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翻斗反馈editperipheral_msgs/msg/PeripheralOperateStates.msgcloud_msgs/msg/CraneInfo.msg1b306566b5e66a524235d5f2635d6ef234fcc6a81791621071000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态 2026-10-10 16:31:11 +08001b306566b5e66a524235d5f2635d6ef234fcc6a8feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msgcloud_msgs/msg/CraneInfo.msg27402f14260ed710f3f7ea37c0667ed4d344f3e11792251883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态 2026-10-17 23:44:43 +080027402f14260ed710f3f7ea37c0667ed4d344f3e1feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msgdiagnose_msgs/msg/InspectRequest.msgdiagnose_msgs/CMakeLists.txt253235ff229b66e4c17c269624b8ccc7ce2187851793351548000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加雷达巡检消息 2026-10-30 17:12:28 +0800253235ff229b66e4c17c269624b8ccc7ce218785feat_out:增加雷达巡检消息adddiagnose_msgs/msg/InspectRequest.msgeditdiagnose_msgs/CMakeLists.txtdiagnose_msgs/CMakeLists.txtdiagnose_msgs/msg/InspectRequest.msg45227b06b5264038899c3867327bc68c88a6c62e1793592557000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加雷达巡检消息 2026-11-02 12:09:17 +080045227b06b5264038899c3867327bc68c88a6c62efeat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msgdiagnose_msgs/CMakeLists.txtdiagnose_msgs/msg/InspectRequest.msgf9ce1665d7cb9a72c3efb2d5820d6bf4f61b77581793698698000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加雷达巡检消息 2026-11-03 17:38:18 +0800f9ce1665d7cb9a72c3efb2d5820d6bf4f61b7758feat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msgperipheral_msgs/msg/PeripheralOperateState.msgac24ee04006030867e2117de1b6dc07c846f1e681794314328000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:上装增加急停状态 2026-11-10 20:38:48 +0800ac24ee04006030867e2117de1b6dc07c846f1e68feat_out:上装增加急停状态editperipheral_msgs/msg/PeripheralOperateState.msggitlibs/slam/src/slam/CICP.cpplibs/slam/include/mrpt/slam/CICP.h46ac207fc9ef84c17af8e7664793813bbca773981794209661000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 修复alpha因子无限收缩导致的最终迭代返回0匹配对的bug 2026-11-09 15:34:21 +080046ac207fc9ef84c17af8e7664793813bbca77398:new: 修复alpha因子无限收缩导致的最终迭代返回0匹配对的bugeditlibs/slam/src/slam/CICP.cppeditlibs/slam/include/mrpt/slam/CICP.hgitAGENTS.mdf36e4fc496af7ca903fbb3d12ff82e2fdd993cf91793873284000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs: 增加prediction工程与编码规范 2026-11-05 18:08:04 +0800f36e4fc496af7ca903fbb3d12ff82e2fdd993cf9docs: 增加prediction工程与编码规范addAGENTS.mdtest/regression/regulator_test.cctest/regression/lane_fixture.htest/regression/lane_fixture.cctest/regression/parallel_driving_test.ccmodules/prediction/container/obstacles/obstacle.cctest/regression/motion_traits_test.ccmodules/prediction/predictor/lane_sequence/lane_sequence_predictor.ccmodules/prediction/predictor/free_move/free_move_predictor.ccmodules/prediction/predictor/junction/junction_predictor.ccmodules/prediction/predictor/lane_sequence/lane_sequence_predictor.hmodules/prediction/common/variable_motion.hmodules/perception/proto/perception_obstacle.prototest/regression/predictor_motion_test.ccmodules/prediction/predictor/predictor.ccc399667ea04935840da53294a32e55cff84d37481793873441000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autostyle: 按工程规范统一源码格式执行全量format.sh；prediction_node及7个回归测试目标构建成功，CTest全部通过。 