                 Thread.Sleep(1000);
                 Leave(srcId);
-                Console.WriteLine($"开始第一段盲走，此时释放预取货点{srcId}");
+                Console.WriteLine($"��ʼ��һ��ä�ߣ���ʱ�ͷ�Ԥȡ����{srcId}");
                 Thread.Sleep(2000);
                 //Leave(dstId);
-                //Console.WriteLine($"结束第一段盲走，此时释放取货点{dstId}");
+                //Console.WriteLine($"������һ��ä�ߣ���ʱ�ͷ�ȡ����{dstId}");
                 Thread.Sleep(2000);
-                Console.WriteLine($"结束钻车动作");
+                Console.WriteLine($"�����공����");
                 return;
             }
 
@@ -138,7 +138,7 @@ namespace MultiWheelC
                     0)
                 },
             };
-            DLog.Log($"钻胎为{tireNum}", "TireFollowing");
+            DLog.Log($"��̥Ϊ{tireNum}", "TireFollowing");
             var following = new TireFollowing()
             {
                 GetController = () => new ChassisController().Get(),
@@ -153,18 +153,18 @@ namespace MultiWheelC
             };
             var _dt = new DriveTask(following.Get());
             _dt.Wait();
-            DLog.Log("钻车动作结束", "TireFollowing");
+            DLog.Log("�공��������", "TireFollowing");
         }
 
-        //离车一定是后雷达识别一个轮胎
+        //�복һ���Ǻ��״�ʶ��һ����̥
         public void LeaveCar(int srcId, float srcX, float srcY, int dstId, float dstX, float dstY)
         {
             while (!TryLock(dstId))
             {
                 Thread.Sleep(50);
             }
-            DLog.Log($"锁点{dstId}完成", "TireFollowing");
-            DLog.Log($"开始钻车动作，通过后雷达识别结果钻1对轮胎", "TireFollowing");
+            DLog.Log($"����{dstId}���", "TireFollowing");
+            DLog.Log($"��ʼ�공������ͨ�����״�ʶ������1����̥", "TireFollowing");
             var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
             chassis.SetOriginBias(0, 0, 0);
             var following = new TireFollowing()
@@ -193,6 +193,9 @@ namespace MultiWheelC
                 CarDirection = 180f,
                 SlowDistance = PilotDefinition.Conf.TireFollowingSlowDistance,
                 MaxSpeed = PilotDefinition.Conf.TireFollowingMaxSpeed,
+                EnableHandover = true,
+                HandoverDistance = 200f,
+                HandoverSpeed = 0.3f,
                 WalkBlindTh = 0,
                 TireNum = 1
             };
@@ -204,14 +207,15 @@ namespace MultiWheelC
                     if (!running) break;
                     yield return true;
                 }
-                DLog.Log($"释放锁点{srcId}完成", "TireFollowing");
-                DLog.Log("离车TireFollowing结束，开始DstTracker", "TireFollowing");
+                DLog.Log($"�ͷ�����{srcId}���", "TireFollowing");
+                DLog.Log("�복TireFollowing��������ʼDstTracker", "TireFollowing");
 
                 foreach (var running in new DstTracker()
                 {
                     Src = new Vector2(srcX, srcY),
                     Dst = new Vector2(dstX, dstY),
                     CarDirectionBias = 180f,
+                    InitialSendSpeed = 0.3f
                 }.Get())
                 {
                     if (!running) break;
@@ -223,7 +227,7 @@ namespace MultiWheelC
 
             var _dt = new DriveTask(LeaveThenFollow());
             _dt.Wait();
-            DLog.Log("离车动作1结束", "TireFollowing");
+            DLog.Log("�복����1����", "TireFollowing");
         }
 
