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+08004547f2efe192da70796a266e53e87dd3a8bfb2f2feat_out:无原始数据后倒计时结束停发editlamp/control_lamp.cpppackage.xmldocs/traffic_light_ui_design.mdlaunch/traffic_light_monitor_ui.launchconfig/peripheral_controller.tomlscripts/traffic_light_monitor_ui.pyinclude/config_loader.hppCMakeLists.txtREADME.md14d4d6a8a173f4353a12edb06d06063c22cdeae11786608442000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加monitor ui，修改停发逻辑 2026-08-13 16:07:22 +080014d4d6a8a173f4353a12edb06d06063c22cdeae1feat_out:增加monitor ui，修改停发逻辑editpackage.xmladddocs/traffic_light_ui_design.mdeditinclude/config_loader.hppeditconfig/peripheral_controller.tomleditCMakeLists.txteditREADME.mdaddlaunch/traffic_light_monitor_ui.launchaddscripts/traffic_light_monitor_ui.pyinclude/config_loader.hppconfig/peripheral_controller.tomllamp/control_lamp.cpp3b15223824e462c2b5d147da3f6e5ec307001b3b1786859904000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:距离判断改为路口前终点 2026-08-16 13:58:24 +08003b15223824e462c2b5d147da3f6e5ec307001b3bfeat_out:距离判断改为路口前终点editconfig/peripheral_controller.tomleditinclude/config_loader.hppeditlamp/control_lamp.cppgitplan/prepare/prepare_status.hppplan/prepare/prepare_status.cppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpped2c1d8a2e9893510e2680bcfed62c70ff1dd41f1784266212000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 远程单次直线步进END后不退出循环重回MOVE UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经 ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface 的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END 边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进, finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经 RemoteInit 无条件重回 REMOTE_MOVE 直至超时. prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖 fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义. 2026-07-17 13:30:12 +0800ed2c1d8a2e9893510e2680bcfed62c70ff1dd41ffix: 远程单次直线步进END后不退出循环重回MOVEeditplan/prepare/prepare_status.cppeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppeditplan/prepare/prepare_status.hppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/app/fsm/task_command_type.cppdata/app/fsm/task_fsm/task_fsm.cppc0b886c3483f4c06631a38fffa6952e98b6064051784266225000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: park子状态机收普通任务卡死PARK_MOVE无法退出 bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时, Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下 Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假, 只能靠再次取消任务解锁(实车卡死近4小时): - Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区 - Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL 同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE 放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s), 正常进位途中刷新停车任务不受影响另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射, 日志不再把正常事件误打成E_NO_STATE 2026-07-17 13:30:25 +0800c0b886c3483f4c06631a38fffa6952e98b606405fix: park子状态机收普通任务卡死PARK_MOVE无法退出editdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_fsm/task_fsm.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccbced6f6d483813906b1a3fd2308a7a4835c657ab1785742740000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 15:39:00 +0800bced6f6d483813906b1a3fd2308a7a4835c657abchore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppfc6eb0868971fc680840de071580930fd7143f991785913580000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复IMV重规划时起点曲率异常的问题 2026-08-05 15:06:20 +0800fc6eb0868971fc680840de071580930fd7143f99fix: Keb: 修复IMV重规划时起点曲率异常的问题editssep/data_structures/path.ccedittasks/plan/keb_lane_follow_path_task.cppmath/piecewise_jerk/constant_jerk_traj.cppdata/common/trajectory_point.cppdata/lattice/trajectory_combiner.cppdata/lattice/piecewise_traj_generator.cppmath/piecewise_jerk/piecewise_jerk_traj.cppdata/lattice/feasible_region.cppdata/lattice/feasible_region.hppbc74bb89bd349452152f3e327b06384e849a83221786027375000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正纵向轨迹基础计算边界修正轨迹点投影的绝对 s 计算、可行域减速边界和加速段距离公式。补齐终点采样，允许数值稳定的微小时长 jerk 段，并实现 PiecewiseJerkTraj 深拷贝。 2026-08-06 22:42:55 +0800bc74bb89bd349452152f3e327b06384e849a8322fix: 修正纵向轨迹基础计算边界editdata/lattice/feasible_region.hppeditmath/piecewise_jerk/piecewise_jerk_traj.cppeditdata/common/trajectory_point.cppeditdata/lattice/piecewise_traj_generator.cppeditdata/lattice/trajectory_combiner.cppeditdata/lattice/feasible_region.cppeditmath/piecewise_jerk/constant_jerk_traj.cppcommon/util/crash_helper.hpptasks/deciders/long_decider/constrain_decider.cppdata/lattice/collision_sweep.hppdata/lattice/collision_checker.cppcommon/util/crash_helper.cppdata/lattice/ogm_crash_data.cpp6adf47332ad16566b6d51f2c4043c4656bd608001786027398000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强纵向碰撞连续扫掠按时间和空间双阈值补齐轨迹点间的连续碰撞检测，并统一牵引车与挂车扫掠轨迹。