2026-11-05 18:10:41 +0800c399667ea04935840da53294a32e55cff84d3748style: 按工程规范统一源码格式edittest/regression/parallel_driving_test.ccedittest/regression/predictor_motion_test.ccedittest/regression/motion_traits_test.cceditmodules/prediction/predictor/lane_sequence/lane_sequence_predictor.cceditmodules/prediction/predictor/junction/junction_predictor.cceditmodules/prediction/container/obstacles/obstacle.cceditmodules/prediction/common/variable_motion.heditmodules/prediction/predictor/lane_sequence/lane_sequence_predictor.heditmodules/prediction/predictor/free_move/free_move_predictor.cceditmodules/perception/proto/perception_obstacle.protoeditmodules/prediction/predictor/predictor.ccedittest/regression/lane_fixture.ccedittest/regression/regulator_test.ccedittest/regression/lane_fixture.htools/debug_rosbag_extractor/debug_bag_extractor.hppmodules/prediction/pipeline/vector_net.cctools/debug_rosbag_extractor/consist_rosbag_clipper.hpp.clang-format5db1cc9714c3f54c993e2b6ca9f738bcb6e94e521793933280000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autochore(format): 启用控制语句自动补齐花括号 2026-11-06 10:48:00 +08005db1cc9714c3f54c993e2b6ca9f738bcb6e94e52chore(format): 启用控制语句自动补齐花括号edittools/debug_rosbag_extractor/debug_bag_extractor.hppedittools/debug_rosbag_extractor/consist_rosbag_clipper.hppeditmodules/prediction/pipeline/vector_net.ccedit.clang-formatgitinclude/peripheral_controller_weifang_container.hinclude/config_loader.hppconfig/peripheral_controller.tomlinclude/av_alarm.hinclude/alarm_sender.hppsrc/peripheral_controller_weifang_container.cpp05dfd7fbf5ce6db90ede09621e322faec1571fb31794227042000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:潍坊锁站对齐洋浦双拍锁双色灯与语音 weifang_container：拍1红/拍2黄；进站停车、DI、齐钮READY、PASS超时释放语音；其它港口兼容默认不变 2026-11-09 20:24:02 +080005dfd7fbf5ce6db90ede09621e322faec1571fb3feat_out:潍坊锁站对齐洋浦双拍锁双色灯与语音editinclude/config_loader.hppeditinclude/av_alarm.heditinclude/alarm_sender.hppeditconfig/peripheral_controller.tomleditinclude/peripheral_controller_weifang_container.heditsrc/peripheral_controller_weifang_container.cppinclude/peripheral_controller_weifang_container.hsrc/peripheral_controller_weifang_container.cpp899003bee73dfa0599dedb01a7e67b72be98eab91794297529000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix_bug:潍坊集装箱车辆状态改用peripheral_msgs避免话题类型冲突 weifang_container与AVAlarm共用TOPIC_VEHICLE_STATUS时消息类型不一致导致启动崩溃，统一为peripheral_msgs/VehicleStatus以匹配/vehicle/status_new。 2026-11-10 15:58:49 +0800899003bee73dfa0599dedb01a7e67b72be98eab9fix_bug:潍坊集装箱车辆状态改用peripheral_msgs避免话题类型冲突editinclude/peripheral_controller_weifang_container.heditsrc/peripheral_controller_weifang_container.cppgitdata/ssep/forward_ec.cppTesting/parking_pass_progress_test.cpp60c1d9379949c885c603ce98f0325c0acc2407011794203208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留牵引车重规划时未完成的任务途经点牵引车多段泊车拉直重规划复用任务途经点构造，避免以终点延伸的合成点覆盖尚未完成的任务点。保留任务点完成后及未配置任务点时的显式拉直行为。增加威海现场坐标回归，覆盖重复重规划和任务点生命周期。分布式编译通过，相关 224 项测试全部通过；尚未验证完整泊车搜索。 2026-11-09 13:46:48 +080060c1d9379949c885c603ce98f0325c0acc240701fix: 保留牵引车重规划时未完成的任务途经点editdata/ssep/forward_ec.cppeditTesting/parking_pass_progress_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/dp_poly_path/dp_road_graph.cppdata/plan/start_point_data.cppdata/plan/predict_path.cppdata/config/cfg_dynamic.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_dynamic.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppalgorithm/decision/semantic_set_transformation_2.cppdata/plan_frame.