Started by upstream project "orin-module-slave32" build number 4,2314231orin-module-slave32job/orin-module-slave32/msgBranchfeat_tc_v2_yantaipncBranchfeat_straddle_v2hdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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2025-11-20 09:41:12 +080015068bbc537173a7fcfbe1b0aaee62f371059d72feat:整理云端轨迹的数据结构editdata/config/cfg_topic.hppeditdata/common/trajectory_point.hppadddata/plan/cloud_trajectory.hppeditdata/plan_frame.cppeditsink/module.cppeditdata/common/trajectory.cppeditdata/common/trajectory.hppeditdata/config/cfg_topic.cppeditplan/scenarios/prepare_scenario.cppedithmi/draw/draw_path.cppeditdata/lattice/trajectory_combiner.hppeditdata/plan_frame.hppeditdata/common/trajectory_point.cppadddata/plan/cloud_trajectory.cppdeletesink/ros_sink_trajectory_for_prediction.cppeditdata/lattice/trajectory_combiner.cppdeletesink/ros_sink_trajectory_for_prediction.hppeditsink/ros_sink_cloud_trajectory.cpp
- data/lattice/trajectory_combiner.cppa05192db6a24b3348d74f7d50ce0d0bd6b8f7ebc1763639543000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:云端轨迹挂转角赋值错误的bug
2025-11-20 19:52:23 +0800a05192db6a24b3348d74f7d50ce0d0bd6b8f7ebcfix:云端轨迹挂转角赋值错误的bugeditdata/lattice/trajectory_combiner.cpp
- data/map/pnc_map/routing_extension/routing_data.cpp5b4878a114bd9b04f60443a02d5208c5478267951763702966000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:暂时关闭路口延长的逻辑
2025-11-21 13:29:26 +08005b4878a114bd9b04f60443a02d5208c547826795feat:暂时关闭路口延长的逻辑editdata/map/pnc_map/routing_extension/routing_data.cpp
- data/map/pnc_map/routing_extension/routing_data.cpp97808e8bad698ca80d77d28e8ee1c25b811d8abc1763706329000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:暂时关闭路口延长的逻辑
2025-11-21 14:25:29 +080097808e8bad698ca80d77d28e8ee1c25b811d8abcfeat:暂时关闭路口延长的逻辑editdata/map/pnc_map/routing_extension/routing_data.cpp
- data/plan/cloud_trajectory.hppdata/vehicle/vehicle_status.hppplan/scenarios/prepare_scenario.cppplan/prepare/prepare_status.cppdata/plan/guide_line_base.cppdata/plan/cloud_trajectory.cppdata/plan/guide_line_base.hppplan/prepare/prepare_status.hppdata/plan_frame.cppsink/ros_sink_cloud_trajectory.cpp51b7cd43464c5a1527bfb4fa65dd0971948c4b851763952487000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:功能基本ok
2025-11-24 10:48:07 +080051b7cd43464c5a1527bfb4fa65dd0971948c4b85feat:功能基本okeditdata/vehicle/vehicle_status.hppeditdata/plan/cloud_trajectory.cppeditdata/plan/guide_line_base.cppeditplan/prepare/prepare_status.cppeditplan/scenarios/prepare_scenario.cppeditdata/plan/guide_line_base.hppeditdata/plan_frame.cppeditsink/ros_sink_cloud_trajectory.cppeditplan/prepare/prepare_status.hppeditdata/plan/cloud_trajectory.hpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpphmi/draw/draw_path.cppsink/ros_sink_cloud_trajectory.cpp6684ad1e264a2b994a7c551de3336034a5fad1f01763993334000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:完善云端轨迹v2
2025-11-24 22:08:54 +08006684ad1e264a2b994a7c551de3336034a5fad1f0feat:完善云端轨迹v2editsink/ros_sink_cloud_trajectory.cppeditdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cppedithmi/draw/draw_path.cpp
- sink/ros_sink_cloud_trajectory.cppsink/ros_sink_cloud_trajectory.hpp81594b7b8e3091061176005152fdb465001061971764144080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复代码合并的bug
2025-11-26 16:01:20 +080081594b7b8e3091061176005152fdb46500106197fix:修复代码合并的bugeditsink/ros_sink_cloud_trajectory.cppeditsink/ros_sink_cloud_trajectory.hpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpp8b0cb2a242ee6e2847bb9b3ce934a9199aeea02d1764257493000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值
2025-11-27 23:31:33 +08008b0cb2a242ee6e2847bb9b3ce934a9199aeea02dfeat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值editdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hpp
- sink/ros_sink_cloud_trajectory.cpp207061ce9e0d5520d8e3aa25e71f15ab72f5af631765263178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:云端轨迹 is stop没有赋值的bug
2025-12-09 14:52:58 +0800207061ce9e0d5520d8e3aa25e71f15ab72f5af63fix:云端轨迹 is stop没有赋值的bugeditsink/ros_sink_cloud_trajectory.cpp
- data/plan/center_line_info.cppdata/config/cfg_long_plan.cppc296c42da1532160033f738dd3ac0e10b45fa7c51766588196000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复默认参数
2025-12-24 22:56:36 +0800c296c42da1532160033f738dd3ac0e10b45fa7c5fix:修复默认参数editdata/config/cfg_long_plan.cppeditdata/plan/center_line_info.cpp
- data/plan/cloud_trajectory.cppc90b3f396476d33e57593ea627bfe3b71617a86e1767076543000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:进堆场云端轨迹正常发送
2025-12-30 14:35:43 +0800c90b3f396476d33e57593ea627bfe3b71617a86efeat:进堆场云端轨迹正常发送editdata/plan/cloud_trajectory.cpp
- ssep/keb_optimizer/data_structure.hssep/maps/ogm.ccssep/keb_optimizer/keb_problem.cc14a332cffe102d32740e3b66d235c08f95b93deb1767516920000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复优化器中起点曲率没有初始化的问题
2026-01-04 16:55:20 +080014a332cffe102d32740e3b66d235c08f95b93debfix: SSEP: 修复优化器中起点曲率没有初始化的问题editssep/keb_optimizer/data_structure.heditssep/keb_optimizer/keb_problem.cceditssep/maps/ogm.cc
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hppc5fe56441cd4975be5cee5f679866cf8c242571e1768226688000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefeat:优化云端路径的赋值
2026-01-12 22:04:48 +0800c5fe56441cd4975be5cee5f679866cf8c242571erefeat:优化云端路径的赋值editdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hpp
- sink/ros_sink_cloud_trajectory.cppae2c245997ab2cd20bb588d1c5d940c97882286e1769183008000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加忽略死锁标志位的反馈
2026-01-23 23:43:28 +0800ae2c245997ab2cd20bb588d1c5d940c97882286efeat:添加忽略死锁标志位的反馈editsink/ros_sink_cloud_trajectory.cpp
