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#18971897false18971204300SUCCESS1783427996836http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1897/- tasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败
在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域
(IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大,
解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。
附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。
2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败
GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间
区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。
2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败
GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis
直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer),
避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。
2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败editdata/ssep/into_yard_junction_ec.cpp
- hmi/widget/pnc_mat_shared.cppdata/config/cfg_hmi.hpphmi/draw/draw_all.cpphmi/draw/draw_perception.cppdata/config/cfg_hmi.cpphmi/draw/draw_perception.hpphmi/node_hmi.cpphmi/replayer_hmi.cpp337331696f6c7457d80ba670e544785cce1f13881782644837000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 新增上层/下层点云显示切换开关
2026-06-28 19:07:17 +0800337331696f6c7457d80ba670e544785cce1f1388feat: HMI 新增上层/下层点云显示切换开关editdata/config/cfg_hmi.hppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedithmi/draw/draw_perception.hppeditdata/config/cfg_hmi.cppedithmi/draw/draw_all.cppedithmi/draw/draw_perception.cppedithmi/widget/pnc_mat_shared.cpp
- data/ssep/forward_ec.cpp06b01ceaca976539485bce73dd8b321d339768941782708622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 ExecPreparation 中为 LIANG_SHAN_GANG 区域添加新的场景类型处理
2026-06-29 12:50:22 +080006b01ceaca976539485bce73dd8b321d33976894feat: 在 ExecPreparation 中为 LIANG_SHAN_GANG 区域添加新的场景类型处理editdata/ssep/forward_ec.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。
2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.h
- data/wbca/wbca_data.hppalgorithm/wbca/wbca_manager.cpptasks/plan/path_optimization_task.cpp31d0b0cfe91a666249742d2a2b5772803c169e901782809890000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: warm-start bug
2026-06-30 16:58:10 +080031d0b0cfe91a666249742d2a2b5772803c169e90fix: warm-start bugedittasks/plan/path_optimization_task.cppeditdata/wbca/wbca_data.hppeditalgorithm/wbca/wbca_manager.cpp
- algorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cpp5179362f8c2c571223ae21362104e56d159f75041782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理
- piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退
- pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激
- 补充 pjpo 曲率约束相关测试
- 清理 PJPO 调试 trace 日志
2026-07-01 10:02:31 +08005179362f8c2c571223ae21362104e56d159f7504feat: PJPO 增加软曲率约束并优化起点处理editTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
- algorithm/wbca/wbca_manager.cpp10f7f31561bf716f4955bb7cd57731f3273c79be1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复优化函数中的逻辑错误并注释掉历史记录的日志输出
2026-07-01 10:02:31 +080010f7f31561bf716f4955bb7cd57731f3273c79befix: 修复优化函数中的逻辑错误并注释掉历史记录的日志输出editalgorithm/wbca/wbca_manager.cpp
- replayer/replayer_data_process/replayer_data_process.cpp4d78466fe82dea4a84536573dddd1e919845738c1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理
2026-07-01 10:02:31 +08004d78466fe82dea4a84536573dddd1e919845738cfeat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理editreplayer/replayer_data_process/replayer_data_process.cpp
- data/config/vehicle_kinematics.hppmath/dubins_curve/dubins_curve.hpp5096b32eda38e36dd36c5fe221da30c5f292fbbb1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆最大曲率计算函数，优化运动学处理
2026-07-01 10:02:31 +08005096b32eda38e36dd36c5fe221da30c5f292fbbbfeat: 添加车辆最大曲率计算函数，优化运动学处理adddata/config/vehicle_kinematics.hppeditmath/dubins_curve/dubins_curve.hpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp9479ca66d8170cfe4fa3690159078b8b15007c3c1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算
