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curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/keb_optimizer/keb_problem.cceditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils_core.hppeditssep/maps/ogm.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 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align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.hppeditdata/map/pnc_map/pnc_map_helper.cppeditplan/prepare/prepare_status.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/replayer_hmi.hpphmi/widget/path_curve_detail.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/replayer_hmi.cpphmi/node_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.hppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.hppaddhmi/widget/path_curve_detail.cppedithmi/node_hmi.cppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/plan/path_data.cppeditalgorithm/util/curvature.cppeditalgorithm/util/curvature.hppeditdata/common/guide_path.cppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.hppeditdata/plan_frame.cppedithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/lattice/ogm_crash_data.cppeditplan/prepare/prepare_ogm.cppeditdata/config/cfg_hmi.cppeditdata/lattice/ogm_crash_data.hppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测edithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hppeditdata/plan_frame.cppeditdata/config/cfg_hmi.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 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。editdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cppdata/config/cfg_stage.hpptasks/plan/lane_change_path_task_v2.cppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/config/cfg_stage.hppeditdata/plan/switch_data.cppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_stage.cppeditconfig/config_imv/scenario.yamladdtasks/plan/lane_change_path_task_v2.hppeditdata/config/cfg_lat_plan.hppedittasks/task_factory.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editnode/logic.cppeditscenarios/scenario.cppeditcore/plan_runtime_watchdog.hppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥不创建双黄线约束editdata/ssep/bridge_junction_ec.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: 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editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_multi_segment_parking_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 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 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 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editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppscenarios/stage.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editscenarios/stage.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.cppreplayer/replayer_data_process/replayer_data_process.cppdata/plan/guide_line.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppc985b5d139bd58bfced869c12fd281635385d23d1781704635000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线赋值的bug 2026-06-17 21:57:15 +0800c985b5d139bd58bfced869c12fd281635385d23dfix:修复停止线赋值的bugeditdata/map/pnc_map/pnc_map_path.cppCMakeLists.txt7208d3d12ea79d541e5468946bb14f96755e63211781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 2026-06-17 22:44:01 +08007208d3d12ea79d541e5468946bb14f96755e6321fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题editCMakeLists.txtdata/map/envelop/map_envelop.cppae7311500c04fd8ac201a456995c22500151a2b81781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 2026-06-17 22:44:01 +0800ae7311500c04fd8ac201a456995c22500151a2b8fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划editdata/map/envelop/map_envelop.cppdata/map/reference/reference_road_section.hppdata/map/reference/reference_road_section.cppc9307e98a239504f9c8b930abc637985f93443541781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 2026-06-17 22:44:01 +0800c9307e98a239504f9c8b930abc637985f9344354refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性editdata/map/reference/reference_road_section.hppeditdata/map/reference/reference_road_section.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.cce65ecba034e9ae68666f2a036d3ac12d4ef5c7d21782115296000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 2026-06-22 16:01:36 +0800e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作editssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域 (IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大, 解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。 2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpptasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。 2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppdata/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis 直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer), 避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。 2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 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editdata/ssep/into_yard_junction_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 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。 2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: 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。editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题editalgorithm/plan/keb_optimizer.cppeditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_utils.ccdata/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理 - piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退 - pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激 - 补充 pjpo 曲率约束相关测试 - 清理 PJPO 调试 trace 日志 2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppreplayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 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editreplayer/replayer_data_process/replayer_data_process.cpptasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cppdata/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 - CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判 - 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定 - 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值 2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/plan/switch_data.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化 CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化), DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。 upper/underlying 两层都判断, 下层碰撞时短路跳过上层。 2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/obstacle/ogm.hppeditdata/plan/switch_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项, 锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0; 修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。 2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 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editdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.cpptasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑editdata/plan/smooth_data.cppedittasks/plan/pjpo_task.cppedittasks/plan/pjpo_task.hppalgorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cppdata/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppsink/ros_sink_pnc_status.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 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editdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.hppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 - 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框 - open_space_ec 起点框内联逻辑改为调用该函数 - into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底 2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d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editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppscenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057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 groupeditscenarios/stage.cpptasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cppdata/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 - U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE) - 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽 2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cppdata/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner 2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.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.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: 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editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/scenario_planner_factory.halgorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug 2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash 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+08002e9168695f19e6f4e903be1ee810592a1ea7df29note_out:增加挂周突现散点过滤策略对校正值是否正确的反馈机制.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/params/model5741760a29ba6e5e28915e498afc0eb7a32ce78e1781493008000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:洋浦模型更新,增加IMV识别输出(混合友谊关数据). 2026-06-15 11:10:08 +08005741760a29ba6e5e28915e498afc0eb7a32ce78enote_out:洋浦模型更新,增加IMV识别输出(混合友谊关数据).editperception/dl_detection/params/modelperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppc3edea1fa5c854751d2957f59421dfd01e9219171781586145000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:非堆场土堆误检过滤(洒水车水汽误检). 2026-06-16 13:02:25 +0800c3edea1fa5c854751d2957f59421dfd01e921917note_out:非堆场土堆误检过滤(洒水车水汽误检).editperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_suf_impl.cppda9cfd0b9dfc3b52227e1b77788ff8ba4d07365a1781693036000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto苏溪桥腿区域不参与限速聚类 2026-06-17 18:43:56 +0800da9cfd0b9dfc3b52227e1b77788ff8ba4d07365a苏溪桥腿区域不参与限速聚类editperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.ha7dc4448ab4039288e4c81b7dfe78985b9fec0a61781697503000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autoperf(yiwu): 苏溪IMV车周点低薄地面噪点过滤，扩展X向范围至26m 2026-06-17 19:58:23 +0800a7dc4448ab4039288e4c81b7dfe78985b9fec0a6perf(yiwu): 苏溪IMV车周点低薄地面噪点过滤，扩展X向范围至26meditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/params/obstacle_detection_param_dx.yamlperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.hperception/common/common_types.h7c749ff0876a557d8feb74cc4077423c287513411781770567000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:大榭码头面区域龙门吊误检过滤. 2026-06-18 16:16:07 +08007c749ff0876a557d8feb74cc4077423c28751341note_out:大榭码头面区域龙门吊误检过滤.editperception/dl_detection/params/obstacle_detection_param_dx.yamleditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.heditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/params/obstacle_detection_param_dx.yamlperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.hperception/dl_detection/lidar/impl/dld_suf_impl.cppc7e471bf13e7459d76474a5554f993e031cca63e1781781774000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 修复码头面龙门吊过滤的bug. 2026-06-18 19:22:54 +0800c7e471bf13e7459d76474a5554f993e031cca63enote_out: 修复码头面龙门吊过滤的bug.editperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/params/obstacle_detection_param_dx.yamleditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hb7ca11bad7b4e83701527dd94e42d2203d066e411782099351000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台高柱标记逻辑,相比矮柱,增加历史时域要求. 2026-06-22 11:35:51 +0800b7ca11bad7b4e83701527dd94e42d2203d066e41note_out:烟台高柱标记逻辑,相比矮柱,增加历史时域要求.