变道路径规划异常，观察DV中无法生成有效reference_line
**环境：**源码 apollo v9.0.0 **模块：**planning **操作：**测试变道路径规划，制作地图同向双车道，设置起点在任意车道，设置途径2个途径点，第一个途径点设置在与起点相同车道的前方，第二个途径点设置在与第一个途径点不同车道的前方（即隔壁车道），测试全局变道规划功能 **变量：**制作2份同向双车道地图（直道），地图1：同向双车道由左右各一条较长的lane组成，比如lane1是左边车道，lane2是右边车道；地图2：同向双车道左右由多条较短的lane组成，比如lane1、lane2、lane3、lane4、lane5组成左边车道，lane6、lane7、lane8、lane9、lane10组成右边车道 **现象：**地图1仿真时，routing结果和plangning结果都正常，可以正常仿真，也能正常完成变道；地图2仿真时，routing结果正常，但是plangning结果异常，导致planning和prediction通道帧率直接降为0，且DV界面卡住，无法正常仿真，reference_line也没有正常生成。 异常结果planning卡住前的部分日志： I0320 13:39:08.943044 1095680 planning_component.cc:66] Received planning data: run planning callback.timestamp_sec: 1773985148.942733 module_name: "dreamview" sequence_num: 1 I0320 13:39:08.973564 1095690 on_lane_planning.cc:290] new_command:header { timestamp_sec: 1773985148.942733 module_name: "dreamview" sequence_num: 1 } command_id: 4 lane_follow_command { road { id: "Road_5" passage { segment { id: "Lane_10" start_s: 76.1134057483169 end_s: 81.5229906665126 } segment { id: "Lane_11" start_s: 0 end_s: 29.4042437985519 } segment { id: "Lane_12" start_s: 0 end_s: 85.240510356534827 } segment { id: "Lane_14" start_s: 0 end_s: 13.915222395142242 } segment { id: "Lane_13" start_s: 0 end_s: 6.1697620985786727 } can_exit: false change_lane_type: LEFT } passage { segment { id: "Lane_5" start_s: 0 end_s: 81.562323281873887 } segment { id: "Lane_9" start_s: 0 end_s: 29.442211277890927 } segment { id: "Lane_6" start_s: 0 end_s: 85.194551243917545 } segment { id: "Lane_8" start_s: 0 end_s: 13.912687398261365 } segment { id: "Lane_7" start_s: 0 end_s: 6.1570544761886588 } can_exit: true change_lane_type: FORWARD } } measurement { distance: 140.14934420612948 } routing_request { waypoint { id: "Lane_10" s: 76.1134057483169 pose { x: 267783.01788634935 y: 3454899.2580081569 } } waypoint { id: "Lane_7" s: 6.1570544761886588 pose { x: 267920.44363611547 y: 3454926.6887249877 } } } map_version: "ReleaseMap_202603182115" status { error_code: OK msg: "Success!" } } is_motion_command: true I0320 13:39:08.974205 1095690 scenario_manager.cc:82] Reset to default scenario:LANE_FOLLOW W0320 13:39:08.974215 1095690 trajectory_stitcher.cc:163] current time beyond the previous trajectory's last time I0320 13:39:08.975935 1095690 on_lane_planning.cc:316] Planning start frame sequence id = [797] W0320 13:39:08.975976 1095690 destination.cc:82] dest_sl.s() + ego_front_to_center > reference_line->length()may cause ego is stoped by PATH_END fence not by destination W0320 13:39:08.976082 1095690 destination.cc:82] dest_sl.s() + ego_front_to_center > reference_line->length()may cause ego is stoped by PATH_END fence not by destination W0320 13:39:08.976089 1095690 frame.cc:315] obstacle DEST already exist. I0320 13:39:08.976172 1095690 lane_change_path.cc:456] lane change update fromto I0320 13:39:08.976184 1095690 lane_change_path.cc:461] status: CHANGE_LANE_FINISHED path_id: "" timestamp: 1773985148.9761717 E0320 13:39:08.976208 1095690 lane_follow_stage.cc:160] Failed to run tasks[LANE_CHANGE_PATH], Error message: Not satisfy lane change conditions E0320 13:39:08.976226 1095690 trajectory_fallback_task.cc:60] Path fallback due to algorithm failure E0320 13:39:08.976246 1095690 path_data.cc:45] Should NOT set discretized path when reference line is nullptr. Please set reference line first. E0320 13:39:08.976251 1095690 trajectory_fallback_task.cc:42] Speed fallback due to algorithm failure E0320 13:39:08.976265 1095690 fast_stop_trajectory_fallback.cc:30] Fallback using piecewise jerk speed! W0320 13:39:08.976271 1095690 fast_stop_trajectory_fallback.cc:33] init_v = 0, init_a = 0 W0320 13:39:08.976277 1095690 fast_stop_trajectory_fallback.cc:39] Already stopped! Nothing to do in GenerateFallbackSpeed() E0320 13:39:08.976285 1095690 reference_line_info.cc:519] path data is empty E0320 13:39:08.976290 1095690 lane_follow_stage.cc:186] Fail to aggregate planning trajectory. I0320 13:39:08.976302 1095690 reference_line.cc:234] planning_start_point x,y,the,k267783.017886,3454899.258008,0.174672,0.000000,0.000000,0.000000 I0320 13:39:08.976310 1095690 reference_line.cc:239] ref point x y the ka dka267783.018134,3454899.256622,0.176799,-0.001140,-0.000118 I0320 13:39:08.976357 1095690 print_debug_info.cc:41] print_DEST_obs_sl_boundary:(139.538717, 7.954758);(139.737313, 4.375676);(139.837159, 4.381217);(139.638563, 7.960298); I0320 13:39:08.976366 1095690 print_debug_info.cc:41] print_REF_END_0_0_obs_sl_boundary:(19.547689, 2.000000);(19.547720, -2.000000);(19.647720, -2.000000);(19.647689, 2.000000); I0320 13:39:08.976374 1095690 path_bounds_decider_util.cc:207] There are 0 obstacles.
**问题：**这是地图制作问题，还是变道路径规划对lane的长度有要求？或者是现有bug呢？是否有解决办法？对于低速车适配过程中，确实可能存在在由多个较短lane组成的地图场景下进行变道规划
感谢！（仿真地图见附件，问题出现在地图中最下方lane组成较多的直道中）
Source: ApolloAuto/apollo