2026-07-01 10:02:31 +08009479ca66d8170cfe4fa3690159078b8b15007c3cfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/plan/start_point_data.cppfa2abd108cca9a9750fbfd1e337f396488428f321782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理
2026-07-01 10:02:31 +0800fa2abd108cca9a9750fbfd1e337f396488428f32feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cpp
- tasks/deciders/long_decider/constrain_decider.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppdata/boundary/driving_corridor.hpp6b3686799b5b0bf0f52e1504690f0e9f83fedc4b1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行边界按窄区逐段限速
- driving_corridor 沿路径找出所有狭窄区段, 每段输出 (限速, 段入口距离),
带帧间非对称 EMA 滤波(降速即时跟手, 升速平滑防抖)
- constrain_decider 逐段生成 BOUNDARY_SPEED_LIMIT 约束, 替代原来只取单一最紧段
- max_boundary_distance_thr 默认值 0.5 -> 1.0
2026-07-01 10:02:31 +08006b3686799b5b0bf0f52e1504690f0e9f83fedc4bfeat: 绕行边界按窄区逐段限速editdata/boundary/driving_corridor.hppeditdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/boundary/driving_corridor.cpp
- data/dp_poly_path/dp_road_graph.cppf910b7a15ff0398609db9788a061bc656e371f4d1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 SamplePathWaypoints 中添加居中候选点处理，优化路径平滑性
2026-07-01 10:02:31 +0800f910b7a15ff0398609db9788a061bc656e371f4dfeat: 在 SamplePathWaypoints 中添加居中候选点处理，优化路径平滑性editdata/dp_poly_path/dp_road_graph.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp9624291215338496e187f6dbea51bf396793dadb1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合
- CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate
(跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判
- 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定
- 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值
2026-07-01 10:02:31 +08009624291215338496e187f6dbea51bf396793dadbfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_func_sw.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditdata/plan/switch_data.cppeditdata/config/cfg_func_sw.cpp
- data/obstacle/ogm.hppdata/plan/switch_data.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppd20241afcc9d6c272f34f1243940f25b71ac35121782888173000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化
CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化),
DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。
upper/underlying 两层都判断, 下层碰撞时短路跳过上层。
2026-07-01 14:42:53 +0800d20241afcc9d6c272f34f1243940f25b71ac3512feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/obstacle/ogm.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/plan/switch_data.cppeditdata/plan/switch_data.hpp
- data/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp858a29dc3f9fbae8884fdb3a960bde21ab32dae41782888195000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值
新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项,
锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0;
修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。
2026-07-01 14:43:15 +0800858a29dc3f9fbae8884fdb3a960bde21ab32dae4feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值editdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cpp
- data/plan/cloud_trajectory.hppf6d0e176d8025a627708fd454a1718c4e88279a31782904271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示
2026-07-01 19:11:11 +0800f6d0e176d8025a627708fd454a1718c4e88279a3feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hpp
- tasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp80c250f8be27a904517a193a311e26ac498da3fc1782904566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑
2026-07-01 19:16:06 +080080c250f8be27a904517a193a311e26ac498da3fcfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑edittasks/plan/pjpo_task.hppeditdata/plan/smooth_data.cppedittasks/plan/pjpo_task.cpp
- offboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题