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb8623bcf5e4ec5086aafd1b04cac7432238486fdb1794279951000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解耦与底盘约定的最大角度值和keb规定的最大角度值 2026-11-10 11:05:51 +08008623bcf5e4ec5086aafd1b04cac7432238486fdbfeat: 解耦与底盘约定的最大角度值和keb规定的最大角度值editalgorithm/decision/semantic_set_transformation_2.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/compact_numeric_policy.yamleditdata/plan/start_point_data.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/plan/predict_path.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/plan_frame.cppeditproto/config.protoeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/config/cfg_dynamic.cppeditTesting/scene_replay_foundation_test.cppeditdata/config/cfg_dynamic.hppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cpp62885152c75772075c26f3f7e9f4e2c21b3670ae1794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 复用直行出堆场开关控制入堆场弯道禁停直行入堆场与出堆场共用 use_func_straight_out_yard_park 参数，保留各自总开关及转弯、穿堆场策略。扩展回归覆盖入场、出场、穿场、转弯及开关恢复；修改已在 feat_daxie_proto 完成分布式编译，17 项禁停相关测试通过。 2026-11-10 11:54:27 +080062885152c75772075c26f3f7e9f4e2c21b3670aefix: 复用直行出堆场开关控制入堆场弯道禁停editTesting/disable_stop_regression_test.cppeditdata/constrain/disable_stop_range.cpptasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cppTesting/bulk_speed_limit_test.cppf86e45c7294f184fa67775f6d80a65bc9771dc451794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐普通路由非末段终点停车防护普通 routing 在非 bulk in 场景使用当前段终点距离创建停止线，避免同向分段路由索引未切换时丢失终点停车约束；保留 bulk in、SSEP 和混合路径的末段判断，并过滤无效终点距离。越过终点后继续保留停车约束。接收任务时对换向途经点连接同向路由记录错误日志，不改变任务、操作方向或停车策略。补充录制负距离、连续重规划、真实换向、 bulk in 切换及无效数据回归，并修正双向 IMV 测试的车型子类型配置。 2026-11-10 11:54:27 +0800f86e45c7294f184fa67775f6d80a65bc9771dc45fix: 补齐普通路由非末段终点停车防护editTesting/bulk_speed_limit_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cppTesting/compact_driving_corridor_restore_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cpp3f75b855094641c5d375307be7180a5ab3050ef71794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 cluster 速度滤波残值误触发变道临停动静确认改用当前有效刚体位移测量的速度累计证据，避免单次位移的滤波残值在后续零位移测量中重复计为运动证据。预测与关联继续使用滤波速度，并保留原有动静确认阈值及静止迟滞。补充单次跳动后静止、持续运动目标仍触发碰撞风险的回归测试，为连续 bag 回放增加 cluster 风险、轮廓和独立停车 Range 诊断。验证：相关 100 项测试通过；津西 bag 使用指纹一致的 1.0.15 地图， 460 帧 CPU 子链连续回放中，修复前重现录制的 12 帧临停，修复后为 0。验证覆盖跟踪、风险评估和 Range 创建，不包含完整车辆闭环。 2026-11-10 11:54:27 +08003f75b855094641c5d375307be7180a5ab3050ef7fix: 修复 cluster 速度滤波残值误触发变道临停editTesting/compact_driving_corridor_restore_test.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.cppssep/test/ssep_planner_test.ccssep/test/forward_clearance_check_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.h4bad66115966ad2e0f52c11bb72fb96e162c05c61794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 减少拖挂多段搜索的重复碰撞验收耗时为单次静态地图搜索构建碰撞线段空间索引，并按完整边几何缓存 normal 扩展检查结果；缓存有容量上限，超时不缓存，stop 仍独立验收。窄换向偏好阶段没有有效候选且再次命中同一精确碰撞边时，提前转入已有任务区域兜底，保留总请求时限、最终碰撞检查和换向区域上限。增加索引等价性、缓存生命周期、超时及阶段切换测试。验证：105 项相关单测通过，1 项原有禁用；Orin 两个现场场景共 6 次实际 GPU 回放成功，独立碰撞检查为零。拖挂回归执行 37 条真实 GPU 测试，9 条原规则失败在修复前同样失败；另有途经点走向不符合业务要求但被旧规则判过的案例，两版 273 个路径状态完全一致，仍待修复。 2026-11-10 11:54:27 +08004bad66115966ad2e0f52c11bb72fb96e162c05c6fix: 减少拖挂多段搜索的重复碰撞验收耗时editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/forward_clearance_check.heditssep/test/forward_clearance_check_test.cceditssep/test/ssep_planner_test.ccdata/plan/ssep_data.cppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/plan/ssep_data.hppdata/ssep/parking_task_params.