[Jenkins]Jenkins
Started 8 hr 6 min ago
Took 17 min

Build #421 (Jul 12, 2026 7:18:52 PM)

Changes
  1. Update vehicleInfo.groovy (details)
Changes
  1. Update daxie-submodule.jenkinsfile (details)
  2. Update map-png.jenkinsfile (details)
Changes
  1. feat_out: 航向问题修正 (details)
  2. feat_out: 威海航向改良 (details)
  3. feat_out: 航向调整 (details)
  4. feat_out: 记录车道线消息 (details)
  5. feat_out: add some log info, and trans imu_pose to ship (details)
Changes
  1. feat: 障碍物类型字段修改tool (details)
  2. feat: IMV运动模式识别 (details)
  3. feat: tool对齐条件 (details)
  4. feat_out: IMV运动模式识别与轨迹预测 (details)
  5. chore(version): 3.18.0 (details)
  6. refactor: ExtractFeatureValues (details)
  7. feat: proto适配新类型 (details)
  8. feat: obstacle定义划分新类型 (details)
  9. feat: evaluator和predictor适配配置类型 (details)
  10. feat: 针对TWO_WHEELER调整lane sequence predictor (details)
  11. feat: 重新划分vehicle和other vehicle, for 前港 (details)
  12. feat: 增加VEHICLE_NON_MOTOR的nominal_obstacle_type (details)
  13. feat_out: 增加新障碍物类型 (details)
  14. chore(version): 3.19.0 (details)
  15. fix: 修复使能dl的条件 (details)
  16. feat_out: 修复DL的使能条件 (details)
  17. chore(version): 3.20.0 (details)
Changes
  1. feat_out:增加语音开关 (details)
  2. feat_out:威海遥控控制 (details)
  3. feat_out:完善log (details)
  4. feat_out:rc分支改为canfd (details)
  5. fix_bug:报文错位 (details)
Changes
  1. feat:适配dead lock force park (details)
  2. feat:进堆场弯道禁停继续发送云端轨迹 (details)
  3. feat:完善变道触发的条件 (details)
  4. fix:变道场景切换的bug (details)
  5. feat:整理云端轨迹的数据结构 (details)
  6. fix:云端轨迹挂转角赋值错误的bug (details)
  7. feat:暂时关闭路口延长的逻辑 (details)
  8. feat:暂时关闭路口延长的逻辑 (details)
  9. feat:功能基本ok (details)
  10. feat:完善云端轨迹v2 (details)
  11. fix:修复代码合并的bug (details)
  12. feat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值 (details)
  13. fix:云端轨迹 is stop没有赋值的bug (details)
  14. fix:修复默认参数 (details)
  15. feat:进堆场云端轨迹正常发送 (details)
  16. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  17. refeat:优化云端路径的赋值 (details)
  18. feat:添加忽略死锁标志位的反馈 (details)
  19. feat:merge (details)
  20. feat:修改云端轨迹heading和theta的赋值 (details)
  21. fix:修复编译崩溃的bug (details)
  22. fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑 (details)
  23. fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误 (details)
  24. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  25. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  26. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  27. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  28. feat:调整指令的类别 (details)
  29. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  30. chore: keb task 增加最大转向角余量 (details)
  31. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
  32. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
  33. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  34. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
  35. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  36. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  37. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  38. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  39. fix:修复变道的约束 (details)
  40. refactor:朝海侧，右转横二路，边界优化 (details)
  41. refactor:极限变道约束优化 (details)
  42. feat: 添加地图限速膨胀系数并更新速度限制计算 (details)
  43. fix:极限变道不replan的bug (details)
  44. fix: wbca smooth path is exception in align state (details)
  45. fix: straight lane near crane and lock_station (details)
  46. fix: sweep exception (details)
  47. fix: wbca path length = 40 in openspace (details)
  48. fix:进堆场触发直连模式的bug (details)
  49. fix:上码头面前， 误入 进堆场场景的bug (details)
  50. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  51. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  52. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  53. chore: snapshot to keb scene 增加批量转换功能 (details)
  54. feat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算 (details)
  55. fix: 修改路径点格式化中的分隔符，从 '&' 改为 '#' (details)
  56. feat: 增加对堆场直接进入的判断逻辑，并优化相关功能 (details)