- plan/prepare/prepare_status.cppdata/common/guide_path.hppdata/config/cfg_env_const.cppCMakeLists.txtssep/scenarios/imv_exit_parking_spot_planner.hdata/app/cmd/cmd_dead_lock.hppssep/keb_optimizer/keb_problem.ccreplayer/logic.cppdata/plan/start_point_data.cppssep/scenarios/imv_enter_yard_planner.hssep/offboard/generate_scene_data/CMakeLists.txtssep/coarse_search/legacy_searchers/hybrid_a_star_car.ccplan/prepare/prepare_objs.cpphmi/common/status_sign.hppmath/smoothing/fem_pos_deviation_interface.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.ccsource/ros_source_ads_command.cppssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/truck_general_planner.hssep/common/utils/path_utils.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/common/guide_path.cppdata/boundary/road_boundary.cppssep/keb_optimizer/keb_problem.hdata/app/app_data.cppdata/config/cfg_env_const.hppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtdata/other/flow_control.cppdata/app/cmd/cmd_fsm/ifsm.hpphmi/widget/distance.cppdata/ssep/ssep_common.hppssep/coarse_search/evaluator/heading_cost_computer.hdata/app/cmd/cmd_set_target.hppssep/scenarios/imv_enter_station_planner.htasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_enter_parking_spot_planner.hdata/app/cmd/cmd_remote.cppssep/coarse_search/evaluator/evaluator.hssep/data_structures/polyline.hhmi/draw/draw_perception.cpptasks/plan/path_optimization_task.cppssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/legacy_searchers/hybrid_a_star_imv.ccssep/scenarios/truck_fuzzy_reversing_planner.hssep/scenarios/tractor_trailer_enter_yard_planner.hdata/vehicle/lock_station_data.cppssep/keb_optimizer/imv_keb_optimizer.ccdata/app/cmd/cmd_cancel_lock.hppdata/snapshot_data.hppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/scenario/scenario_manager.hppssep/scenarios/stitching_replanner.hdata/config/cfg_error.cppssep/coarse_search/topology_analysis/candidate_goals_generator.ccdata/app/cmd/cmd_fsm/fsm_base.hppdata/app/cmd/cmd_remote_ctrl.cppssep/scenarios/truck_bulk_yark_in_out_planner.cccommon/behaviour_tree/bt_composite.hppssep/scenarios/truck_remote_guided_escape_planner.hdata/other/flow_control.hppalgorithm/plan/plot_st_graph.cppdata/config/cfg_long_plan.cppdata/app/cmd/cmd_set_target.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.htasks/other_tasks/create_reference_line.cppsource/ros_source_ads_target.cppssep/scenarios/legacy_planner.hreplayer/replayer_data_process/load_snap_data.cppdata/config/iconfig.hppssep/common/utils/map_element_utils.hppdata/ssep/forward_ec.cppdata/map/reference/reference_road_section.cppdata/app/cmd/cmd_cancel_expand.hppreplayer/replayer_data_process/replayer_data_extraction.cppmath/curve2d/curve2d.hpptasks/deciders/long_decider/constrain_decider.cppssep/test/gpu_ref_line_cost_test.ccdata/scenario/scenario_manager.cppssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map.cppdata/plan/reference_line_info.hppdata/app/cmd/cmd_cancel_safe.hppssep/CMakeLists.txtdata/obstacle/occupy_grid.hpphmi/node_hmi.hppdata/ssep/into_yard_junction_ec.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/scenarios/imv_pullover_planner.h.gitignoredata/constrain/longitude_constrain.cppssep/scenarios/tractor_trailer_exit_parking_spot_planner.hdata/vehicle/related_offset.cppssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/data_structures/map_element_polyline.ccssep/scenarios/truck_u_turn_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/evaluator/shortest_path_heur_table.hdata/app/fsm/task_command_type.cppdata/ssep/reverse_ec.cppssep/coarse_search/evaluator/cost_feature_computer.hdata/plan/switch_data.cppdata/app/cmd/cmd_traffic_light.hppssep/scenarios/tractor_trailer_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/offboard/scene_replay/CMakeLists.txtmath/curve2d/icurve.hppssep/test/ssep_planner_test.ccdata/map/pnc_map/pnc_map_path.cppssep/offboard/servers/CMakeLists.txtdata/obstacle/obstacle_decider_attr.cppssep/offboard/CMakeLists.txtdata/app/cmd/cmd_align.cppdata/app/cmd/cmd_nstop.hppssep/coarse_search/legacy_searchers/hybrid_a_star_tt.ccssep/scenarios/tractor_trailer_single_segment_parking_planner.haab4a1bf245a53d537d67e15908e5537e67120901770043796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:merge
2026-02-02 22:49:56 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- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hppab46030d67017aca4e24455acacfae894279573e1770363926000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:修改云端轨迹heading和theta的赋值
2026-02-06 15:45:26 +0800ab46030d67017aca4e24455acacfae894279573efeat:修改云端轨迹heading和theta的赋值editdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cpp
- sink/ros_sink_cloud_trajectory.cpp3180b9168c3846ab175fc5900a26ae85dcbf1e5d1770367820000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复编译崩溃的bug
2026-02-06 16:50:20 +08003180b9168c3846ab175fc5900a26ae85dcbf1e5dfix:修复编译崩溃的bugeditsink/ros_sink_cloud_trajectory.cpp
- data/plan/cloud_trajectory.cpp2a3c11f3986d0c8c71aea388f19bb0cc1ef032301772686189000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在CreateTrajInfo函数中添加continue语句以优化逻辑
2026-03-05 12:49:49 +08002a3c11f3986d0c8c71aea388f19bb0cc1ef03230fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑editdata/plan/cloud_trajectory.cpp
- data/common/trajectory_point.cpp8724ebfc9392edaa35d0827ba5f4eeea7642e3161772690113000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误
2026-03-05 13:55:13 +08008724ebfc9392edaa35d0827ba5f4eeea7642e316fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误editdata/common/trajectory_point.cpp
- data/constrain/block_data.cppdata/map/pnc_map/pnc_map_path.cpphmi/draw/draw_map.cppdata/constrain/disable_stop_range.cppdata/map/pnc_map/path_overlap.hppdata/map/pnc_map/path_overlap.cppbdf1ef7712f7e5b5ed7747856466c73e81e907651773291254000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能
2026-03-12 12:54:14 +0800bdf1ef7712f7e5b5ed7747856466c73e81e90765feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能edithmi/draw/draw_map.cppeditdata/constrain/disable_stop_range.cppeditdata/map/pnc_map/path_overlap.cppeditdata/constrain/block_data.cppeditdata/map/pnc_map/path_overlap.hppeditdata/map/pnc_map/pnc_map_path.cpp
