fix: accelerate EM trajectories from rest

2026-08-07 07:51:43 +08:00
parent 162f1a24e6
commit 0bba8d7e61
9 changed files with 273 additions and 20 deletions
@@ -84,7 +84,7 @@ public sealed class EmPlanningService : IEmPlanningService
            EmitDebug(request, "LS optimization and validation succeeded");

            EmPlanningStatus envelopeStatus = new PathSpeedLimitBuilder().Build(lateral.Path, segment.Direction,
-                initialProgressSpeed, horizon.TerminalType, configuration, out PathSpeedLimit speedLimit,
+                initialProgressSpeed, initialAcceleration, horizon.TerminalType, configuration, out PathSpeedLimit speedLimit,
                out string envelopeReason);
            if (envelopeStatus != EmPlanningStatus.Success)
                return Failure(envelopeStatus, request, envelopeReason);