2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题edittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditdata/config/cfg_lat_plan.cppeditssep/keb_optimizer/keb_utils.cceditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.cpp
- data/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示
2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hpp
- algorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理
- piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退
- pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激
- 补充 pjpo 曲率约束相关测试
- 清理 PJPO 调试 trace 日志
2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editTesting/pjpo_case_test.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cpp
- replayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理
2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理editreplayer/replayer_data_process/replayer_data_process.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算
2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理
2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合
- CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate
(跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判
- 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定
- 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值
2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/config/cfg_func_sw.hppeditdata/plan/switch_data.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cpp
- data/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化
CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化),
DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。
upper/underlying 两层都判断, 下层碰撞时短路跳过上层。
2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化edithmi/draw/draw_area.cppeditdata/plan/switch_data.cppeditdata/obstacle/ogm.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppeditdata/obstacle/ogm.hpp
- data/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值
新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项,
锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0;
修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。
2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值editdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cpp
- tasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑
2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑editdata/plan/smooth_data.cppedittasks/plan/pjpo_task.hppedittasks/plan/pjpo_task.cpp
- data/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppsink/ros_sink_pnc_status.cppce31279bb682e41671ddb24b9492931ff61a33f81782971969000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离
2026-07-02 13:59:29 +0800ce31279bb682e41671ddb24b9492931ff61a33f8feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离editdata/other/flow_control.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.hpp
- data/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hppae24d17730da1b191f820edea7d5220a2962418c1782982146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域
- 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框
- open_space_ec 起点框内联逻辑改为调用该函数
- into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底
2026-07-02 16:49:06 +0800ae24d17730da1b191f820edea7d5220a2962418c重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域editdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppeditdata/ssep/online_region_contour_creator.cpp
- algorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径
2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cpp
- scenarios/stage.cpp784a12f724aaa5b3dd616e8bdb2a0cb8cedf31c71782990116000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group
2026-07-02 19:01:56 +0800784a12f724aaa5b3dd616e8bdb2a0cb8cedf31c7修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 groupeditscenarios/stage.cpp
- data/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppsink/ros_sink_pnc_status.cppdata/ssep/into_yard_junction_ec.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离