- data/app/reaction/app_reaction.hppdata/config/cfg_long_plan.cppdata/constrain/longitude_constrain.cppdata/app/app_data.hppdata/app/cmd/cmd_reduce_safe_distance.hpptasks/deciders/long_decider/constrain_decider.cppdata/app/fsm/task_command_type.hppdata/app/reaction/app_reaction.cppdata/app/app_data.cppdata/app/cmd/cmd_reduce_safe_distance.cpp823980e823db5df3c886893d6f87f528f9fb2db61773299573000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能
2026-03-12 15:12:53 +0800823980e823db5df3c886893d6f87f528f9fb2db6feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能adddata/app/cmd/cmd_reduce_safe_distance.cppadddata/app/cmd/cmd_reduce_safe_distance.hppeditdata/app/reaction/app_reaction.hppeditdata/config/cfg_long_plan.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/app/app_data.hppeditdata/app/reaction/app_reaction.cppeditdata/app/fsm/task_command_type.hppeditdata/app/app_data.cppeditdata/constrain/longitude_constrain.cpp
- data/ssep/into_yard_junction_ec.cppde884128bc0875b3d57de275946de95f2cd8b3e01773304647000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
2026-03-12 16:37:27 +0800de884128bc0875b3d57de275946de95f2cd8b3e0feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断editdata/ssep/into_yard_junction_ec.cpp
- data/ssep/open_space_ec.cppreplayer/replayer_data_process/replayer_data_process.cppdata/ssep/online_region_contour_creator.cppdata/ssep/open_space_ec.hppdata/map/envelop/map_envelops.hppdata/plan_frame.hppdata/map/envelop/map_envelops.cppplan/prepare/prepare_map_related.cpp8eafd16a9aeb91372cbbeb9b45ed48da8f9af4e31773383875000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
2026-03-13 14:37:55 +08008eafd16a9aeb91372cbbeb9b45ed48da8f9af4e3feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理editplan/prepare/prepare_map_related.cppeditdata/plan_frame.hppeditdata/map/envelop/map_envelops.hppeditdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/open_space_ec.hppeditdata/map/envelop/map_envelops.cppeditreplayer/replayer_data_process/replayer_data_process.cpp
- data/app/fsm/task_command_type.hpp88d62ee670ee5f633ebb48441a4bd2b2404fef601773411132000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整指令的类别
2026-03-13 22:12:12 +080088d62ee670ee5f633ebb48441a4bd2b2404fef60feat:调整指令的类别editdata/app/fsm/task_command_type.hpp
- ssep/scenarios/tractor_trailer_lane_change_planner.hf86bed86caa62e3d5c1390726a2b301711f4f61c1774001151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复变道路径可能有碰撞的问题
2026-03-20 18:05:51 +0800f86bed86caa62e3d5c1390726a2b301711f4f61cfix: SSEP: 修复变道路径可能有碰撞的问题editssep/scenarios/tractor_trailer_lane_change_planner.h
- tasks/plan/keb_path_optimize_task.cpp3e1daf4d64dbd6153996f3473694c915343be10d1774107664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: keb task 增加最大转向角余量
2026-03-21 23:41:04 +08003e1daf4d64dbd6153996f3473694c915343be10dchore: keb task 增加最大转向角余量edittasks/plan/keb_path_optimize_task.cpp
- data/constrain/block_data.cpp63ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b21774366248000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
2026-03-24 23:30:48 +080063ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b2feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列editdata/constrain/block_data.cpp
- data/obstacle/obstacle.cppplan/prepare/prepare_objs.cpp259f597964ce71051e685f9b61fa3a14f95403031774366259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
2026-03-24 23:30:59 +0800259f597964ce71051e685f9b61fa3a14f9540303feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑editdata/obstacle/obstacle.cppeditplan/prepare/prepare_objs.cpp
- data/config/cfg_safe_const.cpp394231d157e32897752b57338f4ce7005c15cbba1774367294000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
2026-03-24 23:48:14 +0800394231d157e32897752b57338f4ce7005c15cbbafix: 修正堆垛机特殊区域的横向扩展长度参数加载路径editdata/config/cfg_safe_const.cpp
- data/plan/path_direction_data.cpptasks/deciders/long_decider/constrain_decider.cpp64d386ad766bd636bab93766fb2da25c04a453781774405052000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
2026-03-25 10:17:32 +080064d386ad766bd636bab93766fb2da25c04a45378feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度editdata/plan/path_direction_data.cppedittasks/deciders/long_decider/constrain_decider.cpp
- ssep/maps/ogm_builder.hssep/ssep_planner.ccssep/maps/ogm_builder.ccb4d00b792d4bb9e71da250164808250583acf73c1774405100000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 集卡搜索时滤除起点和终点车挂内部的og点
2026-03-25 10:18:20 +0800b4d00b792d4bb9e71da250164808250583acf73cfix: 集卡搜索时滤除起点和终点车挂内部的og点editssep/ssep_planner.cceditssep/maps/ogm_builder.heditssep/maps/ogm_builder.cc
- ssep/scenarios/tractor_trailer_general_planner.hb99a6ef817f1b8c94f2aea6df788b676e1a3bdc31774405136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹
2026-03-25 10:18:56 +0800b99a6ef817f1b8c94f2aea6df788b676e1a3bdc3chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹editssep/scenarios/tractor_trailer_general_planner.h
- tasks/plan/keb_path_optimize_task.hppssep/common/utils/path_utils.hssep/common/utils/path_utils.cctasks/plan/keb_path_optimize_task.cpp66fa765b858984a42c41669ae4b2c8ee600e000d1774405211000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: keb task 修复路径被og点阻挡时轨迹异常的问题
2026-03-25 10:20:11 +080066fa765b858984a42c41669ae4b2c8ee600e000dfix: keb task 修复路径被og点阻挡时轨迹异常的问题editssep/common/utils/path_utils.ccedittasks/plan/keb_path_optimize_task.hppeditssep/common/utils/path_utils.hedittasks/plan/keb_path_optimize_task.cpp
- data/plan/path_direction_data.cpp14b080ef741e8924a6badc3e3895b8fcadb83c991774427998000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整对拖车姿态有效性的角度判断阈值
2026-03-25 16:39:58 +080014b080ef741e8924a6badc3e3895b8fcadb83c99fix: 调整对拖车姿态有效性的角度判断阈值editdata/plan/path_direction_data.cpp
- data/ssep/ex_lane_change_ec.cpp03835a6edefc7751fa29c0afa94c963e61ef852e1775458249000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道的约束
2026-04-06 14:50:49 +080003835a6edefc7751fa29c0afa94c963e61ef852efix:修复变道的约束editdata/ssep/ex_lane_change_ec.cpp
- data/ssep/normal_junction_ec.cpp09c794cf8bb7f149f81d16444d7530994c976e9d1775611399000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:朝海侧，右转横二路，边界优化