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/common/common_types.hperception/dl_detection/lidar/impl/dld_suf_impl.cpp57f7ace4a27d45e6b2a1ee441e55355b5551ca0f1782294679000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:码头面过滤龙门吊逻辑去除堆高机. 2026-06-24 17:51:19 +080057f7ace4a27d45e6b2a1ee441e55355b5551ca0fnote_out:码头面过滤龙门吊逻辑去除堆高机.editperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_lidar_detection.cppf57d58b0a9653c22e769308e123139dca3fa536d1782296838000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台自转模式下行程开关过滤. 2026-06-24 18:27:18 +0800f57d58b0a9653c22e769308e123139dca3fa536dnote_out:烟台自转模式下行程开关过滤.editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_data_provider.heditperception/dl_detection/lidar/impl/dld_lidar_detection.cppeditperception/dl_detection/lidar/impl/dld_og_around_impl.cpptools/debug/debug_seg.shtools/debug/debug_dmp.sh158e569c6e85fb3744fc09ec923a266e2b0787271782304030000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:适配x86架构的dmp文件解析. 2026-06-24 20:27:10 +0800158e569c6e85fb3744fc09ec923a266e2b078727note_out:适配x86架构的dmp文件解析.edittools/debug/debug_seg.shedittools/debug/debug_dmp.shperception/dl_detection/lidar/impl/dld_og_around_impl.cpp810d3d2ac75b40da105ee6a1c2cd40b620addacd1782577651000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台车体标记107点bug修改. 2026-06-28 00:27:31 +0800810d3d2ac75b40da105ee6a1c2cd40b620addacdnote_out:烟台车体标记107点bug修改.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_lidar_detection.cppd9b53afc77d6d35a5c796739a2362f5acac429e61782614993000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台自车运动补偿车腿散点过滤逻辑,根据转向角启动过滤框膨胀. 2026-06-28 10:49:53 +0800d9b53afc77d6d35a5c796739a2362f5acac429e6note_out:烟台自车运动补偿车腿散点过滤逻辑,根据转向角启动过滤框膨胀.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_lidar_detection.cppeditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_data_provider.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.hperception/common/common_types.h5dfebd2ccf34105e1e4da5c93369bfe1ef5976111782734234000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:写新逻辑过滤洋浦非码头面锁框. 2026-06-29 19:57:14 +08005dfebd2ccf34105e1e4da5c93369bfe1ef597611note_out:写新逻辑过滤洋浦非码头面锁框.editperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppa7833fb89f36e3e2c84b8625fc372c586b792fbe1782739376000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:放宽宝世顺铁路堆场路沿横向约束. 2026-06-29 21:22:56 +0800a7833fb89f36e3e2c84b8625fc372c586b792fbenote_out:放宽宝世顺铁路堆场路沿横向约束.editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/dl_detection/lidar/impl/dld_noise_filter.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_noise_filter.h22c5f3569b68280258bbbe69af5e64957d11bb2a1782799317000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复无车周点时NoiseFilter车周栅格不更新空置状态的bug. 2026-06-30 14:01:57 +080022c5f3569b68280258bbbe69af5e64957d11bb2anote_out:修复无车周点时NoiseFilter车周栅格不更新空置状态的bug.editperception/dl_detection/lidar/impl/dld_noise_filter.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_noise_filter.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp94dd94dc0888b58605747708c7557f8b7d09a56a1782804291000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:过滤岸桥轨道上的沟沿误检. 2026-06-30 15:24:51 +080094dd94dc0888b58605747708c7557f8b7d09a56anote_out:过滤岸桥轨道上的沟沿误检.editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.gitignore604f3af72501ca145261c00bb9c3c69fbd75bebf1782892207000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:宝世顺去铁轨矮草散点. 2026-07-01 15:50:07 +0800604f3af72501ca145261c00bb9c3c69fbd75bebfnote_out:宝世顺去铁轨矮草散点.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppedit.gitignoreperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppc5c1c4aa9cd5bcb4cc168e58b3f4253a7d4e82771782896387000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台高柱检出区对行人标记为地图外. 2026-07-01 16:59:47 +0800c5c1c4aa9cd5bcb4cc168e58b3f4253a7d4e8277note_out:烟台高柱检出区对行人标记为地图外.editperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h9cf0f88238a4743e0c5443d7ce7e8dec03dbfbe41782905202000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 矮柱近邻查找增加质心距离约束. 2026-07-01 19:26:42 +08009cf0f88238a4743e0c5443d7ce7e8dec03dbfbe4note_out: 矮柱近邻查找增加质心距离约束.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp3e05f34a15a00748a015c15b01e925215d5521451782905698000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 矮柱近邻查找质心距离约束0.2->0.25. 2026-07-01 19:34:58 +08003e05f34a15a00748a015c15b01e925215d552145note_out: 矮柱近邻查找质心距离约束0.2->0.25.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.he58d26eb2ccba90e35199f64bab39d2fd95a8fbf1782971852000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改高柱栅格标记时域确认方式. 2026-07-02 13:57:32 +0800e58d26eb2ccba90e35199f64bab39d2fd95a8fbfnote_out:修改高柱栅格标记时域确认方式.addperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgeditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgd7255582c9247a3a513aae17a7b649c8b4b3ce791782971869000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改高柱栅格标记时域确认方式. 2026-07-02 13:57:49 +0800d7255582c9247a3a513aae17a7b649c8b4b3ce79note_out:修改高柱栅格标记时域确认方式.deleteperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hadc0971d9184636224eec71ec82d2d563dfe497d1782974222000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:高柱历史信息记录标记使用时间戳而非帧计数. 2026-07-02 14:37:02 +0800adc0971d9184636224eec71ec82d2d563dfe497dnote_out:高柱历史信息记录标记使用时间戳而非帧计数.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hgitlidar_manual_calib/config/map/perception_map_ts26.pnglidar_manual_calib/launch/dump_3pxt32_3rsbp.launchlidar_manual_calib/config/truck_3pxt32_3rsbp.rvizlidar_manual_calib/src/map_mask/map_utils.cpplidar_manual_calib/config/imv_4pxt32_4rsbp.rvizlidar_manual_calib/config/map/perception_map_xl.pnglidar_manual_calib/config/map/perception_map_hr.pnglidar_manual_calib/script/record_multi_lidar_calib_dura15_copy_correction_files.shlidar_manual_calib/launch/imv_4rshelios_4rsbp.launchlidar_manual_calib/config/map/perception_map_wf-container.pnglidar_manual_calib/config/shenqi_2m1p_4e1.rvizlidar_manual_calib/src/manual_calib_main_lidar.hlidar_manual_calib/config/truck_3rshelios_3rsbp.rvizlidar_manual_calib/config/map/perception_map_xjkw.pnglidar_manual_calib/config/imv_4rshelios_4rsbp.rvizlidar_manual_calib/config/map/perception_map_bss.pnglidar_manual_calib/config/daxie_truck_3pxt32_3rsbp.rvizlidar_manual_calib/config/truck_3pxt32_3rsairy.rvizlidar_manual_calib/launch/shenqi_2m1p_4e1.launchlidar_manual_calib/config/map/perception_map_dx.pnglidar_manual_calib/config/map/perception_map_sq.pnglidar_manual_calib/config/map/perception_map_tybh.pnglidar_manual_calib/config/map/perception_map_tc.pnglidar_manual_calib/src/MaskNode.cpplidar_manual_calib/launch/truck_3pxt32_3rsbp.launchlidar_manual_calib/cmake/glog.cmakelidar_manual_calib/src/manual_calib.hlidar_manual_calib/launch/truck_3rshelios_3rsairy.launchlidar_manual_calib/config/ManualCalibMainLidar_.cfglidar_manual_calib/config/map/perception_map_rz.pnglidar_manual_calib/launch/truck_3pxt32_3rsairy.launchlidar_manual_calib/config/map/perception_map_wf-bulk.pnglidar_manual_calib/config/map/perception_map_ts22.pnglidar_manual_calib/package.xmllidar_manual_calib/config/map/perception_map_yp.pnglidar_manual_calib/config/map/perception_map_dx_weed.pnglidar_manual_calib/config/ManualCalib_.cfglidar_manual_calib/src/map_mask/map_utils.hlidar_manual_calib/src/map_mask_node.cpplidar_manual_calib/launch/imv_4pxt32_4rsbp.launchlidar_manual_calib/launch/truck_3rshelios_3rsbp.launchlidar_manual_calib/config/map/perception_map_sx.pnglidar_manual_calib/script/record_multi_lidar_calib.shlidar_manual_calib/src/MaskNode.hlidar_manual_calib/config/daxie_truck_3pxt32_3rsairy.rvizlidar_manual_calib/CMakeLists.txtlidar_manual_calib/config/map/perception_map_yyg.pnglidar_manual_calib/src/manual_calib_main_lidar.cpplidar_manual_calib/config/dynamic_reconfigure.cfglidar_manual_calib/config/truck_3pxt32_4rsbp.rvizlidar_manual_calib/config/daxie_truck_3pxt32_2rsbp_1rsairy.rvizlidar_manual_calib/script/record_multi_lidar_calib_dura15.shlidar_manual_calib/src/map_mask/logger.hlidar_manual_calib/src/manual_calib.cpplidar_manual_calib/config/dump_3pxt32_3rsbp.rvizlidar_manual_calib/config/map/perception_map_qg.pnglidar_manual_calib/config/map/perception_map_yp_weed.pnglidar_manual_calib/README.mdlidar_manual_calib/config/map/perception_map_zh.pngf66554b254330b3f69a6a7c8230aa35aeefc17191763303932000http://159.27.114.184:8080/jenkins/user/hongjinjinhongjinjinhongjinjin@senior.autoadd map in calib 2025-11-16 22:38:52 +0800f66554b254330b3f69a6a7c8230aa35aeefc1719add map in 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船新版本震撼上市 2026-05-26 19:29:57 +08005ac45d424d5da1acf41ced22451b7b0d5edb25dd:new: 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新增功能出region就reset ekf 2026-05-28 15:47:52 +0800691e3af66b583c4c3ae8cab15149e8037670f6d2:new: 新增功能出region就reset 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新增通过车辆俯仰角变化判断是否进入真斜坡，应对船舶斜坡收回的情况 2026-05-28 20:17:30 +080068fec134cbe9a3f084664924474e4ee3b749de35:new: 新增通过车辆俯仰角变化判断是否进入真斜坡，应对船舶斜坡收回的情况editloc/lidar/reflect_match/feature/feature_extractor.cppeditcommon/util/slope_loc.cppeditcommon/CMakeLists.txteditcommon/util/ramp_ground_regions.heditloc/lidar/reflect_match/deck_elevation_manager.cppaddcommon/util/ramp_deploy_detect.cppeditloc/app/lidar_loc_v2_node_impl.cppaddloc/launch/lidar_loc_v2_node_offline.launcheditcommon/util/ramp_ground_regions.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/param/lidar_loc_v2_node.vehicle.yamladdloc/scripts/plot_ramp_deploy_log.pyaddcommon/util/ramp_deploy_detect.hloc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_target.pcdloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_target.pcdloc/app/lidar_loc_v2_node_impl.cppcommon/CMakeLists.txtcommon/util/ship_entrance_regions.cpploc/param/reflect_match/weihai/mask.yamlcommon/util/ramp_lidar_odom.hloc/lidar/reflect_match/feature/feature.cpploc/param/reflect_match/weihai/ship_entrance_lines.yamlloc/lidar/reflect_match/deck_elevation_manager.hcommon/util/ramp_ground_regions.cpploc/lidar/reflect_match/feature/feature.hloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_src_init.pcdcommon/util/ship_entrance_ground_anchor.hloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/weihai/mrpt_icp.yamlloc/lidar/reflect_match/feature/ground_extractor.cpploc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_src_init.pcdloc/lidar/reflect_match/feature/feature_extractor.cppcommon/util/ramp_deploy_detect.cpploc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_src_init.pcdcommon/util/ramp_lidar_odom.cpploc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_src_matched.pcdloc/param/lidar_loc_v2_node.vehicle.yamlloc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_pose.txtloc/param/reflect_match/weihai/region.yamlloc/lidar/reflect_match/feature/feature_extractor.hcommon/util/ship_entrance_ground_anchor.cpploc/lidar/reflect_match/deck_elevation_manager.cpploc/param/reflect_match/weihai/feature.yamlcommon/util/ramp_ground_regions.hloc/lidar/reflect_match/feature/ground_extractor.hcommon/util/slope_loc.cpploc/launch/lidar_loc_v2_node.rvizloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_pose.txtloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_src_matched.pcdloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_target.pcdloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_src_matched.pcdloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_pose.txtloc/lidar/src/lidar_manage.cpp867e848a6fbb32f83cdab352f34d4afbb45f1f521780285313000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 全局按首帧地面矫正为基准，做位姿变换，不再自矫正 2026-06-01 11:41:53 +0800867e848a6fbb32f83cdab352f34d4afbb45f1f52:new: 全局按首帧地面矫正为基准，做位姿变换，不再自矫正deleteloc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_pose.txtaddcommon/util/ramp_lidar_odom.cppeditloc/launch/lidar_loc_v2_node.rvizdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_src_matched.pcddeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_src_init.pcdeditloc/lidar/reflect_match/deck_elevation_manager.hdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_pose.txtdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_src_init.pcdeditloc/lidar/reflect_match/deck_elevation_manager.cppdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_pose.txtdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_target.pcdeditloc/lidar/reflect_match/feature/ground_extractor.heditloc/param/reflect_match/weihai/mask.yamleditloc/lidar/reflect_match/feature/feature_extractor.cppdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_src_matched.pcdeditcommon/util/ship_entrance_regions.cppeditloc/lidar/src/lidar_manage.cppeditloc/lidar/reflect_match/feature/ground_extractor.cppeditcommon/CMakeLists.txtdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq54_entrance_ndt_target.pcddeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq43_entrance_ndt_src_matched.pcdeditloc/param/reflect_match/weihai/region.yamleditloc/lidar/reflect_match/feature/feature.