         public void LineTracking(int srcId, float srcX, float srcY, int dstId, float dstX, float dstY)
@@ -234,7 +238,7 @@ namespace MultiWheelC
             }
             var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
             chassis.SetOriginBias(0, 0, 0);
-            DLog.Log($"锁点{dstId}完成", "TireFollowing");
+            DLog.Log($"����{dstId}���", "TireFollowing");
             IEnumerable<bool> TrackThenFollow()
             {
                 foreach (var running in new LineTracking()
@@ -247,11 +251,13 @@ namespace MultiWheelC
                     if (!running) break;
                     yield return true;
                 }
-                DLog.Log("离车LineTracking结束，开始DstTracker", "TireFollowing");
+                DLog.Log($"�ͷ�����{srcId}���", "TireFollowing");
+                DLog.Log("�복LineTracking��������ʼDstTracker", "TireFollowing");
                 foreach (var running in new DstTracker()
                 {
                     Src = new Vector2(srcX, srcY),
                     Dst = new Vector2(dstX, dstY),
+                    InitialSendSpeed = 0.3f
                 }.Get())
                 {
                     if (!running) break;
@@ -261,34 +267,32 @@ namespace MultiWheelC
             }
             var _dt = new DriveTask(TrackThenFollow());
             _dt.Wait();
-            //Leave(srcId);
-            DLog.Log($"释放锁点{srcId}完成", "TireFollowing");
-            DLog.Log("离车动作2结束", "TireFollowing");
+            DLog.Log("�복����2����", "TireFollowing");
         }
 
-        //驱动器上使能
+        //��������ʹ��
         public void DriverAble()
         {
             var dl = new DriveTask(new DriverAble() { }.Get());
             dl.Wait();
-            DLog.Log("驱动器上使能完成", "TireFollowing");
+            DLog.Log("��������ʹ�����", "TireFollowing");
         }
 
-        //驱动器下使能
+        //��������ʹ��
         public void DriverDisable()
         {
             var dl = new DriveTask(new DriverDisable() { }.Get());
             dl.Wait();
-            DLog.Log("驱动器下使能完成", "TireFollowing");
+            DLog.Log("��������ʹ�����", "TireFollowing");
         }
 
-        // 夹抱：close 为 true 时关闭夹抱，否则打开夹抱。
+        // �б���close Ϊ true ʱ�رռб�������򿪼б���
         public void ClamptoTarget(bool close)
         {
             if (PilotDefinition.Self.GhostMode)
             {
                 Thread.Sleep(2000);
-                Console.WriteLine("夹抱完成");
+                Console.WriteLine("����");
                 return;
             }
             new DriveTask(new ClampToTarget()
@@ -334,7 +338,7 @@ namespace MultiWheelC
                 {
                     Thread.Sleep(50);
                 }
-                DLog.Log($"锁点{dstId}完成", "FleetCrabDbg");
+                DLog.Log($"����{dstId}���", "FleetCrabDbg");
             }
 
             var action = new MultiWheelC.FleetCrabWalk
@@ -360,7 +364,7 @@ namespace MultiWheelC
                 if (srcId != -1)
                 {
                     Leave(srcId);
-                    DLog.Log($"释放放车点{srcId}", "FleetCrabDbg");
+                    DLog.Log($"�ͷŷų���{srcId}", "FleetCrabDbg");
                 }
             }
         }
diff --git a/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs b/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs
index 6f6c55a..7c60848 100644
--- a/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs
+++ b/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs
@@ -385,6 +385,9 @@ namespace MultiWheelC
                 foreach (var running in new LineTracking()
                 {
                     Target = PilotDefinition.Conf.LineTrackDistance + (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2,
+                    EnableHandover = true,
+                    HandoverDistance = 200f,
+                    HandoverSpeed = 0.3f,
                 }.Get())
                 {
                     if (!running) break;
@@ -395,6 +398,7 @@ namespace MultiWheelC
                     Src = src,
                     Dst = dst,
                     CarDirectionBias = carDirectionBias,
+                    InitialSendSpeed = 0.3f
                 }.Get())
                 {
                     if (!running) break;
diff --git a/MultiWheel/MultiWheelC/Movements.cs b/MultiWheel/MultiWheelC/Movements.cs
index 0998960..6dd4a7c 100644
--- a/MultiWheel/MultiWheelC/Movements.cs
+++ b/MultiWheel/MultiWheelC/Movements.cs
@@ -176,15 +176,23 @@ namespace MultiWheelC
         public float CarDirectionBias = 0f;
         public Painter Painter = UI.GetPainter("DstTracker");
 
+        public float InitialSendSpeed = 0;
+
         public override IEnumerable<bool> Get()
         {
             Console.WriteLine($"DstTracker src:({Src.X:F2}, {Src.Y:F2}) dst:({Dst.X:F2}, {Dst.Y:F2})");
             Painter.DrawLine(Color.Cyan, Src.X, Src.Y, Dst.X, Dst.Y, width: 3);
 
             var tracker = new ChassisController().Get();
+
+           if (InitialSendSpeed != 0)
+            {
+                tracker.SkipInitialRotate = true;
+                tracker.InitialSendSpeed = InitialSendSpeed;
+            }
+
             var linePath = new LineTrack(Src, Dst) { CarDirectionBias = CarDirectionBias, Speed = PilotDefinition.Conf.DstTrackerMaxSpeed };
             tracker.AddTrack(linePath);
-
             var task = new DriveTask(tracker.Track());
             task.Wait();
 