2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离editdata/config/cfg_env_const.cppeditsink/ros_sink_pnc_status.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_env_const.hpp
- data/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域
- 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框
- open_space_ec 起点框内联逻辑改为调用该函数
- into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底
2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域editdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.cppeditdata/ssep/online_region_contour_creator.hpp
- scenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group
2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 groupeditscenarios/stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppa273ae3308da88e7fc03620dc4a70709a612ef681782993134000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果
2026-07-02 19:52:14 +0800a273ae3308da88e7fc03620dc4a70709a612ef68feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cpp
- tasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果
2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cpp
- data/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cppc5b39c782d006de4f947e84ec668040e494ccceb1783004580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判
- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
2026-07-02 23:03:00 +0800c5b39c782d006de4f947e84ec668040e494ccceb场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cpp
- data/scenario/scenario_planner_action.cpp6338f049dce7309fbaf604edd2263cc1c8ae48131783005178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner
2026-07-02 23:12:58 +08006338f049dce7309fbaf604edd2263cc1c8ae4813BTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cpp
- data/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判
- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cpp
- data/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner
2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cpp
- ssep/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.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题
2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- algorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug
2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash bugeditalgorithm/wbca/path_optimization/imv_path_optimization.cpp
- tasks/plan/path_optimization_task.cppd64790461ff1e9a618695925dd44c64316001ae41783304843000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable wbca during esdf_map = nullptr
2026-07-06 10:27:23 +0800d64790461ff1e9a618695925dd44c64316001ae4fix: disable wbca during esdf_map = nullptredittasks/plan/path_optimization_task.cpp
- data/config/cfg_func_sw.cpptasks/plan/keb_utils.cppdata/config/cfg_func_sw.hppa25baa9e9cb5613bb51bb21e539e6603ae38404b1783306834000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comKEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避
碰撞检测不需要路边点, 故 prepare 阶段未写入 OGM 栅格。KEB 在栅格副本上
补画下层路边采样点再抽取轮廓线, 不污染碰撞用栅格。新增开关
use_func_keb_add_roadside_segments_(默认 false), 仅下层补充。
2026-07-06 11:00:34 +0800a25baa9e9cb5613bb51bb21e539e6603ae38404bKEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppedittasks/plan/keb_utils.cpp
- data/config/cfg_func_sw.cpptasks/plan/keb_utils.cppdata/config/cfg_func_sw.hppe4a421088e6b6f7aee72e04c2e231295c8da14801783312953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comKEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避
碰撞检测不需要路边点, 故 prepare 阶段未写入 OGM 栅格。KEB 在栅格副本上
补画下层路边采样点再抽取轮廓线, 不污染碰撞用栅格。新增开关
use_func_keb_add_roadside_segments_(默认 false), 仅下层补充。
2026-07-06 12:42:33 +0800e4a421088e6b6f7aee72e04c2e231295c8da1480KEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避edittasks/plan/keb_utils.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- tasks/deciders/lat_decider/path_bounds_decider.cppe2051b889c484d409656f2b7cb140f165cd0290a1783316588000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.compath_bounds: 出库 planner 也纳入 kinetics 边界特殊处理