细化 OGM 首碰位置，修正碰撞距离重复扣除 ego s 的问题。 2026-08-06 22:43:18 +08006adf47332ad16566b6d51f2c4043c4656bd60800feat: 增强纵向碰撞连续扫掠editcommon/util/crash_helper.cppadddata/lattice/collision_sweep.hppeditcommon/util/crash_helper.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/collision_checker.cppdata/lattice/trajectory1d_generator.hppreplayer/replayer_data_process/replayer_data_process.cppdata/constrain/speed_hard_constrain.hppdata/lattice/trajectory1d_generator.cppdata/constrain/longitude_constrain.cppdata/constrain/long_target.cppCMakeLists.txtdata/lattice/condition_sampler.cppdata/plan/start_point_data.cppdata/lattice/trajectory_combiner.hppdata/lattice/lattice_trajectory1d.cppdata/lattice/trajectory_evaluator.hppdata/lattice/constraint_checker.hppdata/config/cfg_long_plan.cppdata/lattice/trajectory_combiner.cppdata/constrain/long_target.hppalgorithm/plan/lattice.cppdata/lattice/trajectory_evaluator.cppdata/constrain/speed_hard_constrain.cpptasks/plan/lattice_task.hppdata/lattice/lattice_trajectory1d.hpptasks/plan/lattice_task.cppdata/lattice/constraint_checker.cppdata/lattice/longitudinal_comfort.hppdata/lattice/stop_planning_context.hppdata/lattice/jerk_limited_stop.hppdata/lattice/fsm_safety_brake.hppdata/lattice/condition_sampler.hppdata/lattice/longitudinal_curve_validator.hppdata/lattice/lattice_debug_data.hppdata/lattice/path_time_graph.cppdata/config/cfg_long_plan.hppdata/app/fsm/stop_reason.cppTesting/jerk_limited_stop_test.cppdata/lattice/stop_profile_planner.hppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/plan_frame.cpp7d80498d997025a130ff2e2dcf8b5e592ef202df1786031480000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一纵向停车规划与限速约束建立统一停车上下文与运行状态，明确普通规划继承规划曲线起点、FSM 安全制动继承车辆反馈。将严格停车改为 jerk 受限的多候选采样并支持上一条安全曲线续接，统一零速硬约束、动态限速和碰撞检查。压缩停车诊断序列化，在回放端重建可派生数据，并补齐停车、重入、重载、限速及连续扫掠回归测试。 2026-08-06 23:51:20 +08007d80498d997025a130ff2e2dcf8b5e592ef202dffix: 统一纵向停车规划与限速约束editdata/lattice/path_time_graph.cppeditdata/lattice/trajectory_evaluator.hppadddata/lattice/stop_profile_planner.hppeditdata/lattice/trajectory_combiner.cppeditdata/lattice/lattice_trajectory1d.hppadddata/lattice/longitudinal_comfort.hppeditdata/lattice/condition_sampler.hppeditdata/lattice/trajectory1d_generator.hppeditdata/constrain/speed_hard_constrain.cppeditdata/constrain/long_target.cppadddata/lattice/stop_planning_context.hppeditdata/constrain/speed_hard_constrain.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/constrain/long_target.hppeditdata/lattice/constraint_checker.hppadddata/lattice/fsm_safety_brake.hppeditdata/lattice/constraint_checker.cppadddata/lattice/jerk_limited_stop.hppadddata/lattice/lattice_debug_data.hppeditdata/plan_frame.cppeditdata/app/fsm/stop_reason.cppedittasks/plan/lattice_task.cppeditdata/config/cfg_long_plan.hppeditdata/constrain/longitude_constrain.cppeditdata/config/cfg_long_plan.cppeditCMakeLists.txteditdata/constrain/longitude_constrain.hppeditdata/lattice/trajectory1d_generator.cppeditalgorithm/plan/lattice.cppeditdata/plan_frame.hppeditdata/plan/start_point_data.cppedittasks/plan/lattice_task.hppeditdata/lattice/condition_sampler.cppeditdata/lattice/trajectory_combiner.hppadddata/lattice/longitudinal_curve_validator.hppaddTesting/jerk_limited_stop_test.cppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/lattice_trajectory1d.cpphmi/replayer_hmi.hpphmi/widget/lattice_plan_detail.cpphmi/widget/lattice_plan_detail.hpphmi/node_hmi.hpphmi/node_hmi.cpphmi/replayer_hmi.cppc0d77e9213506a73bc9d1ff584242d1f491626fd1786031500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 Lattice 停车诊断界面增加候选轨迹、ST、s-v、t-a 和停车时序视图，展示停车上下文、候选筛选及失败原因。接入在线 HMI 与回放 HMI，共用压缩后的诊断数据并支持回放重建结果展示。 2026-08-06 23:51:40 +0800c0d77e9213506a73bc9d1ff584242d1f491626fdfeat: 增加 Lattice 停车诊断界面addhmi/widget/lattice_plan_detail.hppaddhmi/widget/lattice_plan_detail.cppedithmi/node_hmi.cppedithmi/replayer_hmi.hppedithmi/node_hmi.hppedithmi/replayer_hmi.cppdata/scenario/scenario_manager.cppa3bbf6a8c9ec3bac13e512160e03f379d048de681786031573000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:s弯下码头面不搜索的bug 2026-08-06 23:52:53 +0800a3bbf6a8c9ec3bac13e512160e03f379d048de68feat:s弯下码头面不搜索的bugeditdata/scenario/scenario_manager.cppdata/lattice/trajectory_evaluator.hppdata/lattice/stop_planning_context.hppdata/lattice/trajectory1d_generator.cppdata/lattice/trajectory_evaluator.cppdata/constrain/long_target.cppdata/lattice/longitudinal_curve_validator.hppTesting/jerk_limited_stop_test.cpp253af5e4cbbd47c5124c7fe4b7e8383032b5915f1786033146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止终点制动阶段重新提速 - 在同一停车约束内跨帧锁存正常规划制动承诺 - 统一收紧停车候选、参考速度和历史续接的加速度约束 - 补充高速近终点重加速及状态清理、序列化回归测试 2026-08-07 00:19:06 +0800253af5e4cbbd47c5124c7fe4b7e8383032b5915ffix: 防止终点制动阶段重新提速editTesting/jerk_limited_stop_test.cppeditdata/lattice/stop_planning_context.hppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/trajectory_evaluator.hppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory_evaluator.cppeditdata/constrain/long_target.cppdata/lattice/trajectory1d_generator.hppdata/lattice/longitudinal_curve_validator.hppalgorithm/plan/lattice.cppdata/lattice/trajectory1d_generator.cppTesting/jerk_limited_stop_test.cppbd877bb416411869d616e0ecb6d5005a83208e061786034552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持停车终点释放后的低速前移统一为所有硬速度约束保留 0.5 km/h 容差，同时继续严格限制停车终点的空间边界。在停车未激活但硬终点仍有效时采样精确收敛到终点的低速五次曲线，解决动态跟车距离缩短后车辆无法继续前移的问题，并补充容差与候选生成测试。 2026-08-07 00:42:32 +0800bd877bb416411869d616e0ecb6d5005a83208e06fix: 支持停车终点释放后的低速前移editalgorithm/plan/lattice.cppeditdata/lattice/trajectory1d_generator.hppeditdata/lattice/longitudinal_curve_validator.hppeditTesting/jerk_limited_stop_test.cppeditdata/lattice/trajectory1d_generator.cppdata/lattice/trajectory1d_generator.hppdata/lattice/stop_profile_planner.hppdata/lattice/longitudinal_curve_validator.hppdata/lattice/trajectory1d_generator.cppTesting/jerk_limited_stop_test.cppdata/lattice/trajectory_evaluator.cppe99242fdc655541b05965f803b0dadc19b6eaf761786035846000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正短距停车前移速度按剩余距离和舒适动力学搜索最高可行巡航峰值，并同步候选曲线与参考曲线。保留 0.5 km/h 仅作为硬限速容差，移除其对前移速度的误用；在终点匹配范围内从继承位置生成零速保持，消除厘米级残差规划失败。 2026-08-07 01:04:06 +0800e99242fdc655541b05965f803b0dadc19b6eaf76fix: 修正短距停车前移速度editTesting/jerk_limited_stop_test.cppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/stop_profile_planner.hppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory1d_generator.hppdata/lattice/stop_planning_context.hppdata/constrain/long_target.cppTesting/jerk_limited_stop_test.cpp2c20fda83ae5d384e18c5474fb9fb100a50efd5b1786037343000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离停车目标跨帧状态严格校验约束 ID 与投影后停车终点连续性，防止新终点继承旧目标的制动承诺、安全曲线和 OGM hold。补充空 ID、同 ID 跳变、失活目标和 FSM 重入回归测试。 2026-08-07 01:29:03 +08002c20fda83ae5d384e18c5474fb9fb100a50efd5bfix: 隔离停车目标跨帧状态editTesting/jerk_limited_stop_test.cppeditdata/lattice/stop_planning_context.hppeditdata/constrain/long_target.cppsink/ros_sink_ctrl_reference.cppdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp331648018ddaf341fb953981c0d6b403c93a34541786078618000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正双头 IMV 直线步进方向双头 IMV 在反向形式下默认保持固定车身方向，不再无条件按 reversing_mode 翻转步进距离。\n\n新增功能开关以兼容需要沿用旧方向定义的车辆，并支持配置动态更新及序列化。 2026-08-07 12:56:58 +0800331648018ddaf341fb953981c0d6b403c93a3454fix: 修正双头 IMV 直线步进方向editsink/ros_sink_ctrl_reference.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/lattice/trajectory1d_generator.hppdata/lattice/trajectory_evaluator.hppdata/lattice/stop_profile_planner.hppdata/lattice/stop_planning_context.hppdata/lattice/trajectory1d_generator.cppdata/lattice/trajectory_evaluator.cppdata/constrain/long_target.cpptasks/plan/lattice_task.hppdata/lattice/longitudinal_curve_validator.hpptasks/plan/lattice_task.cppTesting/jerk_limited_stop_test.cpp400111028f6748229d9152d2a43aa25416a19be51786078828000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复纵向停车限速恢复与无解兜底去除跨帧制动速度锁存，改为根据当前停车距离和动力学状态决定是否立即制动。区分当前位置与前方硬限速，为前方低限速生成满足物理恢复包络和终点停车条件的候选。正常规划无解时输出限 jerk 的最大减速兜底轨迹，并在后续周期持续重试正常规划以便恢复行驶。补充硬限速、短距停车、制动恢复和现场回归测试。 2026-08-07 13:00:28 +0800400111028f6748229d9152d2a43aa25416a19be5fix: 修复纵向停车限速恢复与无解兜底editTesting/jerk_limited_stop_test.cppeditdata/lattice/stop_planning_context.hppeditdata/constrain/long_target.cppedittasks/plan/lattice_task.cppedittasks/plan/lattice_task.hppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/trajectory1d_generator.hppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory_evaluator.hppeditdata/lattice/stop_profile_planner.hpphmi/draw/draw_guide_line.cpp85803e4342f42a1dabde51fdd671b1b01d8a0c271786088516000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 引导线绘制车道 ID 在每段连续车道的中点标注 lane ID，并根据视图缩放调整字号。\n跳过空 ID 和无效路径索引，避免重复文字与越界访问。 2026-08-07 15:41:56 +080085803e4342f42a1dabde51fdd671b1b01d8a0c27feat: 引导线绘制车道 IDedithmi/draw/draw_guide_line.cppdata/ssep/ssep_util.hppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/ssep_util.cpp8b97531af95c81a24e87f179322254432f99a3281786335903000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持短直道路口连续搜索抽取短直道连接下一路口的公共判定逻辑，并在引桥搜索中将终点延伸至下一路口 end_s。