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#19461946false19461221413SUCCESS1784796036775http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1946/- data/map/pnc_map/pnc_map_path.cppdata/common/path.cppf7ecf7b1dee5d6720bc871d7301910b4d6fd3b391784442326000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级
- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志
- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,
下游经IsAvailable安全降级, 不再CHECK崩进程
2026-07-19 14:25:26 +0800f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级editdata/common/path.cppeditdata/map/pnc_map/pnc_map_path.cpp
- data/common/path.hppdata/common/path.cppdata/common/path_point.cppf8233babbba259246c3ed95227f6b9e2a070d6001784449421000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Path/DiscretizedPath 空与单点场景既有隐患修复
- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留
- path.hpp 给 num_sample_points_/length_ 加类内默认值, 防默认构造读未初始化垃圾
- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]
- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,
Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点
2026-07-19 16:23:41 +0800f8233babbba259246c3ed95227f6b9e2a070d600fix: Path/DiscretizedPath 空与单点场景既有隐患修复editdata/common/path.cppeditdata/common/path_point.cppeditdata/common/path.hpp
- plan/prepare/prepare_status.cpp6087fa2830942d05011e37f9971570f912f11c231784461943000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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
2026-07-19 19:52:23 +08006087fa2830942d05011e37f9971570f912f11c23fix: 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editplan/prepare/prepare_status.cpp
- data/common/trajectory_point.cpp6762d53f760e626f1471f94fdd2ee82ef093e5051784514428000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为
lower_bound 落在 end() 时原代码用 *end() 参与外插, 读垃圾内存, 结果不可信
且可崩溃; 与 MatchPtByt 的同款历史修复对齐, 夹到末点返回, 并补 size<2 的
begin 分支越界保护。动态边界收窄的 arrive_t 反查每帧命中该分支, 既有
cloud_trajectory/trajectory_combiner 调用点同受益。
2026-07-20 10:27:08 +08006762d53f760e626f1471f94fdd2ee82ef093e505fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为editdata/common/trajectory_point.cpp
- tasks/plan/keb_utils.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cpptasks/deciders/other_decider/obstacle_decider.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hppdata/obstacle/obstacle_decider_attr.hppdata/dp_poly_path/trajectory_cost.cppb9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd51784514450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源
新增 data/obstacle/decision/: ObstacleDecider 循环体收敛为 obstacle_decision::
Update(决策态继承→运动状态估计→Base/Label 决策→label 消抖)。
- 运动状态估计治动静误判误绕行: 感知 is_static 是 1km/h 单帧阈值, 测速置零
即翻转, 走静态标签分支引发误绕行。改用 his_states 15帧均值速度 + 3s 窗
净位移证据(≥0.8m, 滤 bbox 遮挡抖动) + 非对称迟滞(判动3帧/判静10帧);
UNDETERMINED 回落感知 is_static, 真静障首帧即走静态通道。
- direction 修复: 投影失败返 0 误判 REVERSE(同向车被当对向画反向延伸/污染
