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防止重规划期间历史参考线逐帧缩短重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，避免反复裁剪历史结果造成入堆场无剩余轨迹停车。提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，候选参考线投影有效后才写回。新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待和失败、替换失败回退、成功接替及正常恢复。验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建 pnc_node、pnc_replayer 成功。 2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短edittasks/other_tasks/stitch_path_to_reference_line.cppeditCMakeLists.txtaddTesting/reference_line_replan_test.cppeditdata/map/reference/reference_segment.cppTesting/routing_map_guard_test.cppTesting/ssep_path_corridor_test.cppdata/vehicle/vehicle_destination.hppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。 2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/vehicle/vehicle_destination.cppeditTesting/routing_map_guard_test.cppeditdata/vehicle/vehicle_destination.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/ssep_path_corridor_test.cppdata/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。 2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyangStarted by user sunyufusunyufusunyufuReplayed #460orinslaveconfListGet-BranchsconfCould not get conf for 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修复原地旋转速度矢量和为零的静止误判,增加动态地图窗口优化 2026-09-04 17:41:07 +08000821419cd0516f12d675e50a47d540c0841383f5:new: 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