新增默认关闭的 SSEP 功能开关，统一控制引桥、出堆场及后续场景的启用行为，同时支持动态更新与快照序列化。 2026-08-10 12:25:03 +08008b97531af95c81a24e87f179322254432f99a328feat: 支持短直道路口连续搜索editdata/ssep/out_yard_junction_ec.cppeditdata/config/cfg_func_sw.cppeditdata/ssep/bridge_junction_ec.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_util.hppCMakeLists.txtfbd07404195d337fb8ea566b2261e47ca3f660831786338336000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 缩小版本宏的编译影响范围将 VERSION_NODE、COMMIT_NODE 和 NODE_MSG_VERSION 从全局定义调整为仅作用于实际读取版本信息的 5 个源文件。避免每次提交变化都改写全部编译命令并触发全量重编，使其余编译单元能够跨提交复用 ccache，同时保留程序版本信息。 2026-08-10 13:05:36 +0800fbd07404195d337fb8ea566b2261e47ca3f66083perf: 缩小版本宏的编译影响范围editCMakeLists.txtdata/boundary/driving_corridor.cpp7d622f8768f9f782c479b0c122662a706e95aac01786347582000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复相邻道路逆向车误触发窄会车窄会车净空计算前过滤完全位于最右可行边界之外的障碍断面，避免负净空将相邻平行道路车辆误判为极窄会车。\n\n障碍跨越可行边界时仍按零净空保守处理，并补充 outside_right 诊断计数。 2026-08-10 15:39:42 +08007d622f8768f9f782c479b0c122662a706e95aac0fix: 修复相邻道路逆向车误触发窄会车editdata/boundary/driving_corridor.cppssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.hssep/coarse_search/evaluator/diagonal_cost_computer.hssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/coarse_search/evaluator/README.mdssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.hssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.hssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccssep/coarse_search/evaluator/shortest_path_heur_table.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.ccssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.hssep/coarse_search/evaluator/dir_switching_cost_computer.hssep/coarse_search/README.mdssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.hssep/coarse_search/evaluator/ref_line_cost_computer.hssep/coarse_search/searcher_builders/README.mdssep/coarse_search/motion_primitive_sampler/README.mdssep/coarse_search/evaluator/jackknife_cost_computer.hbc8a0f42965a27f6aa0896d9d5886b20e27fe8671786361757000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: 补充搜索模块相关的注释和文档 2026-08-10 19:35:57 +0800bc8a0f42965a27f6aa0896d9d5886b20e27fe867doc: SSEP: 补充搜索模块相关的注释和文档editssep/coarse_search/evaluator/shortest_path_heur_table.heditssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.haddssep/coarse_search/README.mdeditssep/coarse_search/evaluator/dir_switching_cost_computer.hdeletessep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cceditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/evaluator/ref_line_cost_computer.haddssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.cceditssep/coarse_search/evaluator/diagonal_cost_computer.heditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.hdeletessep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.haddssep/coarse_search/evaluator/README.mdeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.heditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.haddssep/coarse_search/motion_primitive_sampler/README.mdeditssep/coarse_search/evaluator/jackknife_cost_computer.haddssep/coarse_search/searcher_builders/README.mdeditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.haddssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.heditssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hdata/lattice/trajectory_combiner.cppalgorithm/plan/lattice.cpptasks/plan/lattice_task.cppTesting/jerk_limited_stop_test.cpp6d05474cd9f0ee8883398f6c28547cc895e259441786362148000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止 Lattice 轨迹合成陷入死循环将轨迹合成的无界浮点循环改为整数索引有界采样，并拒绝非法采样步长、非有限时域和异常大的采样规模。\n\n补充制动曲线时长校验、Lattice 阶段 watchdog 定位及零步长、无限时域和超大时域回归测试。 2026-08-10 19:42:28 +08006d05474cd9f0ee8883398f6c28547cc895e25944fix: 防止 Lattice 轨迹合成陷入死循环editdata/lattice/trajectory_combiner.cppeditTesting/jerk_limited_stop_test.cppeditalgorithm/plan/lattice.cppedittasks/plan/lattice_task.cppdata/obstacle/reverse_lane_approach.cppreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/config/cfg_hmi.hppdata/obstacle/reverse_lane_approach.hpphmi/ui/ui_main_window.hppdata/obstacle/cluster_lateral_approach.hppdata/obstacle/cluster_lateral_approach.cppdata/config/cfg_hmi.cppCMakeLists.txtdata/boundary/driving_corridor.hpphmi/replayer_hmi.cpphmi/widget/pnc_mat_shared.cppplan/prepare/prepare_objs.cpphmi/ui/main_window.uihmi/draw/draw_perception.cpptasks/deciders/long_decider/time_path_graph_decider.hpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_perception.hpptasks/deciders/long_decider/time_path_graph_decider.cppdata/config/cfg_safe_const.hppdata/obstacle/occupy_grid.hpphmi/draw/draw_all.cppdata/config/cfg_safe_const.cppdata/obstacle/occupy_grid.cppdata/obstacle/cluster_motion_tracker.cppdata/plan_frame.hppdata/obstacle/cluster_motion_tracker.hppdata/plan_frame.cpphmi/node_hmi.cpphmi/draw/draw_reverse_approach.cppsink/ros_sink_snapshot.cppade631dc8ca8ab07b65b63d37dba305c6708c6381786369883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一无ID聚类障碍运动跟踪新增内部稳定航迹，统一维护聚类 polygon、UTM 速度、命中丢失和运动状态，并处理普通目标与聚类之间的短时交接及分裂伴随片段。