2026-07-06 13:43:08 +0800e2051b889c484d409656f2b7cb140f165cd0290apath_bounds: 出库 planner 也纳入 kinetics 边界特殊处理edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/map/pnc_map/routing_extension/routing_data.cppdata/map/envelop/map_envelop.cppdata/ssep/into_yard_junction_ec.cppdata/map/reference/reference_road_section.cpp6fcf82b0d13d1090da452028fdc98749dc16409d1783321715000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复 GetRoadType 调用点未校验 lane 空指针导致的崩溃隐患
GetRoadType 内部 CHECK_NOTNULL, 传 null 直接 FATAL。
- routing_data GetOpenSpaceShapeMode: lane/pre_lane/suc_lane 判空后返回 PARALLEL
- into_yard_junction_ec: 修正 lane_ptr 判空顺序倒置
- reference_road_section/map_envelop: .lane 为 null 时降级为 ROAD_TYPE_UNKNOWN
2026-07-06 15:08:35 +08006fcf82b0d13d1090da452028fdc98749dc16409d修复 GetRoadType 调用点未校验 lane 空指针导致的崩溃隐患editdata/map/reference/reference_road_section.cppeditdata/map/envelop/map_envelop.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/ssep/into_yard_junction_ec.cpp
- hmi/draw/draw_map.hpphmi/draw/draw_map.cppc96eaa847718662964d9474b5d2a825312fe13741783336140000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃
lane/road/junction 等指针是 offset_ptr(内存映射), 换图重建 HDMap 后旧指针
悬空。DrawMap 跨帧缓存这些指针, 但刷新只看车位移、漏了换图判断, 换图后车未
大幅移动时解引用悬空指针崩溃。DrawBaseMap 增加 map_path 变化检测, 换图时强制
清空重取。
2026-07-06 19:09:00 +0800c96eaa847718662964d9474b5d2a825312fe1374修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃edithmi/draw/draw_map.cppedithmi/draw/draw_map.hpp
- data/plan_frame.cppdata/decide/decide_reaction.hpp4119dd8a91225742a102087052275e92f31e27411783342535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复变道临停标志位在非变道场景残留导致的幽灵停车线
req_stop_to_wait_change_lane_ 是跨帧锁存位, 原仅在 LaneChangeDecider 内复位,
而 OPEN_SPACE/BULKLOAD/倒车等场景不调度该 decider, 标志位残留会被 constrain_decider
读到并一直在车前挂临停停车线. 改为在 decision_reaction_ 每帧 FromHis 流转处按
planner 边界兜底清除.
2026-07-06 20:55:35 +08004119dd8a91225742a102087052275e92f31e2741修复变道临停标志位在非变道场景残留导致的幽灵停车线editdata/plan_frame.cppeditdata/decide/decide_reaction.hpp
- hmi/draw/draw_map.cppad363a6776d190a15f4c8d6f1876c1534647a9b11783344757000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图
last_map_path_ 声明后从未被赋值, 恒为空串, 使换图检测 map_changed 恒为
true, 每帧强制重取 lanes/roads/junctions 等, 架空 IsNeedGetMap 的位移缓存。
在重取分支开头记录当前 map_path(放在后续 Get* 之前, 保证即便中途异常也已
记下, 不会下一帧误判换图)。
2026-07-06 21:32:37 +0800ad363a6776d190a15f4c8d6f1876c1534647a9b1修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图edithmi/draw/draw_map.cpp
- data/obstacle/ogm.hppdata/obstacle/ogm.cpp2019c0c26a27438accffa0ef8c1227a46aa843561783403360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comOGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定
- distanceTransform 带 DIST_LABEL_PIXEL 输出 label_map, 按占用灰度建
label→OccSource(道路边界/沟/上下层点云/实体/预测框) 查表, 供走廊与
DP 按来源分级处理
- mask 3→5: 3×3 掩模斜向 2~5% 低估对小障碍边界定位影响放大
- GetNearestObstacleDistance/GetNearestSource 先截断 x/res 再加 center,
与写入端同约定, 消除负半平面 1 格系统性偏移
2026-07-07 13:49:20 +08002019c0c26a27438accffa0ef8c1227a46aa84356OGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定editdata/obstacle/ogm.cppeditdata/obstacle/ogm.hpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor.hpp194f7ed1a5314077a82ef32190909f6d323595161783403410000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件
- BuildOgm 按危险度排序写占用灰度(道路边界200/沟248/下层253/上层255/
obj251/预测250), 道路边界墙沿 shift 边界左右分开画折线, 防 uturn 宽
边界闭合多边形自相交
- gap 扫描顺存与 SDF 同索引的最近占用来源行(set_sdf_source/
GetSdfSourceByIdx), 供 DP/限速按来源分级
- 幻影挖窗: free 段内 SDF 局部极小 < interval/2 判为断面间小障碍, 按等
值弦宽挖占用窗, 治小障碍随车前进可见/消失闪烁; 大障碍边界仍由细等值
线定位不损通道宽
- gap 帧间 EMA 改端点双条件匹配, 防新障碍切出的子 gap 错配上帧大 gap
被拉走边界
- 限速: 最近占用为道路边界/沟点的角点不触发降速, 只对障碍类降速
2026-07-07 13:50:10 +0800194f7ed1a5314077a82ef32190909f6d32359516走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hpp