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/param/reflect_match/weihai/feature.yamldeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_src_init.pcdaddcommon/util/ship_entrance_ground_anchor.cppaddcommon/util/ramp_lidar_odom.heditcommon/util/slope_loc.cppeditloc/app/lidar_loc_v2_node_impl.cppdeleteloc/scripts/ship_entrance_icp/1778661732.999855_seq47_entrance_ndt_target.pcdeditcommon/util/ramp_ground_regions.cppeditcommon/util/ramp_ground_regions.heditloc/lidar/reflect_match/feature/feature.heditloc/lidar/reflect_match/feature/feature_extractor.heditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/reflect_match/weihai/mrpt_icp.yamleditloc/param/reflect_match/weihai/ship_entrance_lines.yamladdcommon/util/ship_entrance_ground_anchor.heditcommon/util/ramp_deploy_detect.cppcommon/geometry/reg_result.hloc/lidar/reflect_match/registration/mrpt_icp.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cpploc/param/reflect_match/yangpu/mrpt_icp.yamlcommon/geometry/interpolate.hppcommon/CMakeLists.txtloc/param/reflect_match/yangpu/region.yamlloc/param/reflect_match/yangpu/feature.yamlcommon/util/elevation_z_fuse.hloc/param/reflect_match/yangpu/mask.yamlloc/lidar/reflect_match/deck_elevation_manager.cpploc/scripts/merge_elevation_maps.pyloc/fusion/msf_wrapper.hloc/lidar/reflect_match/registration/mrpt_icp.cpploc/fusion/msf_wrapper.cpploc/param/reflect_match/baoshishun/mask.yamlcommon/util/elevation_z_fuse.cpp8ca4d24a4e3eb88949c6b6e2b3a1686aea81d9be1780560183000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 新增通过高层图作为z观测给ekf 2026-06-04 16:03:03 +08008ca4d24a4e3eb88949c6b6e2b3a1686aea81d9be:new: 新增通过高层图作为z观测给ekfeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/lidar/reflect_match/registration/mrpt_icp.heditcommon/geometry/reg_result.heditloc/lidar/reflect_match/deck_elevation_manager.cppeditloc/param/reflect_match/yangpu/region.yamladdcommon/util/elevation_z_fuse.cppeditloc/param/reflect_match/yangpu/feature.yamleditcommon/geometry/interpolate.hppeditloc/fusion/msf_wrapper.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/fusion/msf_wrapper.haddloc/scripts/merge_elevation_maps.pyeditloc/app/lidar_loc_v2_node_impl.cppeditcommon/CMakeLists.txteditloc/param/reflect_match/yangpu/mask.yamleditloc/param/reflect_match/baoshishun/mask.yamladdcommon/util/elevation_z_fuse.heditloc/param/reflect_match/yangpu/mrpt_icp.yamlloc/param/reflect_match/suxi/region.yamlloc/param/reflect_match/suxi/mask.yamlcommon/util/pose_cmp_process.cpploc/app/lidar_loc_v2_node_impl.cppcommon/util/ship_entrance_regions.cpploc/param/reflect_match/suxi/feature.yamlloc/scripts/merged_elevation_info.yamlloc/scripts/merge_elevation_maps.pyloc/launch/perf_monitor.launchcommon/util/ramp_ground_regions.cpploc/lidar/reflect_match/deck_elevation_manager.hloc/scripts/merged_elevation.pngcommon/util/ramp_deploy_detect.hloc/scripts/elevation_info_example.yamlloc/param/reflect_match/weihai/mrpt_icp.yamlloc/lidar/reflect_match/registration/mrpt_icp.cppcommon/util/ramp_deploy_detect.cpploc/param/reflect_match/liangshan/feature.yamlloc/lidar/reflect_match/feature/feature_extractor.cppcommon/util/ramp_lidar_odom.cpploc/param/reflect_match/liangshan/region.yamlloc/param/lidar_loc_v2_node.vehicle.yamlloc/param/reflect_match/suxi/region_maintainer.yamlscript/perf_monitor_node.pycommon/util/ship_entrance_regions.hloc/param/reflect_match/suxi/mrpt_icp.yamlloc/lidar/reflect_match/deck_elevation_manager.cppcommon/util/ramp_ground_regions.hloc/param/reflect_match/liangshan/region_maintainer.yamlloc/param/reflect_match/liangshan/mrpt_icp.yamlloc/launch/lidar_loc_v2_node.rvizloc/app/lidar_loc_v2_node.cpploc/param/reflect_match/liangshan/mask.yamle88f1041903e06f02c9b2337c65288cb412aa0671781007018000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 修改加载甲板层数策略 2026-06-09 20:10:18 +0800e88f1041903e06f02c9b2337c65288cb412aa067:new: 修改加载甲板层数策略editcommon/util/ship_entrance_regions.cppaddloc/param/reflect_match/suxi/mask.yamladdloc/param/reflect_match/liangshan/region.yamladdloc/param/reflect_match/suxi/mrpt_icp.yamleditloc/scripts/merge_elevation_maps.pyaddloc/scripts/elevation_info_example.yamladdloc/param/reflect_match/liangshan/mrpt_icp.yamleditcommon/util/ramp_deploy_detect.heditcommon/util/ramp_ground_regions.cppaddloc/param/reflect_match/suxi/feature.yamladdloc/param/reflect_match/liangshan/region_maintainer.yamladdloc/param/reflect_match/liangshan/mask.yamleditcommon/util/ramp_deploy_detect.cppaddscript/perf_monitor_node.pyeditloc/lidar/reflect_match/deck_elevation_manager.cppeditloc/app/lidar_loc_v2_node_impl.cppaddloc/param/reflect_match/liangshan/feature.yamleditloc/param/reflect_match/weihai/mrpt_icp.yamleditcommon/util/pose_cmp_process.cppeditcommon/util/ramp_ground_regions.heditcommon/util/ship_entrance_regions.haddloc/scripts/merged_elevation_info.yamleditloc/lidar/reflect_match/feature/feature_extractor.cppeditloc/app/lidar_loc_v2_node.cppaddloc/scripts/merged_elevation.pngeditcommon/util/ramp_lidar_odom.cppaddloc/param/reflect_match/suxi/region_maintainer.yamleditloc/launch/lidar_loc_v2_node.rvizeditloc/lidar/reflect_match/deck_elevation_manager.haddloc/launch/perf_monitor.launchaddloc/param/reflect_match/suxi/region.yamleditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cpploc/param/reflect_match/xilian/mask.yamlloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/app/lidar_loc_v2_node_impl.hscript/__pycache__/perf_monitor_node.cpython-38.pycCMakeLists.txtloc/lidar/reflect_match/region/region_maintainer.hloc/fusion/pose_2d_measurement.hcommon/util/global.cpploc/lidar/src/extrinsic_param.cpploc/param/lidar_loc_v2_node.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/fusion/msf_wrapper.cpploc/param/reflect_match/xilian/feature.yamlloc/param/lidar_loc_v2_node.vehicle.yamlloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamlloc/lidar/reflect_match/region/region_list.hloc/param/lidar_loc_v2_node.vehicle_xuxi.yamlloc/param/reflect_match/xilian/region_maintainer.yamlloc/param/reflect_match/xilian/mrpt_icp.yamlloc/lidar/reflect_match/region/region_list.cpploc/param/reflect_match/suxi/mrpt_icp.yamlloc/lidar/reflect_match/deck_elevation_manager.cppcommon/util/global.hloc/param/reflect_match/xilian/region.yamlloc/lidar/src/lidar_process.cpploc/launch/lidar_loc_v2_node.rvizloc/fusion/msf_wrapper.hloc/app/lidar_loc_v2_node.cpploc/lidar/reflect_match/region/region_maintainer.cpp713fcbfe1bb47dafef3110ebcbb731ccdea6bdb11781513117000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 修复imv车无法正常拿到tf的问题 2026-06-15 16:45:17 +0800713fcbfe1bb47dafef3110ebcbb731ccdea6bdb1:new: 修复imv车无法正常拿到tf的问题editloc/lidar/reflect_match/region/region_maintainer.haddloc/param/reflect_match/xilian/mask.yamleditloc/launch/lidar_loc_v2_node.rvizeditloc/lidar/reflect_match/region/region_maintainer.cppaddloc/param/lidar_loc_v2_node.vehicle_weihai.yamladdloc/param/reflect_match/xilian/mrpt_icp.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditcommon/util/global.haddloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamleditloc/lidar/src/lidar_process.cppeditloc/app/lidar_loc_v2_node.cppeditloc/lidar/reflect_match/region/region_list.heditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/fusion/pose_2d_measurement.heditcommon/util/global.cppaddscript/__pycache__/perf_monitor_node.cpython-38.pycaddloc/param/lidar_loc_v2_node.vehicle_xuxi.yamleditloc/app/lidar_loc_v2_node_impl.heditloc/fusion/msf_wrapper.heditloc/param/lidar_loc_v2_node.yamleditCMakeLists.txteditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/reflect_match/deck_elevation_manager.cppaddloc/param/reflect_match/xilian/region.yamladdloc/param/reflect_match/xilian/feature.yamleditloc/lidar/src/extrinsic_param.cppeditloc/lidar/reflect_match/region/region_list.cppeditloc/param/reflect_match/suxi/mrpt_icp.yamladdloc/param/reflect_match/xilian/region_maintainer.yamleditloc/fusion/msf_wrapper.cppcommon/util/global.hloc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/param/lidar_loc_v2_node.vehicle.yamlcommon/util/global.cpploc/lidar/src/lidar_common.cpploc/lidar/src/lidar_common.hloc/lidar/src/extrinsic_param.cpploc/app/lidar_loc_v2_node_impl.cpploc/param/lidar_loc_v2_node.yamlloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/app/lidar_loc_v2_node.cpploc/lidar/src/lidar_manage.cpp27d2c22076358eecf648095df6822aacafe007091781596600000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加仅用主雷达做定位匹配 2026-06-16 15:56:40 +080027d2c22076358eecf648095df6822aacafe00709:new: 增加仅用主雷达做定位匹配editloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/src/extrinsic_param.cppeditloc/param/lidar_loc_v2_node.yamleditcommon/util/global.heditcommon/util/global.cppeditloc/lidar/src/lidar_common.cppdeleteloc/param/lidar_loc_v2_node.vehicle_weihai.yamleditloc/app/lidar_loc_v2_node.cppaddloc/param/lidar_loc_v2_node.vehicle_xilian.yamleditloc/lidar/src/lidar_manage.cppeditloc/lidar/src/lidar_common.heditloc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/src/data_interface.cpploc/lidar/src/lidar_manage.hloc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/scripts/diagnose_predict_chain_from_result.pyloc/lidar/src/lidar_common.cpploc/lidar/src/lag_diagnose.hloc/app/lidar_loc_v2_node_impl.cpploc/fusion/zupt_check.hloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/param/reflect_match/xilian/mask.yamlloc/app/lidar_loc_v2_node_impl.hcommon/util/ramp_lidar_odom.hloc/scripts/handeye_imu_lidar_2d_from_result.pyloc/param/lidar_loc_v2_node.vehicle_suxi.yamlloc/fusion/zupt_check.cppcommon/util/global.cpploc/lidar/src/extrinsic_param.cpploc/param/lidar_loc_v2_node.yamlloc/scripts/calibrate_imu_lidar_extrinsic_from_result.pyloc/fusion/msf_wrapper.cpploc/lidar/reflect_match/feature/feature_extractor.cpploc/param/reflect_match/xilian/feature.yamlcommon/util/ramp_lidar_odom.cpploc/param/lidar_loc_v2_node.vehicle.yamlloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamlloc/lidar/reflect_match/feature/feature_extractor.hloc/param/lidar_loc_v2_node.vehicle_xuxi.yamlloc/param/reflect_match/xilian/mrpt_icp.yamlcommon/util/global.hloc/param/reflect_match/xilian/region.yamlloc/launch/lidar_loc_v2_node.rvizloc/fusion/msf_wrapper.hloc/app/lidar_loc_v2_node.cpploc/lidar/src/lidar_manage.cpp664ac3ba5984f06a0cf7b27117a46e5497f2c5211782286784000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加任意个雷达进行定位，增加耗时打印 2026-06-24 15:39:44 +0800664ac3ba5984f06a0cf7b27117a46e5497f2c521:new: 增加任意个雷达进行定位，增加耗时打印editloc/app/lidar_loc_v2_node_impl.