\n\nReverseApproach 改为消费统一航迹并仅保留停止线 latch；普通横向侵入改用统一速度计算 TTC，移除旧 OccupyGrid 边界差分限速。DrivingCorridor 仅在侧避栅格屏蔽确认移动聚类的 polygon 扫掠区域，保留纵向原始 OGM 安全约束。\n\n补充 PlanFrame/HMI 诊断与回放冻结数据，统一 Replayer 的 OGM 输入，并序列化新增横向 TTC 参数。 2026-08-10 21:51:23 +0800ade631dc8ca8ab07b65b63d37dba305c6708c638feat: 统一无ID聚类障碍运动跟踪editCMakeLists.txteditdata/plan_frame.cppedithmi/ui/ui_main_window.hppedithmi/node_hmi.cppedithmi/draw/draw_all.cppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_safe_const.cppadddata/obstacle/cluster_lateral_approach.hppedithmi/widget/pnc_mat_shared.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/reverse_lane_approach.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan_frame.hppedithmi/draw/draw_perception.cppedithmi/draw/draw_reverse_approach.cppeditdata/config/cfg_hmi.hppeditdata/boundary/driving_corridor.hppeditdata/obstacle/reverse_lane_approach.hppedithmi/draw/draw_perception.hppedithmi/ui/main_window.uiedittasks/deciders/long_decider/time_path_graph_decider.cppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditsink/ros_sink_snapshot.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/long_decider/time_path_graph_decider.hppadddata/obstacle/cluster_motion_tracker.cppdeletedata/obstacle/occupy_grid.hppadddata/obstacle/cluster_lateral_approach.cppadddata/obstacle/cluster_motion_tracker.hppeditdata/config/cfg_safe_const.hppdeletedata/obstacle/occupy_grid.cppdata/config/cfg_func_sw.hpp880c647f4d3ee00bfe66315eec6b28278dccb7151786369894000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 序列化直道路口边界开关将 use_func_straight_junction_use_road_boundary_ 纳入 CfgFuncSw v19 快照，确保 PNC Node 与 Replayer 使用同帧开关生成 RoadBoundary。 2026-08-10 21:51:34 +0800880c647f4d3ee00bfe66315eec6b28278dccb715fix: 序列化直道路口边界开关editdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_enter_yard_planner.hf4a230bfa3e99386c715ba81040f0e2da5f45c7a1786372649000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复进堆场规划器头文件引用路径更新 YardEntryReferencePathGenerator 重构后的头文件目录，解决 ssep_planner 编译时找不到头文件的问题。 2026-08-10 22:37:29 +0800f4a230bfa3e99386c715ba81040f0e2da5f45c7afix: 修复进堆场规划器头文件引用路径editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/boundary/road_boundary.cpp97f8c35707a10febe88e11f4bf9e964c36b4d2f71786377143000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整散货出场禁横移区域判定使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。 2026-08-10 23:52:23 +080097f8c35707a10febe88e11f4bf9e964c36b4d2f7fix: 调整散货出场禁横移区域判定editdata/boundary/road_boundary.cppdata/boundary/road_boundary.cpp92ec18ef9528acb21394f9687294695be642af6a1786377224000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整散货出场禁横移区域判定使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。 2026-08-10 23:53:44 +080092ec18ef9528acb21394f9687294695be642af6afix: 调整散货出场禁横移区域判定editdata/boundary/road_boundary.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp6cbaaef29834453c80f18d5de20c08e997660c6c1786420961000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 散货进场末段切换 PJPO 规划新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。 2026-08-11 12:02:41 +08006cbaaef29834453c80f18d5de20c08e997660c6cfeat: 散货进场末段切换 PJPO 规划editdata/config/cfg_stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cppdata/plan/guide_line.cppf08e65f3559f0592f75179239a476e785d4d17e21786421170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强 SSEP 目标路径有效性校验引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。 2026-08-11 12:06:10 +0800f08e65f3559f0592f75179239a476e785d4d17e2fix: 增强 SSEP 目标路径有效性校验editdata/plan/guide_line.cppdata/ssep/forward_ec.cpp8542f5fb31cb13be6645b7ad2fef683dd2ea7ae01786421229000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 振石进场按参考线构造搜索起点振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。 2026-08-11 12:07:09 +08008542f5fb31cb13be6645b7ad2fef683dd2ea7ae0feat: 振石进场按参考线构造搜索起点editdata/ssep/forward_ec.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/config/cfg_stage.hpp08b5a4d8bc6d8ce57da4b1c4b73fbb39ae897f841786421338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 散货进场末段切换 PJPO 规划新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。 