变更道路径规划异常

** Environment: ** Source code apollo v9.0.0 ** Module: ** planning ** Operation: ** Test variable lane path planning, generate a map with two-way dual lanes, set the starting point in any lane, set two waypoints, the first waypoint is set in front of the lane that is the same as the starting point, the second waypoint is set in front of the lane that is different from the first waypoint (i.e. the next lane), test the global lane change planning function ** Variables: ** Generate two maps with two-way dual lanes (straight lanes), Map 1: Two-way dual lanes are composed of two longer lanes on the left and right, for example, lane 1 is the left lane and lane 2 is the right lane; Map 2: Two-way dual lanes are composed of multiple shorter lanes on the left and right, for example, lane 1, lane 2, lane 3, lane 4, and lane 5 are the left lane, and lane 6, lane 7, lane 8, lane 9, and lane 10 are the right lane ** Phenomenon: ** When simulating Map 1, both the routing result and the planning result are normal, and the simulation can be normal, and the lane change can be completed normally; When simulating Map 2, the routing result is normal, but the planning result is abnormal, resulting in the planning and prediction channel frame rate directly dropping to 0, and the DV interface is stuck, and the simulation cannot be normal, and the reference line is not generated normally. ** Abnormal planning result before the stuck part of the log: ** 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 …