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/fusion/zupt_check.heditloc/lidar/src/data_interface.cppeditloc/app/lidar_loc_v2_node.cppaddloc/lidar/src/lag_diagnose.heditloc/lidar/reflect_match/feature/feature_extractor.cppaddloc/param/lidar_loc_v2_node.vehicle_suxi.yamleditloc/param/reflect_match/xilian/feature.yamleditloc/lidar/src/lidar_manage.heditloc/lidar/src/lidar_manage.cppeditloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamleditcommon/util/ramp_lidar_odom.haddloc/param/lidar_loc_v2_node.vehicle_weihai.yamladdloc/scripts/calibrate_imu_lidar_extrinsic_from_result.pyeditloc/lidar/reflect_match/feature/feature_extractor.heditloc/lidar/src/lidar_common.cppeditcommon/util/global.heditloc/fusion/msf_wrapper.heditloc/lidar/src/extrinsic_param.cppaddloc/scripts/handeye_imu_lidar_2d_from_result.pyeditloc/launch/lidar_loc_v2_node.rvizeditloc/param/reflect_match/xilian/region.yamleditcommon/util/ramp_lidar_odom.cppdeleteloc/param/lidar_loc_v2_node.vehicle_xuxi.yamleditloc/param/reflect_match/xilian/mask.yamleditloc/param/lidar_loc_v2_node.vehicle_xilian.yamleditloc/param/lidar_loc_v2_node.yamleditloc/fusion/zupt_check.cppeditloc/param/reflect_match/xilian/mrpt_icp.yamleditcommon/util/global.cppeditloc/app/lidar_loc_v2_node_impl.heditloc/fusion/msf_wrapper.cppaddloc/scripts/diagnose_predict_chain_from_result.pyloc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/lidar/src/lidar_manage.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cpploc/fusion/zupt_check.hloc/app/lidar_loc_v2_node_impl.hloc/param/reflect_match/liangshan/mrpt_icp.yamlloc/fusion/zupt_check.cppmapping/reflect_map/reflect_map.cppmapping/base_map/base_map.hmapping/base_map/base_map.cpploc/fusion/msf_wrapper.cpploc/lidar/src/lidar_manage.cpp0e9257d5ee42b24cf675182859d7fe4b49fb0edd1782301161000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:bug: 开放ref和cur的范围配置，并默认采用 2026-06-24 19:39:21 +08000e9257d5ee42b24cf675182859d7fe4b49fb0edd:bug: 开放ref和cur的范围配置，并默认采用editloc/app/lidar_loc_v2_node_impl.heditmapping/base_map/base_map.cppeditloc/param/lidar_loc_v2_node.vehicle_xilian.yamleditloc/param/reflect_match/liangshan/mrpt_icp.yamleditmapping/reflect_map/reflect_map.cppeditloc/fusion/zupt_check.heditloc/param/lidar_loc_v2_node.vehicle.yamleditmapping/base_map/base_map.heditloc/fusion/zupt_check.cppeditloc/lidar/src/lidar_manage.cppeditloc/fusion/msf_wrapper.cppeditloc/lidar/src/lidar_manage.heditloc/app/lidar_loc_v2_node_impl.cpploc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/param/lidar_loc_v2_node.vehicle.yamlloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamlcommon/util/match_debug_pcd_save.cpploc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/param/reflect_match/xilian/mrpt_icp.yamlloc/param/lidar_loc_v2_node.vehicle_liangshan.yamlloc/param/reflect_match/baoshishun/mrpt_icp.yamlloc/param/lidar_loc_v2_node.vehicle_suxi.yamlloc/app/lidar_loc_v2_node.cpploc/param/reflect_match/baoshishun/feature.yamlloc/param/reflect_match/baoshishun/region.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/baoshishun/mask.yamlcommon/util/match_debug_pcd_save.hcommon/util/async_writer.hbb7f1cdd57d74c9b970823e7e13c6c2032021eda1782386763000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加保存点云散点功能，用于离线排查 2026-06-25 19:26:03 +0800bb7f1cdd57d74c9b970823e7e13c6c2032021eda:new: 增加保存点云散点功能，用于离线排查editloc/param/lidar_loc_v2_node.vehicle_weihai.yamleditloc/app/lidar_loc_v2_node.cppeditloc/param/reflect_match/baoshishun/region.yamladdloc/param/lidar_loc_v2_node.vehicle_liangshan.yamleditloc/param/reflect_match/baoshishun/feature.yamleditcommon/util/async_writer.heditcommon/util/match_debug_pcd_save.heditloc/param/reflect_match/xilian/mrpt_icp.yamleditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/param/lidar_loc_v2_node.vehicle_suxi.yamleditcommon/util/match_debug_pcd_save.cppeditloc/param/reflect_match/baoshishun/mask.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/reflect_match/baoshishun/mrpt_icp.yamleditloc/param/lidar_loc_v2_node.vehicle_baoshishun.yamldeleteloc/param/lidar_loc_v2_node.vehicle_xilian.yamlcommon/util/slope_loc.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/reflect_match/registration/mrpt_icp.hloc/lidar/reflect_match/registration/mrpt_icp.cppcommon/util/slope_loc.cpploc/app/lidar_loc_v2_node_impl.cppf37657ebd7eca99e473b46ce70b50505b0ad5e371782455954000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:bug: 如果激光匹配与ins具有一致性则不拒绝 2026-06-26 14:39:14 +0800f37657ebd7eca99e473b46ce70b50505b0ad5e37:bug: 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vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovysrc/org/devops/vehicleInfo.groovy01612b8d433fe66aa2d266f8acc2fdcdce51a0d61781506579000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy 2026-06-15 06:56:19 +000001612b8d433fe66aa2d266f8acc2fdcdce51a0d6Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovysrc/org/devops/push.groovy679d38b12eb74d9b649877fbf3786b9adc0668741782266177000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 01:56:17 +0000679d38b12eb74d9b649877fbf3786b9adc066874Update push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovyd751e0d127d183081016188b454365ac7d1b53811782273062000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 03:51:02 +0000d751e0d127d183081016188b454365ac7d1b5381Update push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovy94e2ca9b94e2e9128da5983fb3a9164546c136ef1782273082000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 03:51:22 +000094e2ca9b94e2e9128da5983fb3a9164546c136efUpdate push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovyec4d113b0d6455c8164817f4b6aeaa0f019ba6cc1782277023000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 04:57:03 +0000ec4d113b0d6455c8164817f4b6aeaa0f019ba6ccUpdate push.groovyeditsrc/org/devops/push.groovysrc/org/devops/vehicleInfo.groovy3dca266b14a1a14186971546bdfea14a58e17c0f1782977546000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy 2026-07-02 07:32:26 +00003dca266b14a1a14186971546bdfea14a58e17c0fUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovygitparams/jiaxing-dongfangtegang-submodule.jenkinsfileb362be412db336c1964e85c307445b23d5d2121c1780983667000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-09 05:41:07 +0000b362be412db336c1964e85c307445b23d5d2121cUpdate jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfile210241ea2af167aa59839ace3aab751cdb960ee01781062037000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-10 03:27:17 +0000210241ea2af167aa59839ace3aab751cdb960ee0Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfile45892459e7b27fde58ada335d85b46f9ca98fc2e1781069872000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-06-10 05:37:52 +000045892459e7b27fde58ada335d85b46f9ca98fc2eUpdate guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfileparams/xinjiang-kaiwo-submodule.jenkinsfile6afe61afa10c2f31d5d7c3624f2cb3de6b0b68741781083303000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xinjiang-kaiwo-submodule.jenkinsfile 2026-06-10 09:21:43 +00006afe61afa10c2f31d5d7c3624f2cb3de6b0b6874Update xinjiang-kaiwo-submodule.jenkinsfileeditparams/xinjiang-kaiwo-submodule.jenkinsfileparams/xinjiang-kaiwo-submodule.jenkinsfileac518f7b325ff4a684b71fd7d44c0a3458050f6c1781085374000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xinjiang-kaiwo-submodule.jenkinsfile 2026-06-10 09:56:14 +0000ac518f7b325ff4a684b71fd7d44c0a3458050f6cUpdate xinjiang-kaiwo-submodule.jenkinsfileeditparams/xinjiang-kaiwo-submodule.jenkinsfileparams/xinjiang-kaiwo-submodule.jenkinsfile9b2e58aef2c072f3ab888ff6f4e477ce229c9dfd1781089898000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xinjiang-kaiwo-submodule.jenkinsfile 2026-06-10 11:11:38 +00009b2e58aef2c072f3ab888ff6f4e477ce229c9dfdUpdate xinjiang-kaiwo-submodule.jenkinsfileeditparams/xinjiang-kaiwo-submodule.jenkinsfileparams/daxie-submodule.jenkinsfile549c289c92b22b04268f2d55e3188bcc6df3574e1781091633000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate daxie-submodule.jenkinsfile 2026-06-10 11:40:33 +0000549c289c92b22b04268f2d55e3188bcc6df3574eUpdate daxie-submodule.jenkinsfileeditparams/daxie-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfile0a8e3bb9b016d9bd1475e62c9e10a4e85f748d981781091670000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-06-10 11:41:10 +00000a8e3bb9b016d9bd1475e62c9e10a4e85f748d98Update guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfile5c8c9756b4d6c9f6439c34da488f1c78dddff0d81781091698000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-06-10 11:41:38 +00005c8c9756b4d6c9f6439c34da488f1c78dddff0d8Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfile54b4c85b943c8d7ae6abb31abef18e8b9e38e9341781091728000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-06-10 11:42:08 +000054b4c85b943c8d7ae6abb31abef18e8b9e38e934Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfileafa9f2c7db40cce31e7dc6f2a4087500aa663b781781091767000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-10 11:42:47 +0000afa9f2c7db40cce31e7dc6f2a4087500aa663b78Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile5f4a7c558679346954bcbd78c143b01b4d068cf21781091794000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-06-10 11:43:14 +00005f4a7c558679346954bcbd78c143b01b4d068cf2Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile5da9cb3544ce13a05737ccffd1b65dc8a62d81e11781091814000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-06-10 11:43:34 +00005da9cb3544ce13a05737ccffd1b65dc8a62d81e1Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/qingdao-qiangang-submodule.jenkinsfile4d4a6689fce7ab06e64cc8a172d3d70e65f66e3f1781091855000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-qiangang-submodule.jenkinsfile 2026-06-10 11:44:15 +00004d4a6689fce7ab06e64cc8a172d3d70e65f66e3fUpdate qingdao-qiangang-submodule.jenkinsfileeditparams/qingdao-qiangang-submodule.jenkinsfileparams/qingdao-xilian-submodule.jenkinsfile08344fb60c56e3fcd9f9440bca4526d726bb3e0c1781091877000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-xilian-submodule.jenkinsfile 2026-06-10 11:44:37 +000008344fb60c56e3fcd9f9440bca4526d726bb3e0cUpdate qingdao-xilian-submodule.jenkinsfileeditparams/qingdao-xilian-submodule.jenkinsfileparams/qingdao-xilian-submodule.jenkinsfile31db2ce7d9aa24b630ed2f755950bae903c345dd1781091891000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-xilian-submodule.jenkinsfile 2026-06-10 11:44:51 +000031db2ce7d9aa24b630ed2f755950bae903c345ddUpdate qingdao-xilian-submodule.jenkinsfileeditparams/qingdao-xilian-submodule.jenkinsfileparams/yiwu-suxi-submodule.jenkinsfileb30b3eae687afbe1716d1a5292919faaf24107071781091936000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yiwu-suxi-submodule.jenkinsfile 2026-06-10 11:45:36 +0000b30b3eae687afbe1716d1a5292919faaf2410707Update yiwu-suxi-submodule.jenkinsfileeditparams/yiwu-suxi-submodule.jenkinsfileparams/xiamen-submodule.jenkinsfilec63df6b14d7d2936277c0058cf97cae28a91c0dd1781091972000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xiamen-submodule.jenkinsfile 2026-06-10 11:46:12 +0000c63df6b14d7d2936277c0058cf97cae28a91c0ddUpdate xiamen-submodule.jenkinsfileeditparams/xiamen-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfiled7e45bb257f8cd29e232acf28ea5a754f1774b241781228461000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-12 01:41:01 +0000d7e45bb257f8cd29e232acf28ea5a754f1774b24Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/yiwu-suxi-submodule.jenkinsfile012ab97ba1fcf4f1270959a56f1a10162959f97d1781506401000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yiwu-suxi-submodule.jenkinsfile 2026-06-15 06:53:21 +0000012ab97ba1fcf4f1270959a56f1a10162959f97dUpdate yiwu-suxi-submodule.jenkinsfileeditparams/yiwu-suxi-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfile17c883404934ccf8c58e370b006e92d58169db561782695533000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-29 01:12:13 +000017c883404934ccf8c58e370b006e92d58169db56Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfilemodule-confname.jenkinsfilea13d7af684b6a5e9154208c2c57af95563d87e8d1782721920000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-confname.jenkinsfile 2026-06-29 08:32:00 +0000a13d7af684b6a5e9154208c2c57af95563d87e8dUpdate module-confname.jenkinsfileeditmodule-confname.jenkinsfilemodule-pncreplayer.jenkinsfile03279b5e663668162887f44d76f2bb9ab792b7381782721943000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-pncreplayer.jenkinsfile 2026-06-29 08:32:23 +000003279b5e663668162887f44d76f2bb9ab792b738Update module-pncreplayer.jenkinsfileeditmodule-pncreplayer.jenkinsfiletelediagnostic.jenkinsfile1a67ffa6dbf4f7fe70789bfa9e4324cda31828d51782721960000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate telediagnostic.jenkinsfile 2026-06-29 08:32:40 +00001a67ffa6dbf4f7fe70789bfa9e4324cda31828d5Update telediagnostic.jenkinsfileedittelediagnostic.jenkinsfilehdmap/map-png.jenkinsfile93c8bcff517a3e06a144d67cdcb5c47093c5ea2d1782976326000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-07-02 07:12:06 +000093c8bcff517a3e06a144d67cdcb5c47093c5ea2dUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfileb4b4bb20082b594ea1097f63bb6df1623357beba1782977616000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-07-02 07:33:36 +0000b4b4bb20082b594ea1097f63bb6df1623357bebaUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfilegitcomm_msgs/msg/Traj.msgb34e00e37e0d3a5818ba0ebb75422c11ae3b6b281776064859000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-13 15:20:59 +0800b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msgaed54f80025d95dc2fa58fadb5f26bd1c46d4b0d1776396428000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-17 11:27:08 +0800aed54f80025d95dc2fa58fadb5f26bd1c46d4b0dfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txt0bf8bca044aa2d9364b02efff468438ff651c1c21779358531000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 18:15:31 +08000bf8bca044aa2d9364b02efff468438ff651c1c2添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txtb8f59b921d1a229a9a39dc06f08a35101d7102941779362634000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 19:23:54 +0800b8f59b921d1a229a9a39dc06f08a35101d710294添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtcomm_msgs/msg/Traj.msgbcbc5de637a9a70f2d4a3f32247a71a67dbfd4a01779678432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-05-25 11:07:12 +0800bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-05-25 16:20:41 +0800549daf0fc4e7c8f469ba1807acf334525ddb939bfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msgtmp/aha/dconf/user.marscode/deviceInfo.jsond2d1816d65aec8f872cc6f61052bdcb8c64e73e51780365770000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加吉利锁具控制 2026-06-02 10:02:50 +0800d2d1816d65aec8f872cc6f61052bdcb8c64e73e5feat_out:增加吉利锁具控制add.marscode/deviceInfo.jsonaddtmp/aha/dconf/useredittos_msgs/msg/PeripheralCmd.msgcomm_msgs/msg/Traj.msg28d550621b9b5b7a5c1e61e58845772ff4c1525c1780369194000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-02 10:59:54 +080028d550621b9b5b7a5c1e61e58845772ff4c1525cfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateState.msg7d1f2976915d6191037ca802663b6fcf5c9528671780392251000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:新增吉利锁具控制 2026-06-02 17:24:11 +08007d1f2976915d6191037ca802663b6fcf5c952867feat_out:新增吉利锁具控制edittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateState.msgcomm_msgs/msg/Traj.msgeadbbf60c2f42f9cc816ea239eb5310f19bef0581780457575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-06-03 11:32:55 +0800eadbbf60c2f42f9cc816ea239eb5310f19bef058feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt876f0ac7f688fcb989d1343dc7bfac606a98615e1781229500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-12 09:58:20 +0800876f0ac7f688fcb989d1343dc7bfac606a98615efeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgalign_msgs/msg/TargetCarStatus.msg4a63c7fafd07ee96114547c4152c16c5b153898f1781236330000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 11:52:10 +08004a63c7fafd07ee96114547c4152c16c5b153898f添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt7d57dd6412d4746df29e6b22eeda874d2244b0cd1781582456000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:00:56 +08007d57dd6412d4746df29e6b22eeda874d2244b0cdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgads_msgs/msg/Target.msg063d531a478250750e71384bff10ecd00da9d00f1782287750000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加货物分段长度字段和逃逸场景类型 2026-06-24 15:55:50 +0800063d531a478250750e71384bff10ecd00da9d00ffeat: 添加货物分段长度字段和逃逸场景类型editads_msgs/msg/Target.msggitcommon/glog_helper.ccins_driver/ins_driver.cppsins/strapdown_truck.cpp54902aed969043b3f09a591299ad7aa14e4ed6741781093927000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autonote_out: 友谊关分支取消回到test_qingdao分支 2026-06-10 20:18:47 +080054902aed969043b3f09a591299ad7aa14e4ed674note_out: 友谊关分支取消回到test_qingdao分支editins_driver/ins_driver.cppeditcommon/glog_helper.cceditsins/strapdown_truck.cppgittools/debug_rosbag_extractor/debug_bag_extractor.hpp767cd61b9d0c933846864de405c44867c3e7d3bb1781056456000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: debug bag提取增加新模式 2026-06-10 09:54:16 +0800767cd61b9d0c933846864de405c44867c3e7d3bbfeat: debug bag提取增加新模式edittools/debug_rosbag_extractor/debug_bag_extractor.hppCMakeLists.txtVERSION.mdpackage.xmlbf978b4b53f54947e2b10f8e0cdb0e9fdb61aff61781056461000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autochore(version): 3.17.1 2026-06-10 09:54:21 +0800bf978b4b53f54947e2b10f8e0cdb0e9fdb61aff6chore(version): 3.17.1editCMakeLists.txteditVERSION.mdeditpackage.xmlmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.cc00b235197105ba7ac8318e775d18b13a5bbd54351782109272000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 增加FLAGS_enable_cloud_trajectory执行过滤 2026-06-22 14:21:12 +080000b235197105ba7ac8318e775d18b13a5bbd5435feat: 增加FLAGS_enable_cloud_trajectory执行过滤editmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.ccmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.cc45c8807d15bf2bf57b132e1f7c40daf57fbd67a41782186958000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 增加空container报错 2026-06-23 11:55:58 +080045c8807d15bf2bf57b132e1f7c40daf57fbd67a4feat: 增加空container报错editmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.ccCMakeLists.txtVERSION.mdpackage.xmlc7e7b2c6f3d025b59d205b35e3ee2c45d078b6c21782186966000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autochore(version): 3.17.2 2026-06-23 11:56:06 +0800c7e7b2c6f3d025b59d205b35e3ee2c45d078b6c2chore(version): 3.17.2editVERSION.mdeditpackage.xmleditCMakeLists.txtgitdata/data_frame.hppmonitor/parallel_report_monitor.cppsink/module.hppdata/monitor/parallel_report_data.hppdraw/draw.hppdata/config/cfg_topic.hppdata/common/parallel_report.cppdata/config/cfg_topic.cppdata/data_frame.cppdata/common/parallel_report.hppdraw/draw_parallel_report.cppmonitor/parallel_report_monitor.hppdraw/draw_parallel_report.hppdraw/draw.cppdata/config/cfg_safe_const.hppmonitor/module.hppdata/config/cfg_safe_const.cppsink/ros_sink_parallel_report.hppfc398cc77992a127ef5bd218d25384dc4725f1481781179187000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 实现平行驾驶障碍物上报功能，包含数据结构、监控逻辑及可视化支持 2026-06-11 19:59:47 +0800fc398cc77992a127ef5bd218d25384dc4725f148feat: 实现平行驾驶障碍物上报功能，包含数据结构、监控逻辑及可视化支持adddata/monitor/parallel_report_data.hppeditmonitor/module.hppaddsink/ros_sink_parallel_report.hppeditdata/config/cfg_safe_const.hppeditdraw/draw.hppeditdata/config/cfg_topic.hppeditdata/data_frame.hppadddata/common/parallel_report.cppeditdata/config/cfg_topic.cppadddraw/draw_parallel_report.hppeditdata/config/cfg_safe_const.cppadddata/common/parallel_report.hppeditsink/module.hppeditdata/data_frame.cppadddraw/draw_parallel_report.cppaddmonitor/parallel_report_monitor.cppeditdraw/draw.cppaddmonitor/parallel_report_monitor.hppdata/action/recoder_trigger.cppdata/action/recoder_trigger.hpp3b6a85427cd22e2b94640d836cade0fe959650331781179254000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:优化数据保存 2026-06-11 20:00:54 +08003b6a85427cd22e2b94640d836cade0fe95965033feat:优化数据保存editdata/action/recoder_trigger.hppeditdata/action/recoder_trigger.cppdata/monitor/below_plane_guardian_data.cppdraw/draw_diagnose.hppdraw/draw.hppdraw/draw_ogm_pts.cppdata/monitor/lateral_guard_data.cppdata/monitor/below_plane_guardian_data.hppdata/monitor/ttc_guardian_data.hppdraw/draw_collision_pts.hppdraw/draw_diagnose.cppdata/monitor/ttc_guardian_data.cppdata/monitor/lateral_guard_data.hppdraw/draw.cppef50594137206654e0fe4155f232013ef78ca9241781181085000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加碰撞点的显示 2026-06-11 20:31:25 +0800ef50594137206654e0fe4155f232013ef78ca924feat:添加碰撞点的显示editdata/monitor/lateral_guard_data.hppeditdraw/draw.cppeditdraw/draw_ogm_pts.cppeditdata/monitor/below_plane_guardian_data.cppeditdata/monitor/below_plane_guardian_data.hppeditdata/monitor/ttc_guardian_data.cppadddraw/draw_collision_pts.hppeditdata/monitor/ttc_guardian_data.hppeditdraw/draw_diagnose.hppeditdraw/draw.hppeditdata/monitor/lateral_guard_data.cppeditdraw/draw_diagnose.cppdata/vehicle/command.cppc48d06c1545e24b2ff84bb73ad2c1a2e832847991781237999000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化车辆类型转换逻辑 2026-06-12 12:19:59 +0800c48d06c1545e24b2ff84bb73ad2c1a2e83284799feat: 优化车辆类型转换逻辑editdata/vehicle/command.cppmonitor/parallel_report_monitor.cppdraw/draw_parallel_report.cppdata/monitor/parallel_report_data.hpp8c49b0f3476554392dd7a5e1c398887693943bdf1781749016000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 退出平行驾驶时清空上报数据非平行驾驶状态下清空 DataFrame 及 worker 缓存的结果, 避免残留数据被持续上报和绘制. 