2026-08-11 12:08:58 +080008b5a4d8bc6d8ce57da4b1c4b73fbb39ae897f84feat: 散货进场末段切换 PJPO 规划editscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.hppdata/plan/guide_line.cppee1806d7ac6d14c1e6ae396c22ff2c1a465227b61786421343000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强 SSEP 目标路径有效性校验引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。 2026-08-11 12:09:03 +0800ee1806d7ac6d14c1e6ae396c22ff2c1a465227b6fix: 增强 SSEP 目标路径有效性校验editdata/plan/guide_line.cppdata/ssep/forward_ec.cppa19a44b5976756bef5c6ba34d485470995d3d1671786421372000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 振石进场按参考线构造搜索起点振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。 2026-08-11 12:09:32 +0800a19a44b5976756bef5c6ba34d485470995d3d167feat: 振石进场按参考线构造搜索起点editdata/ssep/forward_ec.cppssep/keb_optimizer/README.mdssep/offboard/scene_replay/README.mdssep/scenarios/tractor_trailer_enter_yard_planner.h75ad18901f026164b12f30f4328d3d7ad9782e151786432674000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: 增加keb optimizer及离线工具的说明文档 2026-08-11 15:17:54 +080075ad18901f026164b12f30f4328d3d7ad9782e15doc: SSEP: 增加keb optimizer及离线工具的说明文档addssep/keb_optimizer/README.mdaddssep/offboard/scene_replay/README.mdeditssep/scenarios/tractor_trailer_enter_yard_planner.hssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceee3ac87e6210b49e7360eabede326d100ac52cd1786433169000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题 2026-08-11 15:26:09 +0800eee3ac87e6210b49e7360eabede326d100ac52cdfix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题editssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccdata/lattice/trajectory1d_generator.hppdata/constrain/speed_hard_constrain.hppdata/lattice/trajectory1d_generator.cppdata/constrain/longitude_constrain.cppdata/lattice/fsm_safety_brake.hppdata/lattice/brake_trajectory_policy.hppdata/lattice/longitudinal_curve_validator.hppdata/plan/start_point_data.hppTesting/jerk_limited_stop_test.cppdata/plan/start_point_data.cppalgorithm/plan/lattice.cppdata/constrain/speed_hard_constrain.cpptasks/plan/lattice_task.hppdata/constrain/longitude_constrain.hpptasks/plan/lattice_task.cppdata/lattice/constraint_checker.cppb2ba1ece6230c0eae9696e682be9f6549feb32351786439039000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Lattice 制动恢复与硬限速约束正常规划从制动兜底恢复时仅清除继承的负加速度，并在再次无解时续接上一条制动曲线，避免低速锁存和连续制动弱化。统一 FSM 安全制动的规划拼接起点，完善 stop 轨迹标志生命周期和短路径截断兜底；同时按约束来源区分 0.5 km/h 硬限速容差，停车及障碍物约束保持严格。补充制动切换、恢复重试、短路径和分类限速回归测试。 2026-08-11 17:03:59 +0800b2ba1ece6230c0eae9696e682be9f6549feb3235fix: 修复 Lattice 制动恢复与硬限速约束editdata/plan/start_point_data.hppeditdata/constrain/longitude_constrain.cppeditdata/lattice/constraint_checker.cppeditdata/plan/start_point_data.cppeditdata/constrain/speed_hard_constrain.cppadddata/lattice/brake_trajectory_policy.hppeditdata/constrain/longitude_constrain.hppeditdata/lattice/trajectory1d_generator.hppeditalgorithm/plan/lattice.cppeditdata/constrain/speed_hard_constrain.hppeditdata/lattice/longitudinal_curve_validator.hppeditTesting/jerk_limited_stop_test.cppeditdata/lattice/fsm_safety_brake.hppedittasks/plan/lattice_task.cppedittasks/plan/lattice_task.hppeditdata/lattice/trajectory1d_generator.cppAGENTS.mdf19373f892fa4ab5c7ac7c99b67f14e0b71c03841786439053000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 记录纵向规划连续性规则明确正常规划、安全制动和兜底轨迹之间的起点继承、状态切换及标志生命周期要求，避免后续改动重新引入速度跳变或低速锁存。 2026-08-11 17:04:13 +0800f19373f892fa4ab5c7ac7c99b67f14e0b71c0384docs: 记录纵向规划连续性规则addAGENTS.mddata/lattice/trajectory1d_generator.hppdata/lattice/longitudinal_curve_validator.hppdata/lattice/stop_profile_planner.hppdata/lattice/trajectory1d_generator.cppTesting/jerk_limited_stop_test.cppdata/lattice/constraint_checker.cpp64709981e692d4549692f89cd0b5dccb76d53a1b1786440297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 平滑普通硬限速恢复制动普通地图、曲率和 REQ 限速按正常减速度恢复，并继承已有负加速度。\n\n前方限速、障碍物及停车约束仍保留最大制动能力，避免削弱 ST 与终点停车安全边界。\n\n增加限速切换及现场停车失败帧的回归测试。 2026-08-11 17:24:57 +080064709981e692d4549692f89cd0b5dccb76d53a1bfix: 平滑普通硬限速恢复制动editTesting/jerk_limited_stop_test.cppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/stop_profile_planner.hppeditdata/lattice/trajectory1d_generator.hppeditdata/lattice/constraint_checker.cppdata/lattice/trajectory1d_generator.cppdata/lattice/longitudinal_curve_validator.hppTesting/jerk_limited_stop_test.cpp5a83a984799e41acd81745069bff5a497cd9f1471786449899000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 平滑前方普通硬限速制动 - 普通限速按边界距离选择最小可达减速度，距离充足时使用正常或继承值 - 严格安全来源继续使用最大减速度，停车阶段保留独立最大制动上限 - 补充 12.49 km/h 降至 8 km/h 现场参数及紧边界回归 2026-08-11 20:04:59 +08005a83a984799e41acd81745069bff5a497cd9f147fix: 平滑前方普通硬限速制动editdata/lattice/longitudinal_curve_validator.hppeditTesting/jerk_limited_stop_test.cppeditdata/lattice/trajectory1d_generator.cpptasks/deciders/long_decider/constrain_decider.cppd3cf8222bc28bbc3ff3badbcaada886375ba3bde1786450956000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 降低锁站缩距区域限速进入缩短跟车距离区域时，在锁站基础限速上额外降低 0.3 m/s，减小该区域内的跟车速度。 