长决策)。改 +0.3/-0.15 非对称死区, 死区内保持上帧值。
- label 消抖: 收紧立即生效, 放松需连续 5 帧确认。
- 决策态继承走 Update 内 InheritDecisionState 而非 Obstacles::FromHis:
后者全 stage 无条件跑, 会在不调度 OBSTACLE_DECIDER 的 stage 残留旧值。
- 准入谓词统一: IsDpDynamicCandidate/IsCorridorGridObstacle 单一事实源,
DP 动态盒与 KEB 走廊消费端只调用不自判。
- ObstacleHisStates 加 velocity_filter_available(): MeanFilter 空缓存取均值
LOG_ASSERT 直接崩, 且该滤波器不参与序列化(回放载入恒空), 消费前必查。
- debug_str 增加运动状态标记(U_/S_/M_)。attr 序列化升 v3。
2026-07-20 10:27:30 +0800b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源editdata/obstacle/obstacle.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/obstacle_decider_attr.cppedittasks/plan/keb_utils.cppadddata/obstacle/decision/obstacle_decision.cppadddata/obstacle/decision/obstacle_decision.hppedittasks/deciders/other_decider/obstacle_decider.cppeditdata/dp_poly_path/trajectory_cost.cpp
- data/config/cfg_lat_plan.hpptasks/deciders/lat_decider/trailer_side_pass_decider.cppreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_plan.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/boundary/driving_corridor.hpp4c6347125137a837135fd420306b5564fb539b501784514474000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)
DP 有时间参数化的动态碰撞 cost 但 path_bound 只由静态化 OGM 切出, 动态避让
仅经 ref_l 软引导进 WBCA, 平滑权重把绕行量拉回。GenerateBoundary 在静态内缩
后追加动态收窄:
- 同向车时间对齐投影: 自车到达时刻按上帧轨迹反查(与 DP 同口径), 回放/首帧
退化匀速映射(下限步速 1.5m/s, 防起步覆盖塌缩); 预测横向漂移限幅采信在
当前实测 l ± min(0.5·t, 1m), 防邻道预测线漂移把直道路径挤偏。
- 对向车会车旁路(dyn_clamp_meeting_bypass): 常被弯道/航向门打成 IGNORE 但
会车交互仍在, REVERSE+FRONT/SIDE+确认运动独立于 label 进收窄(不进 DP 盒
不改绕行决策); 弃时间对齐用 6s 扫掠包络(低速会车两车到达时刻天然错开),
豁免横向限幅(弯道对向车 Frenet 横移是真实几何), 收窄深度封顶半富余。
- 安全阀: 只收窄不翻转绕行侧, 下限=DP路径±半宽+slack, 车前 5m 起步豁免,
K=3/M=5 帧锁存消抖(锁存迁移不受单帧降级门控, 防会车中途边界抖动)。
- 障碍 SL 半宽取 fabs: GetSLBoundary start/end 顺序未归一化, 裸减得负宽会
把占用区间整段丢弃(根治待源头归一, 见审计记录)。
- 观测: 障碍 debug_str 追加 _D<C|B><H><A>:<n> 漏斗标记(幂等, 防回放重算
累积); trailer 走廊共用对象但不参与收窄不触碰锁存。
- 灰度默认关(rosparam use_dynamic_bound_clamp, 验证需显式开)。
2026-07-20 10:27:54 +08004c6347125137a837135fd420306b5564fb539b50feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppeditdata/config/cfg_lat_plan.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_lat_plan.hppedittasks/deciders/lat_decider/side_pass_decider.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cpp
- data/dp_poly_path/decision_trace.cppdata/dp_poly_path/decision_trace.hpp613bb76c1c04a61369d8cf718abbdd3ac5273f351784514485000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细
dyn_dbg 漏斗行(enabled→cand/bypass→arrive→hit→active→clamped, 哪层归零卡
哪层) + dyn_notes 逐障碍投影统计(预测 s/l 范围/swept/inter/被拒原因) +
断面级 dyn_* 收窄快照; dump 移到 GenerateBoundary 之后以带出收窄结果。
排查'为什么没收窄'先看这两处。
2026-07-20 10:28:05 +0800613bb76c1c04a61369d8cf718abbdd3ac5273f35feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细editdata/dp_poly_path/decision_trace.cppeditdata/dp_poly_path/decision_trace.hpp
