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"hudson.plugins.git.GitChangeSetList", "items" : [ { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/pnc_map/pnc_map_path.cpp", "data/obstacle/decision/obstacle_decision.hpp", "data/boundary/driving_corridor.cpp", "data/obstacle/decision/obstacle_decision.cpp", "data/boundary/road_boundary.cpp", "data/boundary/road_boundary.hpp", "data/map/pnc_map/pnc_map_path.hpp" ], "commitId" : "336c09dfd3035a62ada742b79f001dbda066f0c3", "timestamp" : 1784807246000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界\u000a\u000a坐标系纠错:\u000a障碍物 sl_boundary 由 GenerateRefSlBoundary(guide_line) 生成, 是 guide 系,\u000a原实现却拿它的 s 去查 reference_line().pnc_map_path() 的 ref 系逆向道表,\u000a两系不重合时取到错误断面; 且硬编码主参考线, standby 断面直接查错线。\u000a改为在 GenerateRoadBoundary 建表时用 point_info.s() 从该断面对应的那条\u000a参考线取, 存进 BoundaryPt, 与 lane_left_l 同源, 消费侧全在 guide 系查。\u000a顺带补 rev_s<0 早退(GetBoundaryFromS 对负 s 退化返回最远断面)。\u000a\u000a钳制线纠错:\u000a原钳到自车道左边线, 而\"不借道\"的硬线是逆向道近边界, 二者之间的本方向\u000a其余车道与道间缝隙被白白没收; 本方向多车道时还会拦住合法的同向换道绕行。\u000a改为 lane_left_l + reverse_lane_gap(自车道边线到逆向道近边界的距离),\u000a承诺判据线同步取同一条, 否则同向换道会被误判成\"已借逆向道\"而撤销钳制。\u000a地图两 road 重叠(gap<0)时该线比车道边线更靠右, 反而堵住侵入漏洞。\u000a\u000a只搬差值(宽度、缝隙)不搬 near/far 绝对量: 差值的参考系零点相消, 绝对量\u000a搬进 guide 系必须先减 point_info.l()。\u000a\u000aSSEP 断面排除:\u000a该段无对应参考线, lane_left_l 停在\"半车宽+0.15\"兜底值而本身是 left_l=10\u000a的开阔区; meeting_yield 是帧级开关而 guide line 多段拼接, 不排除会把开阔\u000a的 SSEP 段硬缩到贴车身。\u000a", "date" : "2026-07-23 19:47:26 +0800", "id" : "336c09dfd3035a62ada742b79f001dbda066f0c3", "msg" : "fix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/decision/obstacle_decision.cpp" }, { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.hpp" }, { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.cpp" }, { "editType" : "edit", "file" : 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