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/plan/ssep_task.cppdata/ssep/ssep_scenario_config_loader.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamlplan/prepare/prepare_state.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppreplayer/scene_data/generated/plan_frame_descriptor.pb9c065453895757fcf39346e2aa6265d24a24ccd11794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 同一停车任务沿用起点规则选定的曲率参数通过 task_persistent_params 显式选择完整的三项停车曲率参数，在实际提交搜索后绑定，同任务跨位置、途经点完成和倒车重搜保留。任务身份或终点变化、取消、结束时清除，仅向停车规划器恢复参数。补齐跨帧继承、Full/Compact/Candidate 类型化状态与缺字段兼容，增加配置校验、生命周期及实际任务身份回放测试。验证：146 项场景配置测试、46 项状态与配置回放测试通过；生成文件、字段覆盖及 Proto breaking 检查通过。 2026-11-10 11:58:44 +08009c065453895757fcf39346e2aa6265d24a24ccd1feat: 同一停车任务沿用起点规则选定的曲率参数editTesting/scene_replay_foundation_test.cppeditdata/ssep/ssep_scenario_config_loader.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/ssep/ssep_ec.cppeditdata/other/parking_pass_progress.cppeditdata/plan/ssep_data.hppeditproto/plan_data.protoeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditplan/prepare/prepare_state.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbedittasks/plan/ssep_task.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/plan/ssep_data.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsonadddata/ssep/parking_task_params.hppeditreplayer/scene_data/generated/plan_frame_encoder.cppTesting/ssep_path_corridor_test.cppdata/ssep/ssep_ec.cpp41636368c43329dddd33897cdeeb1da138d9a5f91794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留 IMV 禁止翻头时的起始操作头身份 IMVGeneral 禁止起点翻头时保留当前操作模式，避免首次同点搜索丢失换向信息。补充首次搜索、换向和停稳重搜的输入及场景导出回归用例，并更新起点偏移任务退出后的预期。 2026-11-10 11:58:44 +080041636368c43329dddd33897cdeeb1da138d9a5f9fix: 保留 IMV 禁止翻头时的起始操作头身份editTesting/ssep_path_corridor_test.cppeditdata/ssep/ssep_ec.cpphmi/widget/diagnose.cppscenarios/scenario.cppscenarios/stage.cpp5c25d678b02ef79a686dade0330785c3a26bbda41794295830000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 诊断窗口显示实际执行的横向规划器按任务实际执行情况记录规划器，逐帧清除历史记录；SSEP 原始路径直出时显示无横向规划器。 2026-11-10 15:30:30 +08005c25d678b02ef79a686dade0330785c3a26bbda4fix: 诊断窗口显示实际执行的横向规划器edithmi/widget/diagnose.cppeditscenarios/scenario.cppeditscenarios/stage.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/ssep/ssep_scenario_config_loader.cppTesting/cfg_scenarios_proto_codec_test.cppdata/ssep/offline_obstacles_loader.cppssep/scenarios/imv_general_planner.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/other/head_straight_progress.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/ssep/ssep_ec.cppssep/test/head_straight_distance_test.cctasks/other_tasks/stitch_path_data_to_path.cppTesting/ssep_path_corridor_test.cppTesting/reverse_pickup_stage_selector_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/config.protodata/ssep/location_condition.hppssep/scenarios/scenario_planner_factory.hreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_stage.cppdata/ssep/location_condition.cpptools/pnc_proto_mapper/test_exact_numeric_codegen.pydata/ssep/offline_obstacles_loader.hppdata/config/cfg_stage.hppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyreplayer/scene_data/generated/plan_frame_descriptor.pbc466a901055983a21871cb475392d8a6ef5147951794295845000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景组合条件与 IMV 出库固定直行兼容原有 OR 条件列表，增加 all/any、库区位置及 SSEP 首末中段条件，同步 Full/Compact 配置合同。支持指定分段直接使用 SSEP 路径及 BulkOut 末段选择 KEB；IMV 沿物理车头直行并在重搜时保留剩余距离，两段式搜索不重复施加首段约束。