2026-04-08 09:23:19 +080009c794cf8bb7f149f81d16444d7530994c976e9drefactor:朝海侧，右转横二路，边界优化editdata/ssep/normal_junction_ec.cpp
- data/ssep/ex_lane_change_ec.cpp730037190ab095ff3004718347429c4e827549c31775611407000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:极限变道约束优化
2026-04-08 09:23:27 +0800730037190ab095ff3004718347429c4e827549c3refactor:极限变道约束优化editdata/ssep/ex_lane_change_ec.cpp
- data/plan/guide_line_base.hppdata/config/cfg_long_plan.cppdata/config/cfg_long_plan.hppdata/plan/guide_line.cpp03a16b1951a8759def877fa6f2567a4a8ff87ea41775631086000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加地图限速膨胀系数并更新速度限制计算
2026-04-08 14:51:26 +080003a16b1951a8759def877fa6f2567a4a8ff87ea4feat: 添加地图限速膨胀系数并更新速度限制计算editdata/config/cfg_long_plan.hppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/plan/guide_line.cpp
- tasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/other_decider/replan_decider.cpp03c0657ce15b2d36b9b7db1be30a799619f63c7b1775749005000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:极限变道不replan的bug
2026-04-09 23:36:45 +080003c0657ce15b2d36b9b7db1be30a799619f63c7bfix:极限变道不replan的bugedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cpp
- tasks/plan/path_optimization_task.cpp1e376fed0cf72f9d441fd65936a3f32d639e9a5e1776331619000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: wbca smooth path is exception in align state
2026-04-16 17:26:59 +08001e376fed0cf72f9d441fd65936a3f32d639e9a5efix: wbca smooth path is exception in align stateedittasks/plan/path_optimization_task.cpp
- plan/prepare/prepare_status.hppplan/prepare/prepare_status.cppa17bb25611f78771eee83b455fdfbc8e51ad2e701776401179000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: straight lane near crane and lock_station
2026-04-17 12:46:19 +0800a17bb25611f78771eee83b455fdfbc8e51ad2e70fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cpp
- algorithm/plan/sweep_area.cpp53d5cb0217fc32e3efa1e81c8e69beb8f9fac6761777359358000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: sweep exception
2026-04-28 14:55:58 +080053d5cb0217fc32e3efa1e81c8e69beb8f9fac676fix: sweep exceptioneditalgorithm/plan/sweep_area.cpp
- algorithm/wbca/path_optimization/path_optimization.cpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cppa1d6c4e0bfcef0f9ee935eed46ed4ca6932077271777368422000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: wbca path length = 40 in openspace
2026-04-28 17:27:02 +0800a1d6c4e0bfcef0f9ee935eed46ed4ca693207727fix: wbca path length = 40 in openspaceeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.cpp
- ssep/scenarios/scenario_planner_factory.h6d68160f633ecaf79f5d10bdd429fed96109a16e1777368422000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场触发直连模式的bug
Co-authored-by: Copilot <copilot@github.com>
2026-04-28 17:27:02 +08006d68160f633ecaf79f5d10bdd429fed96109a16efix:进堆场触发直连模式的bugeditssep/scenarios/scenario_planner_factory.h
- data/scenario/scenario_planner_action.cpp33f73e9d8145c622051b09954603c6f272ca21491777368422000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:上码头面前， 误入 进堆场场景的bug
Co-authored-by: Copilot <copilot@github.com>
2026-04-28 17:27:02 +080033f73e9d8145c622051b09954603c6f272ca2149fix:上码头面前， 误入 进堆场场景的bugeditdata/scenario/scenario_planner_action.cpp
- offboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppCMakeLists.txtoffboard/bag_to_keb_scene/CMakeLists.txtoffboard/bag_to_keb_scene/bag_to_keb_scene.cc7a7e1113cb2032a9b4154567f9428355baf3e9791777557088000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: 实现rosbag->keb scene的数据转换工具
2026-04-30 21:51:28 +08007a7e1113cb2032a9b4154567f9428355baf3e979feat: Keb: 实现rosbag->keb scene的数据转换工具addoffboard/bag_to_keb_scene/bag_to_keb_scene.ccaddoffboard/bag_to_keb_scene/README.mdaddoffboard/bag_to_keb_scene/bag_reader.cceditCMakeLists.txtaddoffboard/bag_to_keb_scene/bag_reader.hppaddoffboard/bag_to_keb_scene/CMakeLists.txt
- offboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cc8b78c5bcbf315994e7b6238c1d5185cab419aad91778053886000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。
2026-05-06 15:51:26 +08008b78c5bcbf315994e7b6238c1d5185cab419aad9chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。editoffboard/bag_to_keb_scene/bag_reader.hppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditoffboard/bag_to_keb_scene/README.mdeditoffboard/bag_to_keb_scene/bag_reader.cc
- tasks/plan/keb_utils.cppc0c14c2d3b302d1ece6e57277f25e32b0028e45a1778060721000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。
2026-05-06 17:45:21 +0800c0c14c2d3b302d1ece6e57277f25e32b0028e45afix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。edittasks/plan/keb_utils.cpp
- offboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_to_keb_scene.ccb7fd0ea445d47529917a4cbfbe8dbc1007c7c7891778208709000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: snapshot to keb scene 增加批量转换功能
2026-05-08 10:51:49 +0800b7fd0ea445d47529917a4cbfbe8dbc1007c7c789chore: snapshot to keb scene 增加批量转换功能editoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditoffboard/bag_to_keb_scene/README.md
- algorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppfd66e4bd2d7af4fa76e4651e5bae615c0ace71721779109083000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题
2026-05-18 20:58:03 +0800fd66e4bd2d7af4fa76e4651e5bae615c0ace7172fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题editalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdff765e360805cc6cd25a6a6df811933d253cdce1779111068000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题
2026-05-18 21:31:08 +0800dff765e360805cc6cd25a6a6df811933d253cdcefix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/straddle_carrier_general_planner.h21a1df2d731e984cb4d3fd10e4b367b5433adc371779159745000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞
2026-05-19 11:02:25 +080021a1df2d731e984cb4d3fd10e4b367b5433adc37fix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/scenarios/straddle_carrier_general_planner.h
