docs: correct EM controller handoff guide

2026-08-11 17:31:46 +08:00
parent ccf795dea4
commit c17a6edd25
3 changed files with 50 additions and 19 deletions
@@ -284,9 +284,12 @@ public static class EmPlannerFullPipelineDemo
            double signedSpeedMetersPerSecond = point.SignedLongitudinalVelocity;
            double velocityXMetersPerSecond = point.VelocityX;
            double velocityYMetersPerSecond = point.VelocityY;
-            double longitudinalAccelerationMetersPerSecondSquared = point.LongitudinalAcceleration;
-            double longitudinalJerkMetersPerSecondCubed = point.LongitudinalJerk;
            double yawRateRadiansPerSecond = point.YawRate;
+            // 控制适配的公开映射只消费 X/Y/Yaw、VehicleCurvature 和
+            // SignedLongitudinalVelocity；其他公开派生量在此仅作输出诊断观察。
+            // LongitudinalAcceleration 和 LongitudinalJerk 是规划程序集内部诊断，
+            // 外部控制器集成代码不得复制对它们的成员访问。如自有构建需要该证据，
+            // 应先由该构建定义并暴露经评审的公开诊断契约，再通过契约读取。
            _ = timeFromStartSeconds;
            _ = worldXMeters;
            _ = worldYMeters;
@@ -296,8 +299,6 @@ public static class EmPlannerFullPipelineDemo
            _ = signedSpeedMetersPerSecond;
            _ = velocityXMetersPerSecond;
            _ = velocityYMetersPerSecond;
-            _ = longitudinalAccelerationMetersPerSecondSquared;
-            _ = longitudinalJerkMetersPerSecondCubed;
            _ = yawRateRadiansPerSecond;
        }