- data/app/fsm/task_fsm/task_fsm.cpp5e94cf0938c76aee4944c9521d1073f2e917a1401784531577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入
2026-07-20 15:12:57 +08005e94cf0938c76aee4944c9521d1073f2e917a140fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入editdata/app/fsm/task_fsm/task_fsm.cpp
- data/boundary/driving_corridor.cpphmi/draw/draw_perception.cppdata/dp_poly_path/decision_trace.hppdata/obstacle/perception_obstacle.hpptasks/deciders/long_decider/constrain_decider.hppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/dp_poly_path/trajectory_cost.cppdata/obstacle/perception_obstacle.cppdata/boundary/driving_corridor.hppdata/config/cfg_safe_const.hppdata/common/sl_boundary.hppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_safe_const.cppdata/config/cfg_lat_plan.cppdata/map/reference/reference_segment.cppdata/dp_poly_path/decision_trace.cppdata/obstacle/obstacle_decider_attr.cppdata/constrain/longitude_constrain.hppdata/obstacle/obstacle_decider_attr.hpp5d4c8178edc1a0a13f8a08bd4e556f43e4ac96cf1784590790000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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)
- DP 动态碰撞时域修复: num=5.0/0.5 却按 0.1 步进致实际只看 1s, 收成
编译期单源 kDynEvalDtS/kDynHorizonS(5s), 让 DP 及早为对向车主动让行
- 动态障碍边界时间对齐收窄 + 会车 MEETING label 化 + 投影策略集中
(对向扫掠包络/收窄深度封顶 dyn_clamp_meeting_depth_cap 可调) + trace 观测
- 狭窄会车识别: 收窄后可用宽度不足→降速+缩跟车距离(narrow_meeting)
- 误绕行治理:
* 跟踪成熟度门(reserved_int_1 未初始化 + age), 修 age>0 放过新 track 的洞
* 动态障碍足迹掩膜: 动车漏聚类只剩 OGM 点云时不切 gap(仅横向, 纵向照常)
* 类型策略 SidePassPolicy: 车辆类居中跟车等/VRU 居中停让/靠边绕/场桥不碰,
VRU 靠边无条件绕(解耦动静), 车辆类居中抛锚超时逃生口
* 动作承诺: 一旦绕行锁到动作完成(甩到车后/VRU挡前硬退出/超时), 承诺期
旁路各软门, 防超车并排时半途回摆; 进入侧连续 N 帧确认防单帧误判固化
- 走廊限速失真治理(零新栅格): 静态非绕行障碍横向余量按 frenet 补进限速;
同向并行/超车贴身降速(空间足够不降速), 复用 PARALLEL_OBSTACLE_SPEED_LIMIT
- SL 约定全仓统一(start_l=左缘/end_l=右缘)+语义访问器
- 所有功能使能开关集中到 CfgFuncSw, 数值调参留各域 config;
序列化迁移用占位模式保旧 dump 对齐(CfgFuncSw/CfgLatPlan/CfgSafeConst/
ObstacleDeciderAttr/PerceptionObstacle 各升版本)
2026-07-21 07:39:50 +08005d4c8178edc1a0a13f8a08bd4e556f43e4ac96cffeat: 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)editdata/config/cfg_safe_const.hppeditdata/constrain/longitude_constrain.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/obstacle/perception_obstacle.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/obstacle_decider_attr.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/boundary/driving_corridor.hppeditdata/common/sl_boundary.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/perception_obstacle.hppedittasks/deciders/long_decider/constrain_decider.hppeditdata/config/cfg_safe_const.cppeditdata/map/reference/reference_segment.cppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/decision_trace.cppedithmi/draw/draw_perception.cppeditdata/obstacle/obstacle_decider_attr.hppeditdata/dp_poly_path/decision_trace.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_func_sw.cppeditdata/constrain/longitude_constrain.cppeditdata/config/cfg_func_sw.hpp