- data/config/cfg_lat_decide.cppdata/dp_poly_path/comparable_cost.hppdata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppdata/dp_poly_path/comparable_cost.cppcb118a9628e712bb6e5cd1ebed337ffbca061b5b1783403467000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comDP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录
治绕行后不回目标车道的三层叠加缺陷 + 低速晚急拐形态:
- SDF 软罚预留量按占用来源分档(cfg dp_poly_sdf_margin_*, 道路边界 0.3
其余 1.0): 原统一 1m 使普通车道纯居中也背 safety, 路径无故偏心 ~0.8m
- SDF 碰撞硬判只统计非道路来源: 车身斜穿时角点横甩 1~2m 必扫进道路边
界硬判带,致回中心必碰整列 HAS_COLLISION; 道路越界由 gap 硬判+
deficit+软罚兜底
- path_l/path_end 偏离量改米制: 原 /(left+right) 归一化使回正拉力随走
廊宽度稀释, 高速压不过 v⁴ 级 ddl 机动代价; 权重换算 800→50/1e4
- 末层判定 curr_level+1==total_level: 原 ==total_level 永不成立, 终点
回正罚从未生效
- dl/ddl 等效车速下限 cfg 化(dp_poly_lat_v_floor): 低速急拐不再近乎免
费, 恢复早而缓的绕行形态偏好
- ComparableCost 新增 first_coll_s 随碰撞位传播(取链上最小), 供 trace/
HMI 把红×画在真实碰撞位置
- CfgLatDecide 序列化 bump v4(新字段分版本 gate, 旧 dump 可回放)
2026-07-07 13:51:07 +0800cb118a9628e712bb6e5cd1ebed337ffbca061b5bDP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录editdata/config/cfg_lat_decide.hppeditdata/dp_poly_path/comparable_cost.cppeditdata/dp_poly_path/comparable_cost.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/config/cfg_lat_decide.cpp
- data/dp_poly_path/dp_road_graph.cppdata/dp_poly_path/dp_road_graph.hppfeef2cf71d58677b8d9e71c41a573e349b6dd80f1783403527000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comDP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持
- dl 档 {±0.2,0}→{±0.2,±0.1,0}: 补中间档使匀速缓爬可表达, 治低速"贴 0
到临近才集中爬完"的晚急形态
- 转移剪枝: 端点 dl 档与段平均斜率偏差 >0.15 的曲线不构不算(直行区只留
|dl|≤0.1 档), 把 5 档转移量压回 3 档量级; level1 起点真实 dl 不剪
- 边界邻近 dl 档过滤: 到 gap 车中心可行边界余量 < 档位×5m 的"冲向边界"
档不生成节点, 贴边死节点连同其全部入边转移一并省掉
- side_pass_range 改真实绕行区间[起坡点,回正点](沿路径回溯/延伸到偏移
回落 ≤0.3m); 旧 {触发s, +0.5} 起点晚报且终点无意义
- 回正保持 KeepSidePassUntilCentered: 上帧在绕行且车实际仍偏 >0.5m 时
延续 label 直到回落, 三个无触发出口(路径空/dp_search_ok=false/前方无
障碍侧 gap)统一接入; 失败帧只延续不新发起, 依据车辆实际位置而非失败
路径形状, 治障碍甩到车后或单帧搜索失败时状态机提前退出绕行态
2026-07-07 13:52:07 +0800feef2cf71d58677b8d9e71c41a573e349b6dd80fDP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持editdata/dp_poly_path/dp_road_graph.hppeditdata/dp_poly_path/dp_road_graph.cpp
- data/dp_poly_path/decision_trace.cpphmi/widget/dp_decision_detail.hpphmi/widget/dp_decision_detail.cppdata/dp_poly_path/decision_trace.hppb66975cb75f6934e16c59124411a873aa7cbd2fe1783403558000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comside-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置
- HMI "DP决策过程" gap 边界按 Gap::Source 分 5 类散点(道路/静障/OGM/
动态/未知), 空类型不占图例
- trace 节点带 coll_s(链上首碰实际 s), 红×画在首碰位置而非节点 s(节点
记账有层间距+半车长视觉偏差, 易误读为障碍定位错), 红×聚成障碍轮廓;
tooltip 增加首碰 s 与节点 s 对照
- dl 档摊开系数 0.75→2.5 适配 5 档(相邻档 s 偏 0.25m 可分辨/可分别 hover)
- DumpTraceJson 对 inf/nan clamp(不可达节点原写出裸 inf 致 JSON 非法)
2026-07-07 13:52:38 +0800b66975cb75f6934e16c59124411a873aa7cbd2feside-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置edithmi/widget/dp_decision_detail.cppeditdata/dp_poly_path/decision_trace.cppedithmi/widget/dp_decision_detail.hppeditdata/dp_poly_path/decision_trace.hpp
- tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp0fe2532aafdf938b5180b486f12e94de923a10ee1783403590000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comwbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽
- 查 driving_corridor path_bound() 原取"右邻"断面(单向 0~0.5m s 偏),
叠加 path_bound 标签在段中点(+0.25)后小障碍凹口与障碍 s 明显错位;
改取左右邻中更近者, 偏差降为 ±0.25(0.5m 断面结构下限)
- 右边界原误加 UnderlyingHeadBase2left(复制粘贴), 左右半宽不同车型
右侧凹口深度偏差, 改 Base2right
2026-07-07 13:53:10 +08000fe2532aafdf938b5180b486f12e94de923a10eewbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽edittasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
- data/boundary/driving_corridor.cppec46acf9b3f93515568d6f4e9e0a5686c0f20ce31783406310000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comgap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路
BuildGaps 端点来源原是几何猜测(距 shift 边界 0.3m 内标 ROAD, 否则一律
STATIC_OBS), 贴路沿的 obj 会被误标成道路; 道路边界被滤波/挖窗内侵超
0.3m 时也会被误标静障、凑出假绕行 side。
改为优先查 source_at_l(往占用侧外探半步防窄 gap 查到对侧), 按 OccSource