2026-06-18 10:16:56 +08008c49b0f3476554392dd7a5e1c398887693943bdffeat: 退出平行驾驶时清空上报数据editdata/monitor/parallel_report_data.hppeditdraw/draw_parallel_report.cppeditmonitor/parallel_report_monitor.cppgitalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.cppedittest/accel_to_pedal_converter_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppadddocs/startup_traction_control_review.mdeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/process/prepare/prepare_state.cppeditnode/sink/ros_sink_command.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editdata/ctrl/lateral_cmd.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/sink/ros_sink_command.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/module.cppeditconfig/config_imv/ctrl.yamleditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editdata/ctrl/lateral_cmd.hppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/lon_dynamics_csv_logger.cppeditconfig/config_imv/ctrl.yamleditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/config/cfg_steering_offset_observer.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/ctrl/lateral_cmd.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/module.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppnode/process/prepare/prepare_creep.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamldata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/longitude_controller.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editconfig/config_truck/ctrl.yamleditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_safe_const.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_sc/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditconfig/config_car/ctrl.yamleditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/ctrl_frame.cppeditnode/process/prepare/prepare_status.cppeditdata/vehicle/vehicle_status.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppAGENTS.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editAGENTS.mdeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/logic.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/ctrl/lateral_cmd.hppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppalgorithm/ctrl/observer/steering_offset_observer.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl_frame.hppmath/identification/lateral_kinematics_estimator.cppdata/config/cfg_static.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editdata/config/cfg_static.hppaddmath/identification/lateral_kinematics_estimator.cppeditdata/ctrl_frame.cppaddmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppdata/config/cfg_static.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditmath/identification/lateral_kinematics_estimator.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppCLAUDE.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_static.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editnode/process/proc/proc_limit.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppconfig/config_truck/ctrl.yamldata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl_frame.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/ctrl/velocity_cmd.cppeditconfig/config_sc/ctrl.yamleditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditdata/lon_dynamics_csv_logger.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppmath/identification/parking_distance_estimator.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_status.cppeditdata/ctrl/observer_debug_data.cppeditmath/identification/parking_distance_estimator.hppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditmath/identification/parking_distance_estimator.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editcommon/util/error_code_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/config/cfg_error.hppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_error.cppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditcommon/util/error_code_data.hppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppeditdata/ctrl_frame.cppeditnode/source/ros_source_parallel_cmd.cppeditdata/vehicle/vehicle_command.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppgitsrc/RMInterpreter/ros_mqtt_bridge.cpp9676658af9dd4a2c73ec7110e421b208d218f3bb1781589613000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加车端向云端发送/vehicle/parallel/report 2026-06-16 14:00:13 +08009676658af9dd4a2c73ec7110e421b208d218f3bbfeat_out:增加车端向云端发送/vehicle/parallel/reporteditsrc/RMInterpreter/ros_mqtt_bridge.cppsrc/RMInterpreter/ros_mqtt_bridge.cpp551db46ee820522570d24aea46d909615b81ca841781614650000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:云端topic修改 2026-06-16 20:57:30 +0800551db46ee820522570d24aea46d909615b81ca84feat_out:云端topic修改editsrc/RMInterpreter/ros_mqtt_bridge.cppsrc/RMInterpreter/ros_mqtt_bridge.cpppackage.xmlc442cfc092a2453537e5c4cb3330789906ebf24a1782369194000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加定位消息上传 2026-06-25 14:33:14 +0800c442cfc092a2453537e5c4cb3330789906ebf24afeat_out:增加定位消息上传editsrc/RMInterpreter/ros_mqtt_bridge.cppeditpackage.xmlgitsrc/mqtt_fms.cppmqtt/src/MOSQClient.cpp43c7e922663917589c975b70b64ef9ccd957db211781064399000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修复证书崩溃问题 2026-06-10 12:06:39 +080043c7e922663917589c975b70b64ef9ccd957db21feat_out:修复证书崩溃问题editsrc/mqtt_fms.cppeditmqtt/src/MOSQClient.cppmqtt/include/MOSQClient.hmqtt/src/MOSQClient.cpp31985b9f6c1fd6fbbc94f01daae6494cf03b9d431781067471000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修复tls bug 2026-06-10 12:57:51 +080031985b9f6c1fd6fbbc94f01daae6494cf03b9d43feat_out:修复tls bugeditmqtt/include/MOSQClient.heditmqtt/src/MOSQClient.cppgiterror_codes/error_codes_tracker_v2.cpp7a308ab029e7bc1ffaacef887d74faebb30aa1eb1781005767000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:溯源环防护 2026-06-09 19:49:27 +08007a308ab029e7bc1ffaacef887d74faebb30aa1ebfeat_out:溯源环防护editerror_codes/error_codes_tracker_v2.cppgitcore/spreader_detection.hcore/spreader_detection.cpp436615cec1ac0150dbfc2a081822b9325ecba5571781507563000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto低速时不修改载物 2026-06-15 15:12:43 +0800436615cec1ac0150dbfc2a081822b9325ecba557低速时不修改载物editcore/spreader_detection.cppeditcore/spreader_detection.hcore/spreader_detection.cpp49adad15a01601c237d52891f1ea82ad0bea92b61781515716000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto存图名称里加速度字段 2026-06-15 17:28:36 +080049adad15a01601c237d52891f1ea82ad0bea92b6存图名称里加速度字段editcore/spreader_detection.cppcore/spreader_detection.cpp52787d4db8079cc5994c136dfe12c39b527fcd771781751428000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto加大转角滞后允许阈值到0.5秒 2026-06-18 10:57:08 +080052787d4db8079cc5994c136dfe12c39b527fcd77加大转角滞后允许阈值到0.5秒editcore/spreader_detection.cppcore/spreader_detection.cppf28862316c7ad34bf9a5cbb1b521e28a650d7d211782964954000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto启动之处误报"高度检出不足" 2026-07-02 12:02:34 +0800f28862316c7ad34bf9a5cbb1b521e28a650d7d21启动之处误报"高度检出不足"editcore/spreader_detection.cppcore/spreader_detection.cpp9e6811a25c4ff8eb2573755f93f4a4ef0ce8cfb31782966064000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto压挡流板报警加y约束 2026-07-02 12:21:04 +08009e6811a25c4ff8eb2573755f93f4a4ef0ce8cfb3压挡流板报警加y约束editcore/spreader_detection.cppgitcommon/container_compensate.cppcommon/container_compensate.hcore/crane_align.cppcommon/warn_module.h2771fc9dc009078015faf692718ada0a87d868a21781004133000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autoadd debug topup cloud info 2026-06-09 19:22:13 +08002771fc9dc009078015faf692718ada0a87d868a2add debug topup cloud infoeditcommon/container_compensate.cppeditcore/crane_align.cppeditcommon/warn_module.heditcommon/container_compensate.hcommon/container_compensate.cppcommon/container_compensate.hcore/crane_align.cppcore/crane_align.h2fba2bc72be1d2ccca39471882696a3130a698ea1781059144000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autofix align_kf data race && topup few cloud thresh 2026-06-10 10:39:04 +08002fba2bc72be1d2ccca39471882696a3130a698eafix align_kf data race && topup few cloud thresheditcommon/container_compensate.cppeditcore/crane_align.heditcommon/container_compensate.heditcore/crane_align.cppcommon/tos_task.cppcore/crane_align.cppabcc8c9ffc1391ec938978168cc8cbb81ef3b8291781594363000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autonew_task state consider location,try load pcd 2026-06-16 15:19:23 +0800abcc8c9ffc1391ec938978168cc8cbb81ef3b829new_task state consider location,try load pcdeditcommon/tos_task.cppeditcore/crane_align.cppcore/crane_align.cppcore/crane_align.hc29dc4dada5fed86afb52b14d60820bc6223b0f21781597695000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autoadd sc_model lock 2026-06-16 16:14:55 +0800c29dc4dada5fed86afb52b14d60820bc6223b0f2add sc_model lockeditcore/crane_align.cppeditcore/crane_align.hcore/crane_align.cppdbc6ee8ff0e142976b92a98d6de4ffb428f5e2b31782301757000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autofix find trail yard bug 2026-06-24 19:49:17 +0800dbc6ee8ff0e142976b92a98d6de4ffb428f5e2b3fix find trail yard bugeditcore/crane_align.cppcommon/tos_task.cppcore/crane_align.cppcore/crane_align.hdoc/config_block_thread_safety.md2a51fa9509564615ba3d60d06b4705eb1eef50e61783057102000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix stc_blk/shc_blk data race crash: immutable snapshot + pointer swap 节点崩溃根因:AsyncSpinner(4)下TOS任务回调整体赋值stc_blk_/shc_blk_, 与点云回调线程无锁拷贝其中vector/string成员并发,读到悬空指针段错误。 - stc_blk_/shc_blk_ 改为 shared_ptr 不可变快照:写者复制新块改完换指针, 读者锁内取快照,见 doc/config_block_thread_safety.md - target_point_change_threshold 0.1 -> 0.15,避免TOS坐标抖动反复全量重载任务 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> 2026-07-03 01:38:22 -04002a51fa9509564615ba3d60d06b4705eb1eef50e6fix stc_blk/shc_blk data race crash: immutable snapshot + pointer swapeditcommon/tos_task.cppeditcore/crane_align.cppadddoc/config_block_thread_safety.mdeditcore/crane_align.hgitextrinsics/JXDFTG_PX_IMV002.gitmodulesextrinsics/JXDFTG_PX_IMV001de7544f70c8f4b7c97d749c165535f1035de97851782113827000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto移除无效 submodule JXDFTG_PX_IMV001 / JXDFTG_PX_IMV002 远端 GitLab (159.27.226.4) 已无法访问这两个仓库（project not found or no permission），从 .gitmodules、索引和 .git/modules 缓存中一并清理。