{
  "date": "2026-08-04",
  "title": "EMPlanner 架构梳理与 LS 优化启动日报",
  "summary": "已依据 EMPlanner 当前说明和代码目录明确轨迹规划的分层架构与模块边界；LS 横向优化为当前开展方向，尚未在本日报中宣称完成或通过专项回归。",
  "modules": ["emplanner"],
  "achievements": [
    {
      "title": "确定 EMPlanner 轨迹规划分层架构",
      "detail": "明确从请求快照、方向段/Frenet 投影和静态走廊，到 LS、ST、轨迹装配、世界空间复核及上层滚动执行的职责划分。",
      "evidence": ["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md"]
    },
    {
      "title": "明确规划器与执行侧边界",
      "detail": "EMPlanner 仅产出经校验的时间轨迹；调度、轨迹交接、换向执行和控制命令由 TrajectoryExecution 承担。",
      "evidence": ["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md", "ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/README.md"]
    },
    {
      "title": "梳理 LS 优化的接口边界",
      "detail": "LS 使用 l、dl、ddl、dddl 变量，在静态走廊与车辆几何约束下求解；求解器通过 IQpSolver/QuadraticProgram 抽象接入。",
      "evidence": ["ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md", "ClumsyPilot/ParkrobTrajplanner/EMPlanner/Lateral/"]
    }
  ],
  "issues": [
    {
      "id": "ls-optimization-in-progress",
      "title": "LS 横向优化处于开展阶段",
      "module": "emplanner",
      "evidence_level": "对话发现",
      "discovery": "用户说明当前正在开展 LS 优化工作。",
      "actual": "当前已明确 LS 位于静态走廊之后、ST 之前，并承担横向路径优化与独立几何复核；本日报未取得本轮专项优化结果或回归输出。",
      "expected": "在不破坏静态走廊、导数、Frenet 分母和车辆曲率硬约束的前提下，形成可独立复核的横向候选轨迹。",
      "cause": "优化参数、目标权重、收敛策略及专项场景的本轮验证证据尚待补充。",
      "impact": "LS 结果直接决定后续 ST 使用的实际 PathS 与轨迹可发布性，需先完成可行性和稳定性验证。",
      "improvements": [],
      "validation": [
        {
          "name": "架构与接口静态核对",
          "status": "通过",
          "detail": "README 与 Lateral 目录表明 LS 的数据流、变量及求解器边界已定义；未执行 LS 专项运行测试。"
        }
      ],
      "next_steps": ["确定 LS 优化目标、权重和约束调参方案。", "针对典型前进、倒车及走廊边界场景执行专项回归。"],
      "evidence": [
        {
          "label": "LS 架构说明",
          "reference": "ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md",
          "result": "文档定义 LS SQP、独立横向几何复核及其与 ST 的数据边界。"
        },
        {
          "label": "当前工作说明",
          "reference": "用户需求（2026-08-04）",
          "result": "当前开展 LS 优化工作。"
        }
      ],
      "conceptual_visual": true
    }
  ],
  "validations": [
    {
      "name": "EMPlanner 架构静态核对",
      "status": "通过",
      "detail": "核对 README、Lateral 目录和当日 EMPlanner 提交记录；本次未运行构建或自动化测试。"
    }
  ],
  "next_steps": [
    {
      "priority": "P0",
      "module": "emplanner",
      "action": "细化并实现 LS 优化策略",
      "done_when": "横向优化目标、约束和候选筛选策略形成可审查实现。"
    },
    {
      "priority": "P1",
      "module": "emplanner",
      "action": "执行 LS 专项回归",
      "done_when": "典型前进、倒车和窄走廊场景均有可复核的运行结果。"
    },
    {
      "priority": "P1",
      "module": "emplanner",
      "action": "联调 LS 到 ST 的 PathS 输入",
      "done_when": "ST 仅消费 LS 已复核且严格递增的实际 PathS，并保留验证记录。"
    }
  ],
  "sources": [
    {
      "label": "EMPlanner 架构说明",
      "reference": "ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md"
    },
    {
      "label": "当日 EMPlanner 提交记录",
      "reference": "git log --since='2026-08-04 00:00' -- ClumsyPilot/ParkrobTrajplanner/EMPlanner"
    },
    {
      "label": "LS/ST 观测计划",
      "reference": "docs/superpowers/plans/2026-08-04-em-observation-movementtest.md"
    }
  ]
}