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并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/bulkout_initial_quality.jsonssep/test/local_regression/imv_bulkout_manifest.tsv28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 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严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.cceditssep/offboard/ssep_input_provider.haddssep/test/local_regression/test_raw_replay_cli.pyeditssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/scene_replay/replay_ssep_input_cli.ccaddssep/test/local_regression/test_replay_input.pygithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110orinmastercheckallnoOTApublic,yantairegionalldeviceChoicefalsemsgBranchrc_dev_yantaigunzhuangrslidarSDKBranchnorslidarSdkNewBranchnocameraDriverBranchnologinSyncToolBranchnosystemRosBranchnonodeManagerBranchnothirdpartyBranchnounifiedSystemMonitorBranchnorosBridgeBranchnohdcontrolBranchnoversionsObserverBranchnocacheBagNodeBranchnosystemMonitorBranchnoperformanceAnalystBranchnoscheduleManagerBranchnoimvSpreaderDetectionBranchnocraneAlignBranchnomrpt2BranchnowarningModuleBranchnorminterpreterBranchnonodeManagerOnlineBranchnortspRelayerBranchnohesaiLidarBranchnonewTruckSpreaderDetectionBranchnorcinterpreterBranchnopncBranchfeat_sc_mpcguardianBranchnostaticTransformBranchnomsfLocBranchnomsfAssistantBranchnohdmapBranchnoperipheralControllerBranchnopredictionBranchnolaneDetectionBranchnodataCollectionBranchnotosVisualizeBranchnosinsCalibrationHmiBranchnotoolsBranchnosegmentationBranchnocontrolBranchnohdmapCloudBranchnonodeManagerHmiBranchnogroundmarkerDetectionBranchnocalibrationToolsBranchnosimulatorBranchnosnapshotUploadBranchnohdmapInterfaceBranchrc_devspreaderSegmentationBranchnotrafficLightDetectionBranchnoperceptionPublisherBranchnoavmBranchnov2BranchnonewDetectionBranchnoseniorCalibrationBranchnodoxBranchnooleLidarBranchnolidarCameraFusionBranchnonotes优化抓车过程卡顿：降等待搜索停车改为减速usersoperatenoStarted 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