优化轨迹制动与轮速反馈并补充实验记录和中英文说明

MultiWheelC/Movements/TrajectoryTrackingMovement.cs

@@ -126,6 +126,11 @@ namespace MultiWheelC
         public double FinishHeadingToleranceRadians =
             AngleMath.DegreesToRadians(3.0);
 
+        /// <summary>
+        /// 终点减速阶段提前读取参考速度的距离，单位为m。
+        /// </summary>
+        public double TerminalBrakingPreviewMeters = 0.02;
+
         /// <summary>
         /// 车辆允许偏离参考轨迹的最大欧氏距离，单位为m。
         /// </summary>
@@ -203,7 +208,8 @@ namespace MultiWheelC
                 FinishDistanceMeters,
                 FinishSpeedMetersPerSecond,
                 FinishHeadingToleranceRadians,
-                MaximumDistanceToTrajectoryMeters);
+                MaximumDistanceToTrajectoryMeters,
+                TerminalBrakingPreviewMeters);
 
             var clock = Stopwatch.StartNew();
             var previousCycleSeconds =