- scenarios/lane_follow_scenario/lane_follow_stage.cppplan/prepare/module.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppplan/pilot/module.cppcore/plan_runtime_watchdog.hppcore/plan_async.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp335bc124e56c2536cc6128b6211da5406e7569111779161453000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加计划运行监视器以跟踪任务执行时间和状态
2026-05-19 11:30:53 +0800335bc124e56c2536cc6128b6211da5406e756911feat: 添加计划运行监视器以跟踪任务执行时间和状态editplan/prepare/module.cppeditplan/pilot/module.cppaddcore/plan_runtime_watchdog.hppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditcore/plan_async.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditnode/logic.cpp
- data/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/routing_extension/routing_data.hpp849b809662aefd3a936983d16c9eb850bf0628d61779193058000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。
2026-05-19 20:17:38 +0800849b809662aefd3a936983d16c9eb850bf0628d6feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppedittasks/deciders/long_decider/constrain_decider.cpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hppdata/app/cmd/cmd_dead_lock_force_park.hppdata/plan/guide_line.cppec72507c1222f7759bc263671e82114348ea6d1d1779199067000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算
2026-05-19 21:57:47 +0800ec72507c1222f7759bc263671e82114348ea6d1dfeat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算editdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hppeditdata/app/cmd/cmd_dead_lock_force_park.hppeditdata/plan/guide_line.cpp
- ssep/keb_optimizer/cost_features/disk_collision_cost.htasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/path_length_cost.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/cost_features/truck_kinematic_constraint.hssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.hd18a7474fa7354e2aa5f5fbf9d696bbc071de17d1779245538000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。
2026-05-20 10:52:18 +0800d18a7474fa7354e2aa5f5fbf9d696bbc071de17dfeat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。editoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/scenarios/tractor_trailer_enter_yard_planner.hedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/cost_features/path_length_cost.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.heditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/cost_features/disk_collision_cost.h
- data/plan/guide_line.cppba14473ce1031b6c19f65836d6fd990bd841085f1779253725000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修改路径点格式化中的分隔符，从 '&' 改为 '#'
2026-05-20 13:08:45 +0800ba14473ce1031b6c19f65836d6fd990bd841085ffix: 修改路径点格式化中的分隔符，从 '&' 改为 '#'editdata/plan/guide_line.cpp
- ssep/scenarios/straddle_carrier_pick_vehicle_planner.hd189bbc6258b48ba139a99f51101e0cd19269dc31779256884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 跨运车自转逻辑改进
2026-05-20 14:01:24 +0800d189bbc6258b48ba139a99f51101e0cd19269dc3chore: SSEP: 跨运车自转逻辑改进editssep/scenarios/straddle_carrier_pick_vehicle_planner.h
- data/vehicle/lock_station_data.cppdata/ssep/open_space_ec.cppdata/ssep/base_stop_line_filter.cppdata/ssep/open_space_ec.hppdata/ssep/base_stop_line_filter.hpp7168dbfa30ffd93062b1608f08d636e57a33d4dd1779286028000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能
2026-05-20 22:07:08 +08007168dbfa30ffd93062b1608f08d636e57a33d4ddfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能editdata/ssep/base_stop_line_filter.hppeditdata/ssep/open_space_ec.hppeditdata/ssep/open_space_ec.cppeditdata/ssep/base_stop_line_filter.cppeditdata/vehicle/lock_station_data.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppdata/ssep/field_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/config/cfg_stage.hppscenarios/scenario_interface.hppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpphmi/draw/draw_path_boundary.cppdata/boundary/road_boundary.cppconfig/config_truck/scenario.yamlscenarios/stage.hpptasks/other_tasks/stitch_path_data_to_path.cppf5eba086e38f878a9c59460cd274ccfac0bbba6e1779286185000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
2026-05-20 22:09:45 +0800f5eba086e38f878a9c59460cd274ccfac0bbba6e引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度editscenarios/stage.cppaddscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.hppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/stage.hppaddscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.cppeditscenarios/scenario.cppeditdata/ssep/out_yard_junction_ec.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/boundary/road_boundary.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppedithmi/draw/draw_path_boundary.cppeditconfig/config_truck/scenario.yamleditscenarios/scenario_interface.hppeditdata/ssep/field_junction_ec.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppdata/config/cfg_env_const.hppdata/config/cfg_stage.cppdata/config/cfg_env_const.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppdata/config/cfg_func_sw.hppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/task_condition_evaluator.hppdata/config/cfg_func_sw.cppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/config/cfg_stage.hpphmi/widget/diagnose.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/stage.hppa2fe19adfd84af23f521e6790146fca98c816aaa1779362941000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
2026-05-21 19:29:01 +0800a2fe19adfd84af23f521e6790146fca98c816aaa重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能editscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppeditscenarios/stage.hppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditdata/config/cfg_stage.hppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_func_sw.cppeditscenarios/stage.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_env_const.hppedithmi/widget/diagnose.cppeditscenarios/task_condition_evaluator.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/task_condition_evaluator.hppeditdata/config/cfg_env_const.cpp
- replayer/replayer_data_process/replayer_data_extraction.cpptasks/plan/keb_lane_follow_path_task.cpp31e09a791978ac342db474d9da6246ce4678fe461779362988000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