- data/dp_poly_path/dp_road_graph.cpp57432d24b14d214084e3c0719893a693d3db77961784642244000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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
dl剪枝带用弦斜率avg_dl=Δl/seg_len当机动激进度代理, 在短基线上被天然放大;
init锚车辆真实s防采样抖导致首段常畸短, 偏置起点回正弦斜率超带→l=0在DP图上
不可达(留默认inf非碰撞)→被迫朝障碍侧大拱误绕行。改: 短段按基线比例放宽带宽
(cap 5x), 回正方向(|cur_l|<|prev_l|)一律放行打破方向锁; 激进度仍由IsValidCurve兜底。
不动s锚定/采样。
2026-07-21 21:57:24 +080057432d24b14d214084e3c0719893a693d3db7796fix: 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editdata/dp_poly_path/dp_road_graph.cpp
- data/obstacle/decision/obstacle_decision.cpp7f9cc76953b6e990b2a03616093dd9a9369432f71784642401000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)
- 进入承诺除 label 意图外, 增加自车已实际横向偏移(|ego_match l|>0.5,
与 DP KeepSidePassUntilCentered 同源、对齐 kKeepLThr)作为必要条件,
防 l≈0 纯意图被单帧抖动瞬时锁成 30s 承诺
- 退出新增"空承诺撤销": 已承诺但未实际横向执行且已不满足准入即释放,
零回摆风险; 已绕到一半(lateral_engaged)的仍走硬承诺完成
- ego_match 不可用时证据无效, 进入保守拒绝、已建承诺不误撤
2026-07-21 22:00:01 +08007f9cc76953b6e990b2a03616093dd9a9369432f7feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)editdata/obstacle/decision/obstacle_decision.cpp
- data/config/cfg_func_sw.cpp245dc82d4e357b7d33cabc7b091bdb2b7c2aeead1784642447000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)
2026-07-21 22:00:47 +0800245dc82d4e357b7d33cabc7b091bdb2b7c2aeeadfeat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)editdata/config/cfg_func_sw.cpp
- data/obstacle/obstacle_decider_attr.cppe448e4ce08f401dd7e70250707072e155614d0921784690400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等
会车 MEETING 原只挂在弯道/航向差大两门上, 直道正面对开车掉头后与参考线
反平行(r_diff≈0)且在直线, 两门都不触发, 掉进余宽判定两侧不足即 BLOCK
停等。在 LabelDecider !treat_as_static 块【先于】两门加会车短路:
IsMeetingScenario(确认运动+逆向+车前/侧)一律走 MEETING——本体不 BLOCK/
不写实体栅格, 只按预测轨迹收窄边界让行; 空间真不够时收窄切不出 gap,
纵向 ST/guardian 照常停, 安全不丢。灰度仍 dyn_clamp_meeting_bypass。
2026-07-22 11:20:00 +0800e448e4ce08f401dd7e70250707072e155614d092feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等editdata/obstacle/obstacle_decider_attr.cpp
- data/config/cfg_lat_plan.cpp40537f7ac3d275051064cfa1361a4a989672e8a61784690400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)
2026-07-22 11:20:00 +080040537f7ac3d275051064cfa1361a4a989672e8a6chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)editdata/config/cfg_lat_plan.cpp
- data/constrain/longitude_constrain.hppdata/constrain/longitude_constrain.cppac4a015c1d0fa9fff7faee5f20a363bfd4d0706b1784691662000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃
NARROW_MEETING_SPEED_LIMIT 实装时只登记了 IsSpeedLimitType, 漏了
LongitudeSpeedLimitConstrain::Initialize 的类型断言白名单。窄会车识别一旦
触发 CreateNarrowMeetingConstrain 就 LOG_ASSERT 崩溃(Signal 6)。补三处:
断言白名单 / TraceBack switch 分组(同 PARALLEL 走减速曲线) / ToString case
(原走 default 显示 UNKNOWN)。走软限速, 未加 IsHardConstrainType。