验证：foundation 541 项、routing 138 项、corridor 237 项通过；SSEP 相关 29 项通过，foundation 13 项可选测试跳过。 2026-11-10 15:30:45 +0800c466a901055983a21871cb475392d8a6ef514795feat: 支持场景组合条件与 IMV 出库固定直行editTesting/reverse_pickup_stage_selector_test.cppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyadddata/ssep/location_condition.cppeditssep/scenarios/scenario_planner_factory.heditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditproto/config.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/parking_pass_progress_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/cfg_scenarios_proto_codec.cppeditscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/ssep/offline_obstacles_loader.cppeditdata/ssep/offline_obstacles_loader.hppeditTesting/cfg_scenarios_proto_codec_test.cppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/ssep/ssep_ec.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/other/head_straight_progress.cppeditssep/scenarios/imv_general_planner.heditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/ssep_scenario_config_loader.cppeditTesting/ssep_path_corridor_test.cppeditssep/test/head_straight_distance_test.ccedittools/pnc_proto_mapper/test_exact_numeric_codegen.pyeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/config/cfg_stage.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdata/config/cfg_stage.hppadddata/ssep/location_condition.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/boundary/road_boundary.cppdccb10f976ff8a4e11c758ec1d710d0cf8d99b3a1794300031000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换 2026-11-10 16:40:31 +0800dccb10f976ff8a4e11c758ec1d710d0cf8d99b3afix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换editdata/boundary/road_boundary.cppdata/obstacle/obstacle.cppdata/obstacle/decision/obstacle_decision.cpp8e72ae7d875c12311da5e7732d260d8c24bf91ee1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(sidepass): 允许绕行合格静止机动车旁的居中两轮车 - 按静止状态、跟踪成熟度、邻接距离及预测运动判断绕行资格 - 先确定机动车策略，避免两轮车准入依赖障碍物遍历顺序 - 保留横穿解除迟滞及条件失效后的绕行承诺撤销 - 保留静止两轮车预测，支持运动风险检查 2026-11-10 17:01:46 +08008e72ae7d875c12311da5e7732d260d8c24bf91eefeat(sidepass): 允许绕行合格静止机动车旁的居中两轮车editdata/obstacle/obstacle.cppeditdata/obstacle/decision/obstacle_decision.cppdata/boundary/road_boundary.cpp6c0824c216a0f1640de2398a81eb76966667099b1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄路径穿过多边形边时，同时过滤两侧连续共线邻边，避免入口被多个顶点拆段后残留边参与道路边界求交。复用现有平行及共线判断，支持闭合首尾并跳过零长度边；遇到转角停止扩展，不改变合并包络生成逻辑。 2026-11-10 17:01:46 +08006c0824c216a0f1640de2398a81eb76966667099bfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄editdata/boundary/road_boundary.cppdata/constrain/block_data.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvproto/decision.protodata/constrain/block_data.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb260f1110c6038c9cbd1498a2535be0fefc9b3f001794301964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行按当前速度、额定加减速度和路口限速计算通行时间。保持已生效的停车要求，避免减速末段因制动距离豁免撤销停车。原始停止线一米内经历红转绿后允许放行，不再要求车辆静止。同步停车保持和放行状态的 Full/Compact 编解码及字段合同。 2026-11-10 17:12:44 +0800260f1110c6038c9cbd1498a2535be0fefc9b3f00fix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/constrain/disable_stop_range.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/scene_replay_foundation_test.cppeditdata/constrain/block_data.cppeditproto/decision.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/constrain/block_data.hppeditproto/config.