2026-05-21 19:29:48 +080031e09a791978ac342db474d9da6246ce4678fe46feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值editreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_lane_follow_path_task.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_enter_yard_planner.h6e58a963e9a696edda1a1fbc57114f301c2d47fc1779363081000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 支持上下码头面同时进堆场
2026-05-21 19:31:21 +08006e58a963e9a696edda1a1fbc57114f301c2d47fcfeat: SSEP: 支持上下码头面同时进堆场editssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_enter_yard_planner.h
- ssep/keb_optimizer/rigid_truck_keb_optimizer.cc5c66484117e480a1bf37b534af153741f51029101779363797000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 调整运动学可行性检查的最大归一化位置和朝向误差
2026-05-21 19:43:17 +08005c66484117e480a1bf37b534af153741f5102910feat: 调整运动学可行性检查的最大归一化位置和朝向误差editssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc0dbf3b3c0dd814f60915d79a4e08490a137974c41779369955000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复集卡多段倒车搜索失败的问题
2026-05-21 21:25:55 +08000dbf3b3c0dd814f60915d79a4e08490a137974c4fix: SSEP: 修复集卡多段倒车搜索失败的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/ssep/field_junction_ec.cpphmi/draw/draw_map.cpp01953a89de69f4ce40476214765121973d3f0c6f1779370829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
2026-05-21 21:40:29 +080001953a89de69f4ce40476214765121973d3f0c6ffeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cpp
- data/constrain/block_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hpp5c305ed4092e332ef41c2415f0d0c90174ff8ba41779447494000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加bulk in 堆场前临时停车功能
2026-05-22 18:58:14 +08005c305ed4092e332ef41c2415f0d0c90174ff8ba4feat: 添加bulk in 堆场前临时停车功能edittasks/deciders/long_decider/constrain_decider.cppeditdata/constrain/disable_stop_range.hppeditdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cpp
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/scenarios/straddle_carrier_general_planner.hb256d63212ae082f14354d1d39518463c61aa4d91779691206000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。
2026-05-25 14:40:06 +0800b256d63212ae082f14354d1d39518463c61aa4d9fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。editssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/scenarios/straddle_carrier_general_planner.h
- tasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/cost_features/ref_line_cost.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccoffboard/keb_path_opt_cli/keb_path_opt_cli.ccalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.cc4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b1779712780000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程
2026-05-25 20:39:40 +08004bf5c8270da914d3b1f5904f5e1bb979afa6cc7bchore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/keb_problem.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/offboard/ssep_planner_wrapper.cceditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- data/obstacle/block.hppdata/common/path_point.hppdata/map/reference/reference_segment.hppdata/map/pnc_map/pnc_map_path.cppcommon/util/hdmap_namespace.hppdata/common/trajectory.hppdata/common/trajectory_point.hppdata/dp_poly_path/comparable_cost.hppCMakeLists.txt1b988671fa14d46390c7e72167264eb91bb59f151779715566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: clang18 编译优化
2026-05-25 21:26:06 +08001b988671fa14d46390c7e72167264eb91bb59f15feat: clang18 编译优化editdata/obstacle/block.hppeditdata/common/path_point.hppeditCMakeLists.txteditdata/common/trajectory.hppeditdata/dp_poly_path/comparable_cost.hppeditdata/map/reference/reference_segment.hppeditcommon/util/hdmap_namespace.hppeditdata/map/pnc_map/pnc_map_path.cppeditdata/common/trajectory_point.hpp
- tasks/deciders/long_decider/constrain_decider.cppdca6c98db33487af01a20e3a8e337741b290e6b01779760410000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:崩溃防护，guide line 有效，但speedlimits为空
2026-05-26 09:53:30 +0800dca6c98db33487af01a20e3a8e337741b290e6b0fix:崩溃防护，guide line 有效，但speedlimits为空edittasks/deciders/long_decider/constrain_decider.cpp
- algorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.cc48d96b1fa2212d2e673a86427ae8c99c58fb86da1779767596000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复终点附近轨迹会有碰撞的问题
2026-05-26 11:53:16 +080048d96b1fa2212d2e673a86427ae8c99c58fb86dafix: Keb: 修复终点附近轨迹会有碰撞的问题editalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cc
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccbba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f51779772306000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: fix crashing issue
2026-05-26 13:11:46 +0800bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5fix: SSEP: fix crashing issueeditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
- offboard/keb_path_opt_cli/keb_simulator.cc0703acd58c84b4ace9abf4350bd6604c0e1b1cb71779772399000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-sim: 适配终点选取逻辑
2026-05-26 13:13:19 +08000703acd58c84b4ace9abf4350bd6604c0e1b1cb7chore: Keb-sim: 适配终点选取逻辑editoffboard/keb_path_opt_cli/keb_simulator.cc
- data/ssep/open_space_ec.cppscenarios/task_condition_evaluator.cppdata/map/pnc_map/routing_extension/routing_data.cpp7877eff32392d61b24edcfd041e1ccc07f59101e1779777295000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:动态上下码头面 直接进堆场场景的优化
2026-05-26 14:34:55 +08007877eff32392d61b24edcfd041e1ccc07f59101efeat:动态上下码头面 直接进堆场场景的优化editscenarios/task_condition_evaluator.cppeditdata/ssep/open_space_ec.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- sink/ros_sink_cloud_trajectory.cppd62544f9ee0f56a94a4c24195b03574a26b77cf11779781414000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加云端轨迹 挂转角的赋值
2026-05-26 15:43:34 +0800d62544f9ee0f56a94a4c24195b03574a26b77cf1feat:添加云端轨迹 挂转角的赋值editsink/ros_sink_cloud_trajectory.cpp
- tasks/deciders/long_decider/constrain_decider.cppf4c924bed3396eccd1d67360cab3d176a01671901779781847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:堆场前停车，停车原因赋值错误的bug