2026-07-22 11:41:02 +0800ac4a015c1d0fa9fff7faee5f20a363bfd4d0706bfix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃editdata/constrain/longitude_constrain.cppeditdata/constrain/longitude_constrain.hpp
- data/map/pnc_map/pnc_map_path.cppdata/obstacle/decision/obstacle_decision.hppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cppdata/config/cfg_func_sw.hppdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_func_sw.cppdata/map/pnc_map/pnc_map_path.hpp58317cd215b7ab93b84dab9a684c06666a8dacec1784792061000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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)
窄路正面会车时, 本车道被 OGM 点堵住需绕行, 原会向左借进逆向道, 与对向
来车正面冲突。改为在决策层纯逻辑判场景, 执行侧钳走廊左界, 不动 DP 搜索。
参考线预计算逆向车道几何(PncMapPath::InitWidth):
- 新增 ReverseLaneGeo{valid,num,near_bound_l,far_bound_l,gap}, 逐采样点
存左/右逆向道近远边界与缝宽(可为负), 复用原有 GetToRoadBoundaryDistance
/GetProjection 结果不重复查图; 不序列化。
- 访问器 GetReverseLaneGeo(s, is_left, out)。
场景判定(obstacle_decision::IsMeetingBorrowYieldScenario, 帧级):
对向逆向车快速逼近(速度取 his_states 15 帧均值, 不用裸 speed_km_h——感知
单帧测速置零会误撤让行门, 是危险方向的失效) + 逆向道过窄 → 宁让不借。
执行(DrivingCorridor::Init) 三层门控:
1. 场景成立;
2. 已承诺左借(ego 中心越过车道左边线)则不钳——中途拉回比走完更危险,
让它尽快清空逆向道; 让行只拦尚未起步的借行;
3. 本车道确实被堵才钳——用 his 走廊 drivable_seg 判(原始 OGM 堵塞, 与本帧
钳制无关, 不震荡); 本车道畅通则完全不动边界。
命中后左界按 ego 左边缘锚点沿 12m 线性渐变钳到 lane_left_l, 避免硬钳导致
方向盘猛打; 车道被堵死→无 gap→复用纵向停, 不硬挤右侧。
停住的对向车写入栅格(IsCorridorGridObstacle):
对方停下后让行解除放行绕道, 若它不在图里就是"图上空、实际有车"。故确认
静止+逆向+heading 对齐者写图, 能否通过交真实几何判定。heading 对齐判定
(30°+3 帧防抖)从 meeting_fallback 分支提到动静分支之外, 否则静态车只能
读到上帧陈旧值。
其他:
- 逆向车绕行策略直接 ALLOW: pulled_over 相对自车参考线判, 会把侵入自车道
的逆向车误判为"居中"→跟一辆迎面来的车。
- 走廊左钳与堵塞判据统一用 TrailerAwareHalfWidths(挂车感知/左右非对称),
该函数上移至 Init 之前, 保持各处 footprint 口径一致。
- GetBoundaryFromS 内是 CHECK(!empty()), 新增调用在断面循环之前, 加空守卫。
- 灰度 use_meeting_borrow_yield_(cfg_func_sw v14), 观测日志 LOG_EVERY_N 降频。
2026-07-23 15:34:21 +080058317cd215b7ab93b84dab9a684c06666a8dacecfeat: 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)editdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/map/pnc_map/pnc_map_path.hppeditdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_func_sw.cpp
- data/obstacle/ogm.hpptasks/plan/keb_utils.cppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cpphmi/draw/draw_perception.cpp51819254225b35991f7648de9c4d98c51f1e32b21784793352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 烟台车内/柱子/房子点云及下沉坑点适配
新增 107/108/110/111 四种点云类型: 前三者(车辆内部/柱子/房子点云)标记
为无效点云, 碰撞与侧避均不考虑; 下沉坑点(111)按路边点云同等逻辑处理,
参与侧避绕行(限速不因它降速, 但 gap/碰撞仍当墙, KEB 补画为障碍规避)。
2026-07-23 15:55:52 +080051819254225b35991f7648de9c4d98c51f1e32b2feat: 烟台车内/柱子/房子点云及下沉坑点适配editdata/boundary/driving_corridor.cppedittasks/plan/keb_utils.cppeditdata/obstacle/ogm.cppeditdata/obstacle/ogm.hppedithmi/draw/draw_perception.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun1101945http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/1945/