Build #1946 (Jul 23, 2026 4:40:36 PM)

1. fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 (details)
2. fix: Path/DiscretizedPath 空与单点场景既有隐患修复 (details)
3. fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换 (details)
4. fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为 (details)
5. feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源 (details)
6. feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp) (details)
7. feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细 (details)
8. fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 (details)
9. feat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全) (details)
10. fix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行 (details)
11. feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行) (details)
12. feat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true) (details)
13. feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等 (details)
14. chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧) (details)
15. fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃 (details)
16. feat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳) (details)
17. feat: 烟台车内/柱子/房子点云及下沉坑点适配 (details)

Started by upstream project orin-module-slave32 build number 4700
originally caused by:

• Started by user wuyanjun

• master

• refs/remotes/origin/master

• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]

• origin/rc_dev_qiangang_config

• origin/feat_sidepass_decider

• origin/rc_dev