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_numeric_policy.yamldata/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision_test.cpp95a60bf56ca2cdd45d5a0a78b4366ee817697ad61794302457000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(sidepass): 补全两轮车预测运动检查与承诺退出条件检查原始预测的全部分支，避免零初速 C2V 和非优选运动预测被忽略。未靠边目标仅在本帧满足相邻静止例外时豁免承诺硬退出，不以通用 ALLOW 代替安全判定。适配两阶段决策与现有取消任务后机动车标签恢复流程，补充正常静止例外、两类预测运动和类型策略关闭时边界缺失的回归。 2026-11-10 17:20:57 +080095a60bf56ca2cdd45d5a0a78b4366ee817697ad6fix(sidepass): 补全两轮车预测运动检查与承诺退出条件editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppdata/plan/ssep_data.cppTesting/ssep_path_curvature_test.cppdata/ssep/ssep_ec.cppdata/ssep/ssep_util.cpp3dcd53eb0eb9d4786209096a235efda466d0dd3b1794319795000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 SSEP 曲率方向与控制转向约定按路径点序计算左正右负的有符号曲率，消除旧叉积阈值导致的方向反转和采样间距依赖，避免左转路径原地打轮时先向右打。在倒车分段和挂车参考路径转换处显式转为车头方向曲率，保持与控制原地转向及 MPC 前馈公式一致。重复点返回零曲率，不足五点时清理旧曲率，防止重复计算翻转缓存。补充魏桥现场样本、左右转、前后换向、不同采样间距、退化点、短路径重复计算及挂车参考方向回归。验证：clang-format 21.1.8；Icecream 分布式构建成功；pnc_ssep_path_corridor_test 共 244 项通过。 2026-11-10 22:09:55 +08003dcd53eb0eb9d4786209096a235efda466d0dd3bfix: 修正 SSEP 曲率方向与控制转向约定editdata/plan/ssep_data.cppeditdata/ssep/ssep_ec.cppeditTesting/ssep_path_curvature_test.cppeditdata/ssep/ssep_util.cppTesting/bulk_speed_limit_test.cppTesting/CMakeLists.txttasks/deciders/long_decider/constrain_decider.cpp5d58b8d53e668e7395fb0a3b03e5ed975d12ed951794369300000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复多段路由换向点停车原因冲突先建立本帧操作头换向停车约束，仅在该约束匹配有效且距离有限时，抑制普通路由非末段重复的绝对终点停车线，避免 ABSOLUTE_SIGN_STOP 抢占停因后阻止路由释放当前段。保留末段、同向和换向投影失败时的终点停车防护，并修正操作头数组的边界判断。新增换向停因及路由释放、模式进入持续退出、无效路由、投影失败恢复和约束匹配失效的回归；测试只隔离外部地图查询，执行生产约束和停因逻辑。验证：分布式编译通过，38 项单测通过，clang-format 21 修改范围检查通过。东方特钢 309 bag 使用精确地图加载成功，但输入恢复报 standby_index_seed_missing，未执行到修复逻辑，现场回放验收尚未完成。 2026-11-11 11:55:00 +08005d58b8d53e668e7395fb0a3b03e5ed975d12ed95fix: 修复多段路由换向点停车原因冲突editTesting/bulk_speed_limit_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/CMakeLists.txtreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlplan/prepare/prepare_status.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppTesting/step_align_distance_source_test.cppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb3b6c1b5c369cde9c6051551df5f90c0cf4318c091794388502000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准受阻检测功能增加开关增加静止防抖 2026-11-11 17:15:02 +08003b6c1b5c369cde9c6051551df5f90c0cf4318c09feat: 对准受阻检测功能增加开关增加静止防抖editreplayer/scene_data/generated/plan_frame_descriptor.pbeditproto/config.protoeditplan/prepare/prepare_status.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/step_align_distance_source_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbgitrouting/result_generator.cc61f55f3f95d0aaa029e2c5e1391a79c7244051c91794207726000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 车道扩展bug修复 2026-11-09 15:02:06 +080061f55f3f95d0aaa029e2c5e1391a79c7244051c9feat_out: 车道扩展bug修复editrouting/result_generator.ccgitsrc/bag/ros_bag_keeper.hsrc/utils/bag_task_config.hc6e2344434bd139f348f038fd6471b7ba2ad40b01794204487000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix_bug:修复异常切包带来的问题 2026-11-09 14:08:07 +0800c6e2344434bd139f348f038fd6471b7ba2ad40b0fix_bug:修复异常切包带来的问题editsrc/utils/bag_task_config.heditsrc/bag/ros_bag_keeper.hsrc/CMakeLists.txtsrc/session/task_session.cppsrc/bag/ros_bag_keeper.hcommon/environment.hpackage.xmlcommon/environment.cc53cc6a51532d8e0b284bd725e2e0b270dfbc43a71794217150000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:包名称修改 