2026-08-11 20:22:36 +0800d3cf8222bc28bbc3ff3badbcaada886375ba3bdefix: 降低锁站缩距区域限速edittasks/deciders/long_decider/constrain_decider.cppssep/README.md1c57c822633652991975431220e3e619b2593b7e1786503902000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: 补充ssep子模块的整体说明文档 2026-08-12 11:05:02 +08001c57c822633652991975431220e3e619b2593b7edoc: SSEP: 补充ssep子模块的整体说明文档addssep/README.mdTesting/routing_map_guard_test.cppreplayer/replayer_data_process/replayer_data_process.cppdata/vehicle/request_routing_data.cppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/routing_extension/routing_data.cppCMakeLists.txtplan/prepare/prepare_map_related.cppdata/map/pnc_map/pnc_map.cpp95b5e370255175e817d97b238fe122a0744da3a31786525097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强 routing 地图转换边界保护校验车辆路由索引和各类 RoadSegments 的 route_path_idx，避免无效快照触发越界访问。\n\n修正 standby relative segments 访问与清理逻辑，避免接收新路由时同帧重复推进状态，并为在线与 replayer 地图恢复补充失败返回和回归测试。 2026-08-12 16:58:17 +080095b5e370255175e817d97b238fe122a0744da3a3fix: 增强 routing 地图转换边界保护addTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditCMakeLists.txteditdata/vehicle/request_routing_data.cppeditdata/map/pnc_map/pnc_map.cppeditplan/prepare/prepare_map_related.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpphmi/draw/draw_ssep.hppreplayer/replayer_data_process/replayer_data_process.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/other/flow_control.hppCMakeLists.txthmi/widget/diagnose.cpphmi/widget/pnc_mat_shared.cpptasks/deciders/other_decider/replan_decider.cppssep/data_structures/type_definition.hhmi/draw/draw_all.cppssep/data_structures/type_definition.cchmi/draw/draw_ssep.cppdata/plan_frame.hppdata/plan_frame.cpp40012dbc845dd0a872f44709638fee5aabd77c401786525140000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 基于 SSEP 包络优化 Bulk 场景判断按搜索路径与换向段构建 SSEP 包络，统一 BulkIn/BulkOut 互斥判断，并支持双向 IMV 倒车航向、入口临界区域和往返路径切段防抖。\n\n序列化 FlowControl、包络用途及保换向拓扑的压缩路径，使 replayer 可稳定恢复诊断与绘制数据；同时增加原地 BulkOut 重规划时间门限和完整归档回归测试。 2026-08-12 16:59:00 +080040012dbc845dd0a872f44709638fee5aabd77c40feat: 基于 SSEP 包络优化 Bulk 场景判断addTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.hppeditdata/other/flow_control.hppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cppadddata/other/ssep_path_corridor.hppedithmi/widget/diagnose.cppadddata/other/ssep_path_corridor.cppeditCMakeLists.txtedithmi/draw/draw_ssep.hppeditdata/plan/ssep_data.cppeditssep/data_structures/type_definition.heditdata/other/flow_control.cppeditdata/plan_frame.hppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep.cppeditssep/data_structures/type_definition.ccedithmi/widget/pnc_mat_shared.cppeditreplayer/replayer_data_process/replayer_data_process.cppdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppf397d968ee7f58975957d69ac4b5c66426f635fc1786526149000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 重叠路径切段失败切段判断改为直接校验当前分段真实末点的位置和航向，避免往返路径在同坐标重叠处被最近点投影到较早路段。\n\n保留双向 IMV reversing_mode 的航向还原，并补充自重叠路径及反转航向回归测试。 2026-08-12 17:15:49 +0800f397d968ee7f58975957d69ac4b5c66426f635fcfix: 修复 SSEP 重叠路径切段失败editdata/plan/ssep_data.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditTesting/ssep_path_corridor_test.cppdata/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/plan/side_pass_data.cppdata/dp_poly_path/dp_road_graph.hpptasks/deciders/long_decider/constrain_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/plan/side_pass_data.hppb40a051be1d4d997c4ac998b331ffa5aab3285c71786531985000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复侧绕历史路径失效触发无轨迹停车 DP 搜索截断时保留当前安全前缀和既有侧绕决策，历史路径校验失败后恢复语义状态，不再使侧绕任务直接失败。\n\n历史路径仅复用当前执行区间内且通过方向、参考线和走廊校验的点；最终执行路径真实余量接入纵向既有无轨迹安全判断，由纵向决定停车时机。 2026-08-12 18:53:05 +0800b40a051be1d4d997c4ac998b331ffa5aab3285c7fix: 修复侧绕历史路径失效触发无轨迹停车editdata/dp_poly_path/dp_road_graph.hppeditdata/plan/side_pass_data.hppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/plan/side_pass_data.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/dp_poly_path/dp_road_graph.cppdata/ssep/forward_ec.cpp7f8053951a09f4c2392360fc64ac0df62077edd71786535953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整梁山港 Bulk 场景规划模式将梁山港牵引车 Bulk 进出场景从通用规划切换为单段泊车规划，匹配现场作业路径需求。 