@@ -208,6 +216,10 @@ namespace MultiWheelC
         public int DstId = -1;
         public Action<int> LeaveSrcFunction = null;
         private PIDController pid;
+        // 末段衔接：接近目标后不再让 PID 把速度降到 0，保留一个接力速度给后续动作接管
+        public bool EnableHandover = false;
+        public float HandoverDistance = 80f; // mm
+        public float HandoverSpeed = 0.15f;  // m/s
 
         public override IEnumerable<bool> Get()
         {
@@ -222,6 +234,19 @@ namespace MultiWheelC
             DLog.Log($"直线行驶距离:{Target}", "TireFollowing");
             while (true)
             {
+                var current = (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2;
+                var remain = Target - current;
+                if (EnableHandover && Math.Abs(remain) <= Math.Max(1f, HandoverDistance))
+                {
+                    var handoverSign = Math.Sign(remain);
+                    if (handoverSign == 0) handoverSign = 1;
+                    var handoverSpeed = Math.Abs(HandoverSpeed) * handoverSign;
+                    Console.WriteLine($"handover speed: {handoverSpeed:F3}, remain: {remain:F2}");
+                    chassis.SendXYThSpeed(handoverSpeed, 0, 0);
+                    // 保留一拍接力速度，让后续 DstTracker 无缝接管
+                    yield return true;
+                    break;
+                }
                 var speed = pid.GetResponse(Target);
                 Console.WriteLine($"output: {speed}  current: {(PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2}");
                 
diff --git a/MultiWheel/MultiWheelC/TireFollowing.cs b/MultiWheel/MultiWheelC/TireFollowing.cs
index 547d674..766093d 100644
--- a/MultiWheel/MultiWheelC/TireFollowing.cs
+++ b/MultiWheel/MultiWheelC/TireFollowing.cs
@@ -50,6 +50,11 @@ namespace MultiWheelC
         /// </summary>
         public float MaxSpeed = 0.3f;
 
+        // 末段衔接：接近盲走终点时给非零速度，供后续动作连续接管
+        public bool EnableHandover = false;
+        public float HandoverDistance = 200f; // mm
+        public float HandoverSpeed = 0.2f;    // m/s
+
         /// <summary>
         /// 钻轮胎数量
         /// </summary>
@@ -289,6 +294,11 @@ namespace MultiWheelC
                         controller.SlowDistance = SlowDistance;
                         controller.SlowingPow = 0.7f;
                     }
+                    if (EnableHandover)
+                    {
+                        controller.SlowDistance = float.MinValue;
+                        controller.FinishDistance = 20;
+                    }
                     (WalkBlindCarPathDstX, WalkBlindCarPathDstY, WalkBlindCarPathDstTh) = GetCurrentPos2Dst(WalkBlindCarPathDstX, WalkBlindCarPathDstY, WalkBlindCarPathDstTh);
                     var walkBlindPathEnd = Tuple.Create(WalkBlindCarPathDstX, WalkBlindCarPathDstY, WalkBlindCarPathDstTh);
                     var walkBlindPathStart = LessMath.Transform2D(walkBlindPathEnd, Tuple.Create(CarDirection == 0 ? -3000f : 3000f, 0f, 0f));
@@ -324,7 +334,7 @@ namespace MultiWheelC
                             _remainAngleList.Clear();
                             _remainDistanceList.Clear();
                             detectorIndex++;
-                            if (detectors.Count == 1 || TireNum == 1)
+                            if ((detectors.Count == 1 || TireNum == 1) && !EnableHandover)
                             {
                                 HardStop();
                                 yield return false;
@@ -333,7 +343,10 @@ namespace MultiWheelC
                         else if (WalkBlindStage2)
                         {
                             DLog.Log("达到第二对轮胎处，停止移动", "TireFollowing");
-                            HardStop();
+                            if (!EnableHandover)
+                            {
+                                HardStop();
+                            }
                             yield return false;
                         }
                     }