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
@@ -10,6 +10,12 @@ diagnostic prediction only. Goal and rolling-safety-stop commands are logged, ne
 gear-switch trajectory, the observer remains on direction segment `0` and waits for real direction confirmation; it does
 not create or dispatch a direction-change action.

+## Rolling trajectory observation
+
+Rolling trajectory observation remains `OBSERVE_ONLY` and never sends a chassis command. Rolling and approach trajectories
+may end with nonzero speed because `DistanceHorizonMeters` is an L-S reference window and `TimeHorizonSeconds` is the
+single S-T output duration. Only a real Goal or gear-switch boundary may publish an exact zero-speed terminal.
+
 ## Configuration

 | Field | Unit | Default | Meaning |