2026-08-12 19:59:13 +08007f8053951a09f4c2392360fc64ac0df62077edd7fix: 调整梁山港 Bulk 场景规划模式editdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hf78699e31acb37f35df22035469c20df064c0e471786536244000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 单段倒车时不使用倒车曲率限制策略 2026-08-12 20:04:04 +0800f78699e31acb37f35df22035469c20df064c0e47chore: SSEP: 单段倒车时不使用倒车曲率限制策略editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/ssep/forward_ec.cpp032be6f7acb9c1628fd51bd7d3b052e96430bbd21786540098000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 细分梁山港 Bulk 场景规划模式梁山港 Bulk 进场去料堆任务继续使用单段泊车规划，其余 Bulk 进出任务恢复使用通用牵引车规划，避免所有任务统一套用泊车模式。 2026-08-12 21:08:18 +0800032be6f7acb9c1628fd51bd7d3b052e96430bbd2fix: 细分梁山港 Bulk 场景规划模式editdata/ssep/forward_ec.cppgitdata/monitor/brake_guardian_data.cpp17b3242888d4c502eca68f924425f31c5cbc64421786678860000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复制动响应监控误接管减速度异常计时期间持续校验目标减速、速度关系和底盘响应，条件恢复后立即结束计时。\n\n移除无效的目标速度突变判断，避免真实阶跃制动额外等待拟合窗口；同时补全监控状态和拟合系数的重置。 2026-08-14 11:41:00 +080017b3242888d4c502eca68f924425f31c5cbc6442fix: 修复制动响应监控误接管editdata/monitor/brake_guardian_data.cppgitalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditdata/config/cfg_mpc_qp.hppeditnode/process/proc/proc_lateral_controller.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditdata/config/cfg_mpc_qp.cppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/config/cfg_mpc_qp.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 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增加船内重启快照恢复功能,增加坡道内退化导致运动不一致ins兜底策略,mrpt关联多线程tbb并行加速,开启三雷达丰富特征并严格控制特征数不超过10000editcommon/util/match_debug_pcd_save.cppeditloc/param/reflect_match/liangshan/mrpt_icp.yamleditloc/app/lidar_loc_v2_node.cppeditcommon/util/ros_util.heditcommon/util/ramp_ground_regions.heditloc/param/reflect_match/weihai/feature.yamleditloc/lidar/reflect_match/CMakeLists.txteditcommon/test/CMakeLists.txteditcommon/util/async_writer.cppaddloc/param/reflect_match/luofen/region_maintainer.yamladdloc/param/lidar_loc_v2_node.vehicle_daxie.yamleditloc/lidar/reflect_match/registration/mrpt_icp.heditCMakeLists.txtaddcommon/test/test_ship_restart_state.cppaddloc/param/reflect_match/luofen/feature.yamleditcommon/util/ramp_deploy_detect.cppeditloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamleditloc/lidar/reflect_match/feature/feature_extractor.cppeditcommon/util/ship_entrance_regions.cppeditloc/lidar/src/lidar_manage.cppeditloc/param/reflect_match/weihai/mrpt_icp.yamleditloc/lidar/src/lidar_process.heditcommon/util/ramp_lidar_odom.cppaddloc/param/lidar_loc_v2_node.vehicle_luofen.yamleditcommon/geometry/reg_result.heditcommon/util/overlay_text_integrator.cppeditloc/lidar/reflect_match/reflect_matcher.heditloc/lidar/reflect_match/reflect_lidar_process.cppaddcommon/util/ship_restart_state.heditcommon/util/wheel_odom.cppaddcommon/test/test_ramp_lidar_odom.cppeditmapping/base_map/base_map.cppeditloc/lidar/reflect_match/deck_elevation_manager.heditloc/param/lidar_loc_v2_node.vehicle_liangshan.yamladdloc/param/reflect_match/luofen/mrpt_icp.yamleditmapping/reflect_map/reflect_map_reader.cppeditloc/param/lidar_loc_v2_node.yamleditcommon/util/ship_entrance_ground_anchor.heditloc/param/reflect_match/xilian/region.yamladdloc/param/reflect_match/luofen/region.yamleditloc/lidar/src/lidar_process.cppeditloc/fusion/pose_2d_measurement.heditcommon/CMakeLists.txteditcommon/util/slope_loc.cppeditloc/param/lidar_loc_v2_node.vehicle_weihai.yamleditcommon/util/ramp_lidar_odom.heditcommon/util/ship_entrance_regions.heditloc/lidar/src/lidar_manage.haddcommon/util/ship_restart_state.cppeditloc/fusion/msf_wrapper.cppeditcommon/util/ground_match_correction.cppeditloc/lidar/reflect_match/feature/feature.heditloc/app/lidar_loc_v2_node_impl.heditloc/launch/lidar_loc_v2_node.rvizeditloc/app/lidar_loc_v2_node_impl.cppeditcommon/util/ship_entrance_ground_anchor.cppeditloc/lidar/reflect_match/reflect_lidar_process.haddloc/param/reflect_match/luofen/mask.yamleditcommon/util/ramp_ground_regions.cppeditloc/lidar/reflect_match/deck_elevation_manager.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/src/lidar_manage.hcommon/geometry/reg_result.hloc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/app/lidar_loc_v2_node_impl.cpploc/lidar/src/data_interface.hloc/app/lidar_loc_v2_node_impl.hloc/lidar/reflect_match/registration/mrpt_icp.cppoffline/read_bag_poses.cpploc/lidar/src/lidar_manage.cpp3569ea451638f2caa5a99380aedd9a62d49510431786620553000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 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