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Changes

Summary

  1. fix: 保持变道路径跨阶段连续 (details)
  2. fix: 提高变道 PJPO 求解稳定性 (details)
  3. fix: 缩小变道障碍物纵向扩展范围 (details)
Commit 71bf2e2ec9e91f143e7a156600d438072fc800ac by wuyanjun110
fix: 保持变道路径跨阶段连续

- standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数
- 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期
- 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界
- 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形
The file was modifieddata/plan/start_point_data.hpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/lat_decider/switching_bounds_decider.cpp
Commit a388f43d9c6293683cd0b34d6c342433b8947d6c by wuyanjun110
fix: 提高变道 PJPO 求解稳定性

- 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置
- 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算
- 普通路径规划继续沿用历史默认设置
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
Commit bb0198284d306240afa9a0322f97ef72c63de2e9 by wuyanjun110
fix: 缩小变道障碍物纵向扩展范围

- 非货叉部件障碍物的前后扩展距离由5米调整为3米
- 货叉头尾部件继续保持2米扩展距离
The file was modifieddata/obstacle/obstacle_decider_attr.cpp