  57. 引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度 (details)
  58. 重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能 (details)
  59. feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值 (details)
  60. feat: 调整运动学可行性检查的最大归一化位置和朝向误差 (details)
  61. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
  62. feat: 添加bulk in 堆场前临时停车功能 (details)
  63. fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 (details)
  64. chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程 (details)
  65. feat: clang18 编译优化 (details)
  66. fix:崩溃防护，guide line 有效，但speedlimits为空 (details)
  67. fix: Keb: 修复终点附近轨迹会有碰撞的问题 (details)
  68. fix: SSEP: fix crashing issue (details)
  69. chore: Keb-sim: 适配终点选取逻辑 (details)
  70. feat:动态上下码头面 直接进堆场场景的优化 (details)
  71. feat:添加云端轨迹 挂转角的赋值 (details)
  72. fix:堆场前停车，停车原因赋值错误的bug (details)
  73. fix:进堆场前停车，motion状态机错误的bug (details)
  74. fix:修复keb路径跳变的bug (details)
  75. feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上 (details)
  76. feat: 添加KEB可视化数据结构及相关功能 (details)
  77. feat: 更新CfgFuncSw类的序列化版本，添加新功能支持 (details)
  78. feat: 岸桥搜索添加黑名单功能 (details)
  79. chore: Keb: 优化IMV的避障效果 (details)
  80. fix: 匹配STOP_DECIDER前移 (details)
  81. feat: 添加异步处理功能以优化地图包围区域的创建 (details)
  82. fix:场景切换的bug (details)
  83. chore: SSEP: 优化集卡上下码头面路径 (details)
  84. chore: SSEP: 提升跨运车抓车搜索成功率 (details)
  85. feat:<洋浦>适配洋浦新增区域的搜索 (details)
  86. refactor:包围框合并的优化 (details)
  87. fix: add smooth_mode opt (details)
  88. feat:出堆场搜索异常的bug (details)
  89. feat:洋浦 进（普通堆场的形状）堆高机场的入口限速 (details)
  90. fix: smooth mode optimization (details)
  91. fix: 修复威海车型不匹配的问题 (details)
  92. fix: 修复威海车型不匹配的问题 (details)
  93. feat: 添加车辆侵入车道限速功能及相关配置 (details)
  94. feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性 (details)
  95. refeat:重构 障碍物侵入道路后的限速 (details)
  96. feat: 添加 .codewhale 和 .deepseek 到 .gitignore (details)
  97. feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停 (details)
  98. refctor:风险限速和聚类限速时，限制最大减速度 (details)
  99. feat: 绕行时，沟点不进行膨胀 (details)
  100. fix: cancel wbca smooth_mode for the first frame (details)
  101. fix: cancel wbca smooth_mode for the first frame (details)
  102. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
  103. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
  104. chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。 (details)
  105. feat: 添加功能开关以控制 吊具高度 是不是 切换状态机， 默认打开 (details)
  106. fix: Keb: 延长段路径不验证运动学可行性 (details)
  107. feat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。 (details)
  108. fix:修复路径拼接的bug (details)
  109. feat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑 (details)
  110. refactor:<PJPO>优化求解的成功率 (details)
  111. chore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题 (details)
  112. fix: 修改锁定站点为狭窄空间的参数默认值为false (details)
  113. refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算 (details)
  114. feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试 (details)
  115. fix: 修改杨浦区域半径值为2000以配置扩大的堆场 (details)
  116. fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数 (details)
  117. feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 (details)
  118. fix:修复快照播放崩溃的bug (details)
  119. fix: curature over limit stop optimization (details)
  120. chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 (details)
  121. refactor: SSEP: 重构OGM构建流程 (details)
  122. feat: 添加skills到.gitignore以忽略相关文件 (details)
  123. fix: step align状态下，吊具防护，montion状态机切换的bug (details)
  124. fix:修复进充电桩，场景适配错误的bug (details)
  125. fix: Keb: 删除未用到的“BuildKebOGM”方法 (details)
  126. feat(hmi): 新增路径曲线面板 path_curve_detail (details)
  127. refactor:优化引导线曲率跳变的bug (details)
  128. fix: 更新 clang-format 命令的使用说明和检查逻辑 (details)
  129. feat: 添加软约束以支持初始状态的灵活性 (details)
  130. fix: 注释掉停止车辆的初始化日志输出 (details)
  131. fix: Keb: 增加IMV后方碰撞检测距离 (details)
  132. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  133. feat: 添加CloudTrajectoryPoint的赋值运算符重载 (details)
