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"0.05秒公共网格，向后取最近已记录值；容差为各流采样周期1.6倍，限于0.035至0.5秒；不插值。原始采样统计另算。雷达距离与相对速度汇总仅用目标有效记录。", "threshold_duration_method": "仅连续命中的CSV记录组成一段；任一不命中/缺失值或超过该窗口中位采样间隔1.6倍的时间缺口均中断。时长按末点减首点加一个中位采样间隔近似，非逐帧危险持续时间。" }, "timeline": [ { "t": -10.0, "speed_mps": null, "accel_mps2": null, "steer_deg": null, "steer_torque": null, "brake": null, "gas": null, "steer_pressed": null, "cruise": null, "speed_kmh": null, "cc_enabled": null, "lat_active": null, "long_active": null, "left_blinker": null, "right_blinker": null, "requested_accel": null, "cs_enabled": null, "cs_active": null, "curvature": null, "desired_curvature": null, "force_decel": null, "curvature_difference": null, "lead_valid": null, "distance_m": null, "relative_speed_mps": null, "lead_y_m": null, "ttc_s": null, "thw_s": null, "thw_moving_s": null, "left_lane_probability": null, "right_lane_probability": null, "left_lane_y": null, "right_lane_y": null, "fcw": null, "planned_accel": null, "plan_has_lead": null }, { "t": -8.0, "speed_mps": 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"review_note": "自动提取的事实，不代表已经完成画面复核或致因判断。" }