docs: explain rolling longitudinal planning diagnostics

2026-08-05 21:21:58 +08:00
parent eb050b19e4
commit 302798b66d
4 changed files with 79 additions and 4 deletions
@@ -153,6 +153,14 @@ if (result.Status != EmPlanningStatus.Success && result.Status != EmPlanningStat
 EmTrajectory trajectory = result.Trajectory;
 ```

+## Rolling longitudinal planning semantics
+
+`DistanceHorizonMeters` controls the L-S reference window. `TimeHorizonSeconds` controls the S-T output duration.
+Only a real `Goal` or `GearSwitchApproach` boundary may require an exact zero-speed terminal. `RollingContinuation`
+and `ApproachStopBoundary` may publish nonzero terminal speed; they do not add a synthetic zero-speed hold tail.
+`ExactStopAtBoundary` instead includes a real boundary anchor and a stationary S/U/A stabilization interval inside the
+QP horizon. `ZeroSpeedHoldSeconds`, when configured, is appended only after that QP horizon.
+
 该服务不负责周期调用、版本淘汰、轨迹采样或控制命令。需要滚动运行时，将成功结果交给 [TrajectoryExecution](../TrajectoryExecution/README.md)，并由调用方管理状态捕获和周期。

 ## 详细使用指南（Detailed Usage Guide）