2026-05-26 15:50:47 +0800f4c924bed3396eccd1d67360cab3d176a0167190fix:堆场前停车，停车原因赋值错误的bugedittasks/deciders/long_decider/constrain_decider.cpp
- data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp20fe40a09dfcc324d0d105ec3b5feb1f890499021779782439000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场前停车，motion状态机错误的bug
2026-05-26 16:00:39 +080020fe40a09dfcc324d0d105ec3b5feb1f89049902fix:进堆场前停车，motion状态机错误的bugeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
- algorithm/plan/keb_optimizer.cpp83813bf5122f441c9fb043e7bb24ea7a3db54dbf1779786680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复keb路径跳变的bug
2026-05-26 17:11:20 +080083813bf5122f441c9fb043e7bb24ea7a3db54dbffix:修复keb路径跳变的bugeditalgorithm/plan/keb_optimizer.cpp
- hmi/widget/map.hpphmi/common/image_viewer.cpphmi/widget/map.cpphmi/common/image_viewer.hpp48daa21458f0c4904c9c812e96c937f9ce34456c1779802709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:ctrl +shift 左键 可以 把车辆移动到 没有lane的位置上
2026-05-26 21:38:29 +080048daa21458f0c4904c9c812e96c937f9ce34456cfeat:ctrl +shift 左键 可以 把车辆移动到 没有lane的位置上edithmi/common/image_viewer.hppedithmi/widget/map.hppedithmi/common/image_viewer.cppedithmi/widget/map.cpp
- tasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hpphmi/draw/draw_perception.cpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/config/cfg_func_sw.hpphmi/draw/draw_perception.hppdata/config/cfg_func_sw.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cppdata/config/cfg_safe_const.hpptasks/plan/keb_utils.cppdata/map/pnc_map/pnc_map_path.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/plan_frame.hpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp06aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2b1779860819000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加KEB可视化数据结构及相关功能
- 在CfgFuncSw和CfgHmi中添加KEB相关功能开关
- 实现KEB可视化数据的生成和更新
- 在绘制模块中集成KEB上层和下层线段的绘制
- 更新路径优化任务以支持KEB可视化数据
2026-05-27 13:46:59 +080006aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2bfeat: 添加KEB可视化数据结构及相关功能edithmi/draw/draw_all.cppadddata/plan/keb_visualize_data.hppedittasks/plan/keb_path_optimize_task.cppeditdata/config/cfg_func_sw.cppedittasks/plan/keb_utils.cppeditdata/config/cfg_hmi.hppedithmi/node_hmi.cppedittasks/plan/keb_lane_follow_path_task.cppeditdata/config/cfg_safe_const.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppedithmi/draw/draw_perception.hppeditdata/map/pnc_map/pnc_map_path.cppedithmi/widget/pnc_mat_shared.cppeditdata/config/cfg_hmi.cppedithmi/replayer_hmi.cppeditdata/plan_frame.hppedittasks/plan/keb_lane_follow_path_task.hpp
- data/config/cfg_func_sw.hpp4482c5612405410d84008ea262418b70bf895a361779862581000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新CfgFuncSw类的序列化版本，添加新功能支持
2026-05-27 14:16:21 +08004482c5612405410d84008ea262418b70bf895a36feat: 更新CfgFuncSw类的序列化版本，添加新功能支持editdata/config/cfg_func_sw.hpp
- data/scenario/scenario_planner_bt.cpp3a44489a43b861ce26073ac5d976d351b5a1fbc91779864524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 岸桥搜索添加黑名单功能
2026-05-27 14:48:44 +08003a44489a43b861ce26073ac5d976d351b5a1fbc9feat: 岸桥搜索添加黑名单功能editdata/scenario/scenario_planner_bt.cpp
- algorithm/plan/keb_optimizer.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_utils_core.cppoffboard/keb_path_opt_cli/keb_scene_converter.cc51f5fb1c968a563b794d66cc91759514d44ffb421779883608000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 优化IMV的避障效果
2026-05-27 20:06:48 +080051f5fb1c968a563b794d66cc91759514d44ffb42chore: Keb: 优化IMV的避障效果editoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cpp
- tasks/deciders/other_decider/stop_decider.cppfcb1fdf1c53233f194b8e9f1689ec363d96b43051779888046000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 匹配STOP_DECIDER前移
2026-05-27 21:20:46 +0800fcb1fdf1c53233f194b8e9f1689ec363d96b4305fix: 匹配STOP_DECIDER前移edittasks/deciders/other_decider/stop_decider.cpp
- data/map/envelop/map_envelops.hppdata/ssep/online_region_contour_creator.cppdata/map/envelop/map_envelops.cppdata/ssep/online_region_contour_creator.hppdata/ssep/bridge_junction_ec.cppfc7059e89de4fef19ca9cf953d4b7fd61aa8a80b1779950372000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加异步处理功能以优化地图包围区域的创建
2026-05-28 14:39:32 +0800fc7059e89de4fef19ca9cf953d4b7fd61aa8a80bfeat: 添加异步处理功能以优化地图包围区域的创建editdata/map/envelop/map_envelops.cppeditdata/map/envelop/map_envelops.hppeditdata/ssep/online_region_contour_creator.hppeditdata/ssep/online_region_contour_creator.cppeditdata/ssep/bridge_junction_ec.cpp
- data/scenario/scenario_planner_action.cpp4fc2be86a4d1eca4b53f4d56e62c97f5fb031f1d1779950400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:场景切换的bug
2026-05-28 14:40:00 +08004fc2be86a4d1eca4b53f4d56e62c97f5fb031f1dfix:场景切换的bugeditdata/scenario/scenario_planner_action.cpp
- data/ssep/field_junction_ec.hppdata/other/flow_control.cppdata/map/envelop/map_envelop.cppdata/ssep/into_yard_junction_ec.cpphmi/draw/draw_map_envelpos.cppdata/config/cfg_region.hppdata/config/cfg_region.cppd428ac57bfe7d217213aad704585bdf2d4a209c11779980129000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<洋浦>适配洋浦新增区域的搜索
2026-05-28 22:55:29 +0800d428ac57bfe7d217213aad704585bdf2d4a209c1feat:<洋浦>适配洋浦新增区域的搜索editdata/ssep/field_junction_ec.hppedithmi/draw/draw_map_envelpos.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppeditdata/other/flow_control.cppeditdata/map/envelop/map_envelop.cppeditdata/ssep/into_yard_junction_ec.cpp
- data/ssep/online_region_contour_creator_test.cppdata/ssep/online_region_contour_creator.cpp952cf19b4410c444d684bf51bd2c2c11a8a12d281780041063000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:包围框合并的优化
2026-05-29 15:51:03 +0800952cf19b4410c444d684bf51bd2c2c11a8a12d28refactor:包围框合并的优化editdata/ssep/online_region_contour_creator.cppeditdata/ssep/online_region_contour_creator_test.cpp
- algorithm/wbca/wbca_manager.cppdata/wbca/wbca_data.cppalgorithm/wbca/path_optimization/path_optimization.cppalgorithm/wbca/imv_wbca_manager.cppdata/wbca/wbca_data.hppec973944b1c5336b5bc7b0be2ee23c1fe9e8722c1780043477000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add smooth_mode opt