  134. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  135. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  136. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  137. fix:合并的bug (details)
  138. feat: 重构障碍物风险评估器，另外添加 横路不进行 龙门吊风险限速的功能。 (details)
  139. fix: add lane_change_path_task v2 (details)
  140. refactor:优化看门狗功能 (details)
  141. fix: 移除不必要的等待调用以优化重置过程 (details)
  142. fix:西联上下引桥 不创建双黄线约束 (details)
  143. fix: SSEP: 修复新版本优化偶发输出异常的问题 (details)
  144. feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 (details)
  145. feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离 (details)
  146. fix:修复变道完成后目标车道切换错误的bug (details)
  147. fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ (details)
  148. feat: 添加堆高机靠近是否切换状态机的开关参数 (details)
  149. refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束 (details)
  150. feat: <大谢>进堆场机场忽略终点约束 (details)
  151. refactor:优化出堆场 + 短直线+ 进堆场场景的搜索 (details)
  152. feat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 (details)
  153. fix: check out feat_keb_v2 ssep (details)
  154. fix:快照播放崩溃的bug (details)
  155. fix: add ssep_forward_ec_tail_straight_distance (details)
  156. fix: ssep replan bug (details)
  157. fix:修复停止线赋值的bug (details)
  158. fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 (details)
  159. fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 (details)
  160. refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 (details)
  161. feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 (details)
  162. fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败 (details)
  163. fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 (details)
  164. fix: 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 (details)
  165. fix: 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。 (details)
  166. fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 (details)
  167. feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 (details)
  168. feat: PJPO 增加软曲率约束并优化起点处理 (details)
  169. feat: 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 (details)
  170. feat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 (details)
  171. feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 (details)
  172. feat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 (details)
  173. feat: 变道 OGM 碰撞检测点 HMI 标红可视化 (details)
  174. feat: 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 (details)
  175. feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 (details)
  176. fix:  Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 (details)
  177. feat: 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 (details)
  178. 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 (details)
  179. 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 (details)
  180. feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 (details)
  181. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  182. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  183. feat: 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 (details)
  184. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
  185. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
  186. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
  187. fix: build error (details)
  188. feat: 添加<cstddef>头文件以支持大小类型 (details)
  189. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
  190. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
  191. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
  192. fix: multi-frames trigger (details)
Changes
  1. fix: 显式声明拷贝赋值运算符消除 deprecated-copy 编译警告 (details)
Changes
  1. feat_out:内参通过ros topic发出 (details)
  2. fix: restore Release build mode for performance (details)
  3. fix_bug:修复配置topic崩溃问题 (details)
  4. feat_out:不总是替换文件，在线时参数应用 (details)

Started by user sunyufu

Revision: 65ffcdf14ade5b3de967a8014655b87a7f7efbec
Repository: http://159.27.226.4/weilikang/jenkinslib.git
  • master
Revision: 9c4de6b2a573885d875644171891cb3f5cfb224f
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