cbb
36150242f2
时限内 0.2656/0.2813/0.3047/0.3320；2 s 误差比逐题符号检验随 h 缩短单调增强 (h=8 166:90 p=2.4e-6、h=4 184:72 p=1.8e-12、h=2 192:64 p=4.9e-16)； 到达四点全在噪声内(净 -1/+4/+5，McNemar p>=0.42)。 末态到达误差 0.2175/0.2255/0.3301/0.4151 mm ⇒ 代价集中在 h<=4，病因是"近终段没有终端代价" 而不是"前瞻短"，故派生 #31(门控地平线)、按预注册规则作废 #26。 h=8 行程比 2.6749 反而比控制 2.6158 更差 ⇒ "地平线砍一半"的渐进方案被中间点自己否掉。 判据与成本(实测非推算)：四点 collision_rate=0、over_vmax_rate=0、start_fail=0， speed_ratio/accel_ratio 四点逐位相同，n_plans_mean 全为 195.0 ⇒ 规划次数与认证调用数不变。
110 lines
2.6 KiB
JSON
110 lines
2.6 KiB
JSON
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