映射: ROAD/DITCH→道路, UNDERLYING/UPPER→OGM, OBJ→静障, PRED_OBJ→动态;
SDF 无信息才回退几何判定。side 触发判定同步从 ==STATIC_OBS 放宽为
!=ROAD, 保持 OGM/动态切出边界仍可触发绕行的原行为。
2026-07-07 14:38:30 +0800ec46acf9b3f93515568d6f4e9e0a5686c0f20ce3gap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路editdata/boundary/driving_corridor.cpp
- data/obstacle/ogm.hppdata/boundary/driving_corridor.cppdata/obstacle/ogm.cpp116049d3a4a9a36d52f65de598509154ca22795b1783413671000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志
修"贴道路边界就降速": 真实路沿的下层/上层点云叠在/紧邻几何边界墙,
按 253/255 写入后最近占用查出"障碍", ROAD/DITCH 豁免形同虚设。BuildOgm
画完墙后对墙单独求距离场, 距墙 0.75m 带内的下层/上层点改标 200(路沿
观测归道路边界); band 覆盖地图偏差(实测 0.46m 例)+截断离散 1 格。
obj/预测框后画覆盖不受影响。
修兜底误限: 轮廓顶点全被豁免时 clearance==DBL_MAX 被误判"轮廓不可用",
退静态半宽兜底把已豁免占用重新罚回。contour_clearance 回传 any_valid,
轮廓有效但全豁免=余量充足, 不再退兜底。
可观测: 每段限速输出 [boundary_limit] 日志(最窄余量/来源/触发角点/
占用像素 Frenet 位置); OgmDistance 新增 label_pos_ 表与 GetNearestOccPos
反查最近占用位置。限速上限逐点取该 s 处地图限速(原用 ego 处一刀切)。
2026-07-07 16:41:11 +0800116049d3a4a9a36d52f65de598509154ca22795b边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志editdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.cppeditdata/obstacle/ogm.cpp
- data/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.cppd2cf01ba41650367ce28ef310b4f14b9665013b51783413693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量
min_boundary_distance_thr 0→0.25: 余量低于 0.25m 即压到最低限速,
线性段从 0.25 起算, 贴障碍时限速更果断。
CreateBoundaryConstrain 约束位置去掉固定 -10m 提前量, 按窄区真实
入口下发(原提前量叠加窄区入口, 减速点过早)。
2026-07-07 16:41:33 +0800d2cf01ba41650367ce28ef310b4f14b9665013b5边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量editdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cpp
- data/obstacle/ogm.hppdata/boundary/driving_corridor.cppdata/obstacle/ogm.cppa0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd21783417370000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com移除边界限速调试日志与占用反查诊断
问题已定位修复([boundary_limit] 日志完成使命), 摘除诊断链路:
flush_segment 的日志与 occ 反查、NarrowInfo 收集、OgmDistance 的
label_pos_ 表与 GetNearestOccPos。保留功能性修复不动: 贴墙点云改标
ROAD、兜底 any_valid(轮廓全豁免不退兜底)。需要时从 116049d3a 找回。
2026-07-07 17:42:50 +0800a0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd2移除边界限速调试日志与占用反查诊断editdata/obstacle/ogm.hppeditdata/obstacle/ogm.cppeditdata/boundary/driving_corridor.cpp
- tasks/deciders/long_decider/constrain_decider.cpp8f8bf8b409923b1283029be33419cab8d2f98a641783417390000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com边界限速约束点再去车头偏置, 按窄区入口原值下发
CreateBoundaryConstrain 的 distance 去掉 -HeadBase2front: 窄区入口
距离本就是沿路径到该断面的量, 再减车头偏置会把减速点提前一个车头。
2026-07-07 17:43:10 +08008f8bf8b409923b1283029be33419cab8d2f98a64边界限速约束点再去车头偏置, 按窄区入口原值下发edittasks/deciders/long_decider/constrain_decider.cpp
- data/dp_poly_path/dp_road_graph.cppdata/plan/side_pass_data.cpp788df06af2b12c622211308281cda512ac56ca5a1783426041000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态
两半同一 bug: ① IsNeedUseHis 手误写成 status_==RIGHT_SIDE_PASS → 右绕行
期间每帧触发 UseHis; ② UseHis 不清空直接 append, his 又是上帧拼接结果
→ frenet_frame_path 每帧净增约一条路径长, 线性膨胀且 s 失序(下游
GenerateBoundary/EvaluateByS 按 s 有序二分, 边界被带乱)。
修: UseHis 先 clear 再整体替换(s 平移到本帧参考系); 触发条件改回
status_==USE_HIS(状态机判定本帧 DP 结果不可信时才沿用上帧)。附带行为
修正: 右绕行恢复与左绕一致、每帧使用 DP 新结果, 不再执行首帧旧路径的
平移拼接版。
2026-07-07 20:07:21 +0800788df06af2b12c622211308281cda512ac56ca5a修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态editdata/dp_poly_path/dp_road_graph.cppeditdata/plan/side_pass_data.cpp
- algorithm/wbca/wbca_manager.cppdbd4b15f7d7bb90ad6666103ccf4eb966fec5a101783426056000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comwbca 热启动: route_info 空容器防护
WarmStartFromHistory 访问 route_info.front() 前补 empty 检查, 防空容器
未定义行为。
2026-07-07 20:07:36 +0800dbd4b15f7d7bb90ad6666103ccf4eb966fec5a10wbca 热启动: route_info 空容器防护editalgorithm/wbca/wbca_manager.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing1898http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1898/1896http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1896/