2026-05-29 16:31:17 +0800ec973944b1c5336b5bc7b0be2ee23c1fe9e8722cfix: add smooth_mode opteditdata/wbca/wbca_data.hppeditdata/wbca/wbca_data.cppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/path_optimization/path_optimization.cppeditalgorithm/wbca/imv_wbca_manager.cpp
- data/ssep/out_yard_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/field_junction_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp0402e566a438f1ecc6493e52121d7fb81899c4471780046243000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:出堆场搜索异常的bug
2026-05-29 17:17:23 +08000402e566a438f1ecc6493e52121d7fb81899c447feat:出堆场搜索异常的bugeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppeditdata/ssep/field_junction_ec.cppeditdata/ssep/field_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/out_yard_junction_ec.cpp
- tasks/deciders/long_decider/constrain_decider.cppf8751de6c7c51feabc56f3ede005f3d91eeaf6e21780046299000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:洋浦 进（普通堆场的形状）堆高机场的入口限速
2026-05-29 17:18:19 +0800f8751de6c7c51feabc56f3ede005f3d91eeaf6e2feat:洋浦 进（普通堆场的形状）堆高机场的入口限速edittasks/deciders/long_decider/constrain_decider.cpp
- algorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3d1116dbde5bce9a82f7fe09b17c4bb1d4191b921780052167000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth mode optimization
2026-05-29 18:56:07 +08003d1116dbde5bce9a82f7fe09b17c4bb1d4191b92fix: smooth mode optimizationeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/wbca_manager.cpp
- data/config/cfg_safe_const.hppdata/boundary/road_boundary.cppdata/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/boundary/road_boundary.hppdata/config/cfg_func_sw.cpp52e6001f5205980ce9c490bbf25c6ca7a717b1421780244248000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆侵入车道限速功能及相关配置
2026-06-01 00:17:28 +080052e6001f5205980ce9c490bbf25c6ca7a717b142feat: 添加车辆侵入车道限速功能及相关配置editdata/boundary/road_boundary.cppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditdata/boundary/road_boundary.hppedittasks/deciders/long_decider/constrain_decider.hpp
- tasks/deciders/long_decider/constrain_decider.cpp26eab9bdf200a10462c4cf067b756cfa1fe1ef121780244510000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性
2026-06-01 00:21:50 +080026eab9bdf200a10462c4cf067b756cfa1fe1ef12feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性edittasks/deciders/long_decider/constrain_decider.cpp
- data/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/obstacle/obstacle_decider_attr.hpptasks/deciders/long_decider/time_path_graph_decider.cpptasks/deciders/long_decider/time_path_graph_decider.hpp3af6e994b8161f051b44d6dd9558ab6bf9f5ca5a1780291412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefeat:重构 障碍物侵入道路后的限速
2026-06-01 13:23:32 +08003af6e994b8161f051b44d6dd9558ab6bf9f5ca5arefeat:重构 障碍物侵入道路后的限速edittasks/deciders/long_decider/time_path_graph_decider.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle_decider_attr.hppedittasks/deciders/long_decider/time_path_graph_decider.cppedittasks/deciders/long_decider/constrain_decider.cpp
- .gitignore81b6dcb273bd1aee8059365f8af0e1cd3374f2361780296852000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 .codewhale 和 .deepseek 到 .gitignore
2026-06-01 14:54:12 +080081b6dcb273bd1aee8059365f8af0e1cd3374f236feat: 添加 .codewhale 和 .deepseek 到 .gitignoreedit.gitignore
- plan/prepare/prepare_objs.cppae8ab329ceb7d1a30a431ee4d300205663d110921780296935000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停
2026-06-01 14:55:35 +0800ae8ab329ceb7d1a30a431ee4d300205663d11092feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停editplan/prepare/prepare_objs.cpp
- tasks/deciders/long_decider/constrain_decider.cpp398a5dee83c255b4607ca23de24bb5f1fa59c3401780298270000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefctor:风险限速和聚类限速时，限制最大减速度
2026-06-01 15:17:50 +0800398a5dee83c255b4607ca23de24bb5f1fa59c340refctor:风险限速和聚类限速时，限制最大减速度edittasks/deciders/long_decider/constrain_decider.cpp
- data/boundary/driving_corridor.cpp41e19d82884238bccdc50cedde9bc7a36aa8cfe71780299003000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行时，沟点不进行膨胀
2026-06-01 15:30:03 +080041e19d82884238bccdc50cedde9bc7a36aa8cfe7feat: 绕行时，沟点不进行膨胀editdata/boundary/driving_corridor.cpp
- algorithm/wbca/path_optimization/path_optimization.cppf9a6597d905bb67f260fa38a8a12d1c0fa1d50231780299858000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel wbca smooth_mode for the first frame
2026-06-01 15:44:18 +0800f9a6597d905bb67f260fa38a8a12d1c0fa1d5023fix: cancel wbca smooth_mode for the first frameeditalgorithm/wbca/path_optimization/path_optimization.cpp
- algorithm/wbca/path_optimization/path_optimization.cppd9c144437f5bcc7c4c0a1148d9bc4516480377541780299893000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cancel wbca smooth_mode for the first frame
2026-06-01 15:44:53 +0800d9c144437f5bcc7c4c0a1148d9bc451648037754fix: cancel wbca smooth_mode for the first frameeditalgorithm/wbca/path_optimization/path_optimization.cpp
- ssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/imv_general_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/planner_utils.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.h20afe5dc9066c210d57077454994e46847d67f6f1780369026000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2
2026-06-02 10:57:06 +080020afe5dc9066c210d57077454994e46847d67f6ffix: checkout feat_keb_v2editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/imv_general_planner.heditssep/scenarios/planner_utils.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.h
- scenarios/scenario.cppd7b13e97abc9b756a322cf12748dcfc5ddb663281780369035000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: merge bug
2026-06-02 10:57:15 +0800d7b13e97abc9b756a322cf12748dcfc5ddb66328fix: merge bugeditscenarios/scenario.cpp
githttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqinghttp://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr1811http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1811/1809http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1809/