2026-11-09 17:39:10 +080053cc6a51532d8e0b284bd725e2e0b270dfbc43a7feat_out:包名称修改editsrc/CMakeLists.txteditsrc/session/task_session.cppeditcommon/environment.heditpackage.xmleditsrc/bag/ros_bag_keeper.haddcommon/environment.ccsrc/common.hsrc/bag/ros_bag_keeper.hsrc/utils/record_config.cppconfig/recorder.tomlsrc/utils/bag_task_factory.hsrc/utils/bag_task_config.h7a84678a113f829f67d83ad65e5817acdafc57331794217492000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:支持可配置的monitor持续录包及整分钟对齐切包 2026-11-09 17:44:52 +08007a84678a113f829f67d83ad65e5817acdafc5733feat_out:支持可配置的monitor持续录包及整分钟对齐切包editconfig/recorder.tomleditsrc/utils/bag_task_factory.heditsrc/utils/bag_task_config.heditsrc/utils/record_config.cppeditsrc/bag/ros_bag_keeper.heditsrc/common.hsrc/common.hsrc/utils/record_config.cppsrc/cache/ros_topic_cache.hccb079c6d8a249bb639d1410c4ca0d6a570f9dd91794217492000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix_bug:仅在sustain中配置的topic缓存为0导致未录制 2026-11-09 17:44:52 +0800ccb079c6d8a249bb639d1410c4ca0d6a570f9dd9fix_bug:仅在sustain中配置的topic缓存为0导致未录制editsrc/common.heditsrc/cache/ros_topic_cache.heditsrc/utils/record_config.cppsrc/cache/ros_message.hsrc/cache/ros_topic_tf_cache.hsrc/cache/ros_topic_cache.hsrc/session/task_session.cppsrc/bag/ros_bag_keeper.hsrc/utils/record_config.cppsrc/session/task_session.hsrc/cache/subscriber_manager.h4e698ff50a6ebcaded7e67d31caec7194eef1d3c1794217505000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix_bug:按订阅topic名写包并增加sustain录制诊断日志 2026-11-09 17:45:05 +08004e698ff50a6ebcaded7e67d31caec7194eef1d3cfix_bug:按订阅topic名写包并增加sustain录制诊断日志editsrc/cache/ros_topic_tf_cache.heditsrc/utils/record_config.cppeditsrc/session/task_session.heditsrc/cache/ros_topic_cache.heditsrc/bag/ros_bag_keeper.heditsrc/cache/subscriber_manager.heditsrc/session/task_session.cppeditsrc/cache/ros_message.hsrc/common.hsrc/utils/record_config.cppconfig/recorder.tomldb0275cb96a4645e1cae520184b93e6a506be2581794217505000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:sustain持续录制增加enable开关，默认开启 2026-11-09 17:45:05 +0800db0275cb96a4645e1cae520184b93e6a506be258feat_out:sustain持续录制增加enable开关，默认开启editsrc/common.heditconfig/recorder.tomleditsrc/utils/record_config.cppsrc/bag/ros_bag_keeper.hconfig/recorder.toml9671d12ab58eb227e4d150fbf5eed16351a28a6f1794217595000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:monitor包写入日期目录 output_prefix 直接落在 monitor 根目录，津西车上实际是 /senior/upload/monitor/日期/。 2026-11-09 17:46:35 +08009671d12ab58eb227e4d150fbf5eed16351a28a6ffeat_out:monitor包写入日期目录editsrc/bag/ros_bag_keeper.heditconfig/recorder.tomlconfig/recorder.tomlsrc/bag/ros_bag_keeper.h2327552ac84a0bde1dc8cf32c9e2402f288dece11794367509000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:全量包去掉日期目录，滚动删除仅限本次运行的当天文件 2026-11-11 11:25:09 +08002327552ac84a0bde1dc8cf32c9e2402f288dece1feat_out:全量包去掉日期目录，滚动删除仅限本次运行的当天文件editconfig/recorder.tomleditsrc/bag/ros_bag_keeper.hgithttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiaohttp://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyanghttp://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxuehttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/mataomataomataoorinslaveconfListGet-BranchsconfCould not get conf for 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