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-06-22 15:37:07 +0800de7544f70c8f4b7c97d749c165535f1035de9785移除无效 submodule JXDFTG_PX_IMV001 / JXDFTG_PX_IMV002deleteextrinsics/JXDFTG_PX_IMV001deleteextrinsics/JXDFTG_PX_IMV002edit.gitmodulesextrinsics/P702ffd3a37a3f411a42f3b6e9d2d37c1280909ae0a81782128471000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto更新 P702 gitlink: 添加雷达校准 CSV (PandarXT32 left/right/top) via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-06-22 19:41:11 +0800ffd3a37a3f411a42f3b6e9d2d37c1280909ae0a8更新 P702 gitlink: 添加雷达校准 CSV (PandarXT32 left/right/top)editextrinsics/P702extrinsics/JXDFTG_PX_IMV014.gitmodulesextrinsics/JXDFTG_PXPT_IMV009extrinsics/JXDFTG_PXPT_IMV008extrinsics/JXDFTG_PXLB_IMV014extrinsics/JXDFTG_PXJZX_IMV013extrinsics/JXDFTG_PXPT_IMV003extrinsics/JXDFTG_PXJZX_IMV101extrinsics/JXDFTG_PXPT_IMV002extrinsics/JXDFTG_PXJZX_IMV102extrinsics/JXDFTG_PXPT_IMV001extrinsics/JXDFTG_PXPT_IMV007extrinsics/JXDFTG_PXPT_IMV006extrinsics/JXDFTG_PXPT_IMV005extrinsics/JXDFTG_PXPT_IMV004extrinsics/JXDFTG_PXPT_IMV010extrinsics/JXDFTG_PXJZX_IMV011extrinsics/JXDFTG_PXJZX_IMV0122218a3852e6b4dd95546d677efb092138282f8411782976305000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto增加嘉兴东方特钢 JXDFTG 车辆参数 (17 个) PXJZX_IMV011/012/013/101/102 PXLB_IMV014 PXPT_IMV001-010 PX_IMV014 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-07-02 03:11:45 -04002218a3852e6b4dd95546d677efb092138282f841增加嘉兴东方特钢 JXDFTG 车辆参数 (17 个)addextrinsics/JXDFTG_PX_IMV014addextrinsics/JXDFTG_PXLB_IMV014addextrinsics/JXDFTG_PXJZX_IMV012edit.gitmodulesaddextrinsics/JXDFTG_PXPT_IMV008addextrinsics/JXDFTG_PXPT_IMV002addextrinsics/JXDFTG_PXJZX_IMV013addextrinsics/JXDFTG_PXPT_IMV009addextrinsics/JXDFTG_PXPT_IMV006addextrinsics/JXDFTG_PXJZX_IMV102addextrinsics/JXDFTG_PXPT_IMV001addextrinsics/JXDFTG_PXPT_IMV010addextrinsics/JXDFTG_PXPT_IMV004addextrinsics/JXDFTG_PXJZX_IMV011addextrinsics/JXDFTG_PXPT_IMV003addextrinsics/JXDFTG_PXJZX_IMV101addextrinsics/JXDFTG_PXPT_IMV007addextrinsics/JXDFTG_PXPT_IMV005extrinsics/PXPZ_SANY_AT021extrinsics/PXPZ_SANY_AT022extrinsics/YWSX_BYDQ1_AT16extrinsics/PXPZ_SANY_AT020extrinsics/QDQG376extrinsics/QDQG375extrinsics/pxpz_sany_at005extrinsics/QDQG373extrinsics/QDQG372extrinsics/QDQG371extrinsics/PXPZ_SANY_AT0014extrinsics/YWSX_KINGLONG_IGV20extrinsics/YWSX_BYDQ1_AT21extrinsics/JNLSG_JL_AT014extrinsics/JNLSG_JL_AT013extrinsics/JNLSG_JL_AT016extrinsics/JNLSG_JL_AT015extrinsics/JNLSG_JL_AT012extrinsics/JNLSG_JL_AT011extrinsics/PXPZ_SANY_AT006extrinsics/HNCS_SANY_ADT001.gitmodulesextrinsics/YWSX_KINGLONG_IGV13extrinsics/QDDG_SANY_AT001extrinsics/YWSX_KINGLONG_IGV12extrinsics/YWSX_KINGLONG_IGV11extrinsics/YWSX_KINGLONG_IGV17extrinsics/YWSX_KINGLONG_IGV16extrinsics/YWSX_KINGLONG_IGV15extrinsics/YWSX_KINGLONG_IGV14extrinsics/HNYP_JLX7E_AT081extrinsics/PXPZ_SANY_AT009extrinsics/HNYP_JLX7E_AT082extrinsics/YWSX_KINGLONG_IGV19extrinsics/PXPZ_SANY_AT007extrinsics/HNYP_JLX7E_AT083extrinsics/PXPZ_SANY_AT008extrinsics/YWSX_KINGLONG_IGV18extrinsics/YWSX_SANY_AT17extrinsics/YWSX_SANY_AT16extrinsics/PXPZ_SANY_AT016extrinsics/PXPZ_SANY_AT017extrinsics/PXPZ_SANY_AT014extrinsics/PXPZ_SANY_AT015extrinsics/PXPZ_SANY_AT012extrinsics/PXPZ_SANY_AT013extrinsics/PXPZ_SANY_AT010extrinsics/PXPZ_SANY_AT011extrinsics/PXPZ_SANY_AT018extrinsics/PXPZ_SANY_AT019extrinsics/NBZS_JLPT_AT700extrinsics/CS_SQHW_AT001extrinsics/CS_SQHW_AT0023131fa9de218f738af26c976ed78ca9167f05d741782985550000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto同步带雷达校准文件的车辆参数 (52 个) CS_SQHW_AT001 CS_SQHW_AT002 HNCS_SANY_ADT001 HNYP_JLX7E_AT081 HNYP_JLX7E_AT082 HNYP_JLX7E_AT083 JNLSG_JL_AT011 JNLSG_JL_AT012 JNLSG_JL_AT013 JNLSG_JL_AT014 JNLSG_JL_AT015 JNLSG_JL_AT016 NBZS_JLPT_AT700 PXPZ_SANY_AT0014 PXPZ_SANY_AT006 PXPZ_SANY_AT007 PXPZ_SANY_AT008 PXPZ_SANY_AT009 PXPZ_SANY_AT010 PXPZ_SANY_AT011 PXPZ_SANY_AT012 PXPZ_SANY_AT013 PXPZ_SANY_AT014 PXPZ_SANY_AT015 PXPZ_SANY_AT016 PXPZ_SANY_AT017 PXPZ_SANY_AT018 PXPZ_SANY_AT019 PXPZ_SANY_AT020 PXPZ_SANY_AT021 PXPZ_SANY_AT022 QDDG_SANY_AT001 QDQG371 QDQG372 QDQG373 QDQG375 QDQG376 YWSX_BYDQ1_AT16 YWSX_BYDQ1_AT21 YWSX_KINGLONG_IGV11 YWSX_KINGLONG_IGV12 YWSX_KINGLONG_IGV13 YWSX_KINGLONG_IGV14 YWSX_KINGLONG_IGV15 YWSX_KINGLONG_IGV16 YWSX_KINGLONG_IGV17 YWSX_KINGLONG_IGV18 YWSX_KINGLONG_IGV19 YWSX_KINGLONG_IGV20 YWSX_SANY_AT16 YWSX_SANY_AT17 pxpz_sany_at005 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-07-02 05:45:50 -04003131fa9de218f738af26c976ed78ca9167f05d74同步带雷达校准文件的车辆参数 (52 个)addextrinsics/YWSX_KINGLONG_IGV11addextrinsics/PXPZ_SANY_AT010addextrinsics/YWSX_KINGLONG_IGV16addextrinsics/PXPZ_SANY_AT017addextrinsics/PXPZ_SANY_AT021addextrinsics/JNLSG_JL_AT011addextrinsics/PXPZ_SANY_AT019addextrinsics/YWSX_KINGLONG_IGV19addextrinsics/YWSX_KINGLONG_IGV17addextrinsics/QDQG372addextrinsics/JNLSG_JL_AT015addextrinsics/PXPZ_SANY_AT006addextrinsics/YWSX_BYDQ1_AT16addextrinsics/pxpz_sany_at005addextrinsics/NBZS_JLPT_AT700addextrinsics/QDQG373addextrinsics/YWSX_SANY_AT17addextrinsics/CS_SQHW_AT002addextrinsics/PXPZ_SANY_AT008addextrinsics/YWSX_KINGLONG_IGV15addextrinsics/PXPZ_SANY_AT016addextrinsics/JNLSG_JL_AT016addextrinsics/YWSX_BYDQ1_AT21addextrinsics/YWSX_KINGLONG_IGV18addextrinsics/PXPZ_SANY_AT014addextrinsics/YWSX_KINGLONG_IGV14addextrinsics/YWSX_KINGLONG_IGV20addextrinsics/YWSX_SANY_AT16edit.gitmodulesaddextrinsics/HNYP_JLX7E_AT082addextrinsics/PXPZ_SANY_AT012addextrinsics/PXPZ_SANY_AT007addextrinsics/PXPZ_SANY_AT020addextrinsics/JNLSG_JL_AT012addextrinsics/PXPZ_SANY_AT0014addextrinsics/QDQG376addextrinsics/YWSX_KINGLONG_IGV13addextrinsics/PXPZ_SANY_AT015addextrinsics/HNCS_SANY_ADT001addextrinsics/PXPZ_SANY_AT011addextrinsics/HNYP_JLX7E_AT081addextrinsics/QDQG375addextrinsics/QDDG_SANY_AT001addextrinsics/JNLSG_JL_AT014addextrinsics/CS_SQHW_AT001addextrinsics/QDQG371addextrinsics/YWSX_KINGLONG_IGV12addextrinsics/HNYP_JLX7E_AT083addextrinsics/PXPZ_SANY_AT018addextrinsics/PXPZ_SANY_AT009addextrinsics/PXPZ_SANY_AT022addextrinsics/PXPZ_SANY_AT013addextrinsics/JNLSG_JL_AT013githttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonghttp://159.27.114.184:8080/jenkins/user/liuhaoliuhaohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/mataomatao416http://159.27.114.184:8080/jenkins/job/orin-slave32/416/blueorinmasterconfListGet-BranchsconfCould not get conf for confListcheckallyesOTApublicregionalldeviceChoicefalsemsgBranchrc_dev_jiningliangshangangrslidarSDKBranchrc_devrslidarSdkNewBranchrc_devcameraDriverBranchrc_devloginSyncToolBranchrc_devsystemRosBranchrc_devnodeManagerBranchrc_devthirdpartyBranchrc_devunifiedSystemMonitorBranchrc_devrosBridgeBranchnohdcontrolBranchrc_devversionsObserverBranchrc_devcacheBagNodeBranchrc_devsystemMonitorBranchrc_devperformanceAnalystBranchrc_devscheduleManagerBranchrc_devimvSpreaderDetectionBranchrc_devcraneAlignBranchdev_truck_comment_lhmrpt2Branchrc_devwarningModuleBranchrc_devrminterpreterBranchrc_devnodeManagerOnlineBranchrc_devrtspRelayerBranchrc_devhesaiLidarBranchrc_devnewTruckSpreaderDetectionBranchrc_devrcinterpreterBranchrc_devpncBranchtest_pedestrian_alarmguardianBranchfeat_yangpustaticTransformBranchrc_devmsfLocBranchtest_qingdaomsfAssistantBranchrc_devhdmapBranchnoperipheralControllerBranchfeat_jnlsgpredictionBranchrc_devlaneDetectionBranchnodataCollectionBranchrc_devtosVisualizeBranchrc_devsinsCalibrationHmiBranchrc_devtoolsBranchrc_devsegmentationBranchnocontrolBranchfeat_creep_statushdmapCloudBranchrc_devnodeManagerHmiBranchrc_devgroundmarkerDetectionBranchnocalibrationToolsBranchrc_devsimulatorBranchnosnapshotUploadBranchnohdmapInterfaceBranchrc_devspreaderSegmentationBranchnotrafficLightDetectionBranchnoperceptionPublisherBranchrc_devavmBranchnov2BranchNone-BranchnewDetectionBranchNone-BranchseniorCalibrationBranchNone-BranchdoxBranchNone-BrancholeLidarBranchNone-BranchlidarCameraFusionBranchNone-BranchoperatenoorinConfmastereditConfNamenotes梁山港主机全量usersStarted 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vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovysrc/org/devops/vehicleInfo.groovy01612b8d433fe66aa2d266f8acc2fdcdce51a0d61781506579000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy 2026-06-15 06:56:19 +000001612b8d433fe66aa2d266f8acc2fdcdce51a0d6Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovysrc/org/devops/push.groovy679d38b12eb74d9b649877fbf3786b9adc0668741782266177000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 01:56:17 +0000679d38b12eb74d9b649877fbf3786b9adc066874Update push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovyd751e0d127d183081016188b454365ac7d1b53811782273062000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 03:51:02 +0000d751e0d127d183081016188b454365ac7d1b5381Update push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovy94e2ca9b94e2e9128da5983fb3a9164546c136ef1782273082000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 03:51:22 +000094e2ca9b94e2e9128da5983fb3a9164546c136efUpdate push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovyec4d113b0d6455c8164817f4b6aeaa0f019ba6cc1782277023000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-06-24 04:57:03 +0000ec4d113b0d6455c8164817f4b6aeaa0f019ba6ccUpdate push.groovyeditsrc/org/devops/push.groovysrc/org/devops/vehicleInfo.groovy3dca266b14a1a14186971546bdfea14a58e17c0f1782977546000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy 2026-07-02 07:32:26 +00003dca266b14a1a14186971546bdfea14a58e17c0fUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovygitparams/jiaxing-dongfangtegang-submodule.jenkinsfileb362be412db336c1964e85c307445b23d5d2121c1780983667000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-09 05:41:07 +0000b362be412db336c1964e85c307445b23d5d2121cUpdate jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfile210241ea2af167aa59839ace3aab751cdb960ee01781062037000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-10 03:27:17 +0000210241ea2af167aa59839ace3aab751cdb960ee0Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfile45892459e7b27fde58ada335d85b46f9ca98fc2e1781069872000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-06-10 05:37:52 +000045892459e7b27fde58ada335d85b46f9ca98fc2eUpdate guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfileparams/xinjiang-kaiwo-submodule.jenkinsfile6afe61afa10c2f31d5d7c3624f2cb3de6b0b68741781083303000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xinjiang-kaiwo-submodule.jenkinsfile 2026-06-10 09:21:43 +00006afe61afa10c2f31d5d7c3624f2cb3de6b0b6874Update xinjiang-kaiwo-submodule.jenkinsfileeditparams/xinjiang-kaiwo-submodule.jenkinsfileparams/xinjiang-kaiwo-submodule.jenkinsfileac518f7b325ff4a684b71fd7d44c0a3458050f6c1781085374000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xinjiang-kaiwo-submodule.jenkinsfile 2026-06-10 09:56:14 +0000ac518f7b325ff4a684b71fd7d44c0a3458050f6cUpdate xinjiang-kaiwo-submodule.jenkinsfileeditparams/xinjiang-kaiwo-submodule.jenkinsfileparams/xinjiang-kaiwo-submodule.jenkinsfile9b2e58aef2c072f3ab888ff6f4e477ce229c9dfd1781089898000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xinjiang-kaiwo-submodule.jenkinsfile 2026-06-10 11:11:38 +00009b2e58aef2c072f3ab888ff6f4e477ce229c9dfdUpdate xinjiang-kaiwo-submodule.jenkinsfileeditparams/xinjiang-kaiwo-submodule.jenkinsfileparams/daxie-submodule.jenkinsfile549c289c92b22b04268f2d55e3188bcc6df3574e1781091633000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate daxie-submodule.jenkinsfile 2026-06-10 11:40:33 +0000549c289c92b22b04268f2d55e3188bcc6df3574eUpdate daxie-submodule.jenkinsfileeditparams/daxie-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfile0a8e3bb9b016d9bd1475e62c9e10a4e85f748d981781091670000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-06-10 11:41:10 +00000a8e3bb9b016d9bd1475e62c9e10a4e85f748d98Update guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfile5c8c9756b4d6c9f6439c34da488f1c78dddff0d81781091698000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-06-10 11:41:38 +00005c8c9756b4d6c9f6439c34da488f1c78dddff0d8Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfile54b4c85b943c8d7ae6abb31abef18e8b9e38e9341781091728000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-06-10 11:42:08 +000054b4c85b943c8d7ae6abb31abef18e8b9e38e934Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfileafa9f2c7db40cce31e7dc6f2a4087500aa663b781781091767000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-10 11:42:47 +0000afa9f2c7db40cce31e7dc6f2a4087500aa663b78Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile5f4a7c558679346954bcbd78c143b01b4d068cf21781091794000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-06-10 11:43:14 +00005f4a7c558679346954bcbd78c143b01b4d068cf2Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile5da9cb3544ce13a05737ccffd1b65dc8a62d81e11781091814000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-06-10 11:43:34 +00005da9cb3544ce13a05737ccffd1b65dc8a62d81e1Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/qingdao-qiangang-submodule.jenkinsfile4d4a6689fce7ab06e64cc8a172d3d70e65f66e3f1781091855000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-qiangang-submodule.jenkinsfile 2026-06-10 11:44:15 +00004d4a6689fce7ab06e64cc8a172d3d70e65f66e3fUpdate qingdao-qiangang-submodule.jenkinsfileeditparams/qingdao-qiangang-submodule.jenkinsfileparams/qingdao-xilian-submodule.jenkinsfile08344fb60c56e3fcd9f9440bca4526d726bb3e0c1781091877000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-xilian-submodule.jenkinsfile 2026-06-10 11:44:37 +000008344fb60c56e3fcd9f9440bca4526d726bb3e0cUpdate qingdao-xilian-submodule.jenkinsfileeditparams/qingdao-xilian-submodule.jenkinsfileparams/qingdao-xilian-submodule.jenkinsfile31db2ce7d9aa24b630ed2f755950bae903c345dd1781091891000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-xilian-submodule.jenkinsfile 2026-06-10 11:44:51 +000031db2ce7d9aa24b630ed2f755950bae903c345ddUpdate qingdao-xilian-submodule.jenkinsfileeditparams/qingdao-xilian-submodule.jenkinsfileparams/yiwu-suxi-submodule.jenkinsfileb30b3eae687afbe1716d1a5292919faaf24107071781091936000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yiwu-suxi-submodule.jenkinsfile 2026-06-10 11:45:36 +0000b30b3eae687afbe1716d1a5292919faaf2410707Update yiwu-suxi-submodule.jenkinsfileeditparams/yiwu-suxi-submodule.jenkinsfileparams/xiamen-submodule.jenkinsfilec63df6b14d7d2936277c0058cf97cae28a91c0dd1781091972000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate xiamen-submodule.jenkinsfile 2026-06-10 11:46:12 +0000c63df6b14d7d2936277c0058cf97cae28a91c0ddUpdate xiamen-submodule.jenkinsfileeditparams/xiamen-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfiled7e45bb257f8cd29e232acf28ea5a754f1774b241781228461000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-12 01:41:01 +0000d7e45bb257f8cd29e232acf28ea5a754f1774b24Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/yiwu-suxi-submodule.jenkinsfile012ab97ba1fcf4f1270959a56f1a10162959f97d1781506401000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yiwu-suxi-submodule.jenkinsfile 2026-06-15 06:53:21 +0000012ab97ba1fcf4f1270959a56f1a10162959f97dUpdate yiwu-suxi-submodule.jenkinsfileeditparams/yiwu-suxi-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfile17c883404934ccf8c58e370b006e92d58169db561782695533000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-06-29 01:12:13 +000017c883404934ccf8c58e370b006e92d58169db56Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfilemodule-confname.jenkinsfilea13d7af684b6a5e9154208c2c57af95563d87e8d1782721920000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-confname.jenkinsfile 2026-06-29 08:32:00 +0000a13d7af684b6a5e9154208c2c57af95563d87e8dUpdate module-confname.jenkinsfileeditmodule-confname.jenkinsfilemodule-pncreplayer.jenkinsfile03279b5e663668162887f44d76f2bb9ab792b7381782721943000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-pncreplayer.jenkinsfile 2026-06-29 08:32:23 +000003279b5e663668162887f44d76f2bb9ab792b738Update module-pncreplayer.jenkinsfileeditmodule-pncreplayer.jenkinsfiletelediagnostic.jenkinsfile1a67ffa6dbf4f7fe70789bfa9e4324cda31828d51782721960000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate telediagnostic.jenkinsfile 2026-06-29 08:32:40 +00001a67ffa6dbf4f7fe70789bfa9e4324cda31828d5Update telediagnostic.jenkinsfileedittelediagnostic.jenkinsfilehdmap/map-png.jenkinsfile93c8bcff517a3e06a144d67cdcb5c47093c5ea2d1782976326000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-07-02 07:12:06 +000093c8bcff517a3e06a144d67cdcb5c47093c5ea2dUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfileb4b4bb20082b594ea1097f63bb6df1623357beba1782977616000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-07-02 07:33:36 +0000b4b4bb20082b594ea1097f63bb6df1623357bebaUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfilegitcomm_msgs/msg/Traj.msgb34e00e37e0d3a5818ba0ebb75422c11ae3b6b281776064859000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-13 15:20:59 +0800b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msgaed54f80025d95dc2fa58fadb5f26bd1c46d4b0d1776396428000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-17 11:27:08 +0800aed54f80025d95dc2fa58fadb5f26bd1c46d4b0dfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txt0bf8bca044aa2d9364b02efff468438ff651c1c21779358531000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 18:15:31 +08000bf8bca044aa2d9364b02efff468438ff651c1c2添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txtb8f59b921d1a229a9a39dc06f08a35101d7102941779362634000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 19:23:54 +0800b8f59b921d1a229a9a39dc06f08a35101d710294添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtcomm_msgs/msg/Traj.msgbcbc5de637a9a70f2d4a3f32247a71a67dbfd4a01779678432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-05-25 11:07:12 +0800bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-05-25 16:20:41 +0800549daf0fc4e7c8f469ba1807acf334525ddb939bfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msgtmp/aha/dconf/user.marscode/deviceInfo.jsond2d1816d65aec8f872cc6f61052bdcb8c64e73e51780365770000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加吉利锁具控制 2026-06-02 10:02:50 +0800d2d1816d65aec8f872cc6f61052bdcb8c64e73e5feat_out:增加吉利锁具控制add.marscode/deviceInfo.jsonaddtmp/aha/dconf/useredittos_msgs/msg/PeripheralCmd.msgcomm_msgs/msg/Traj.msg28d550621b9b5b7a5c1e61e58845772ff4c1525c1780369194000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-02 10:59:54 +080028d550621b9b5b7a5c1e61e58845772ff4c1525cfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateState.msg7d1f2976915d6191037ca802663b6fcf5c9528671780392251000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:新增吉利锁具控制 2026-06-02 17:24:11 +08007d1f2976915d6191037ca802663b6fcf5c952867feat_out:新增吉利锁具控制edittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateState.msgcomm_msgs/msg/Traj.msgeadbbf60c2f42f9cc816ea239eb5310f19bef0581780457575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-06-03 11:32:55 +0800eadbbf60c2f42f9cc816ea239eb5310f19bef058feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt876f0ac7f688fcb989d1343dc7bfac606a98615e1781229500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-12 09:58:20 +0800876f0ac7f688fcb989d1343dc7bfac606a98615efeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgalign_msgs/msg/TargetCarStatus.msg4a63c7fafd07ee96114547c4152c16c5b153898f1781236330000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 11:52:10 +08004a63c7fafd07ee96114547c4152c16c5b153898f添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt7d57dd6412d4746df29e6b22eeda874d2244b0cd1781582456000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:00:56 +08007d57dd6412d4746df29e6b22eeda874d2244b0cdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgads_msgs/msg/Target.msg063d531a478250750e71384bff10ecd00da9d00f1782287750000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加货物分段长度字段和逃逸场景类型 2026-06-24 15:55:50 +0800063d531a478250750e71384bff10ecd00da9d00ffeat: 添加货物分段长度字段和逃逸场景类型editads_msgs/msg/Target.msggitcommon/glog_helper.ccins_driver/ins_driver.cppsins/strapdown_truck.cpp54902aed969043b3f09a591299ad7aa14e4ed6741781093927000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autonote_out: 友谊关分支取消回到test_qingdao分支 2026-06-10 20:18:47 +080054902aed969043b3f09a591299ad7aa14e4ed674note_out: 友谊关分支取消回到test_qingdao分支editins_driver/ins_driver.cppeditcommon/glog_helper.cceditsins/strapdown_truck.cppgittools/debug_rosbag_extractor/debug_bag_extractor.hpp767cd61b9d0c933846864de405c44867c3e7d3bb1781056456000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: debug bag提取增加新模式 2026-06-10 09:54:16 +0800767cd61b9d0c933846864de405c44867c3e7d3bbfeat: debug bag提取增加新模式edittools/debug_rosbag_extractor/debug_bag_extractor.hppCMakeLists.txtVERSION.mdpackage.xmlbf978b4b53f54947e2b10f8e0cdb0e9fdb61aff61781056461000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autochore(version): 3.17.1 2026-06-10 09:54:21 +0800bf978b4b53f54947e2b10f8e0cdb0e9fdb61aff6chore(version): 3.17.1editCMakeLists.txteditVERSION.mdeditpackage.xmlmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.cc00b235197105ba7ac8318e775d18b13a5bbd54351782109272000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 增加FLAGS_enable_cloud_trajectory执行过滤 2026-06-22 14:21:12 +080000b235197105ba7ac8318e775d18b13a5bbd5435feat: 增加FLAGS_enable_cloud_trajectory执行过滤editmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.ccmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.cc45c8807d15bf2bf57b132e1f7c40daf57fbd67a41782186958000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 增加空container报错 2026-06-23 11:55:58 +080045c8807d15bf2bf57b132e1f7c40daf57fbd67a4feat: 增加空container报错editmodules/prediction/scenario/cloud_trajectories/cloud_trajectories_processor.ccCMakeLists.txtVERSION.mdpackage.xmlc7e7b2c6f3d025b59d205b35e3ee2c45d078b6c21782186966000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autochore(version): 3.17.2 2026-06-23 11:56:06 +0800c7e7b2c6f3d025b59d205b35e3ee2c45d078b6c2chore(version): 3.17.2editVERSION.mdeditpackage.xmleditCMakeLists.txtgitdata/data_frame.hppmonitor/parallel_report_monitor.cppsink/module.hppdata/monitor/parallel_report_data.hppdraw/draw.hppdata/config/cfg_topic.hppdata/common/parallel_report.cppdata/config/cfg_topic.cppdata/data_frame.cppdata/common/parallel_report.hppdraw/draw_parallel_report.cppmonitor/parallel_report_monitor.hppdraw/draw_parallel_report.hppdraw/draw.cppdata/config/cfg_safe_const.hppmonitor/module.hppdata/config/cfg_safe_const.cppsink/ros_sink_parallel_report.hppfc398cc77992a127ef5bd218d25384dc4725f1481781179187000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 实现平行驾驶障碍物上报功能，包含数据结构、监控逻辑及可视化支持 2026-06-11 19:59:47 +0800fc398cc77992a127ef5bd218d25384dc4725f148feat: 实现平行驾驶障碍物上报功能，包含数据结构、监控逻辑及可视化支持adddata/monitor/parallel_report_data.hppeditmonitor/module.hppaddsink/ros_sink_parallel_report.hppeditdata/config/cfg_safe_const.hppeditdraw/draw.hppeditdata/config/cfg_topic.hppeditdata/data_frame.hppadddata/common/parallel_report.cppeditdata/config/cfg_topic.cppadddraw/draw_parallel_report.hppeditdata/config/cfg_safe_const.cppadddata/common/parallel_report.hppeditsink/module.hppeditdata/data_frame.cppadddraw/draw_parallel_report.cppaddmonitor/parallel_report_monitor.cppeditdraw/draw.cppaddmonitor/parallel_report_monitor.hppdata/action/recoder_trigger.cppdata/action/recoder_trigger.hpp3b6a85427cd22e2b94640d836cade0fe959650331781179254000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:优化数据保存 2026-06-11 20:00:54 +08003b6a85427cd22e2b94640d836cade0fe95965033feat:优化数据保存editdata/action/recoder_trigger.hppeditdata/action/recoder_trigger.cppdata/monitor/below_plane_guardian_data.cppdraw/draw_diagnose.hppdraw/draw.hppdraw/draw_ogm_pts.cppdata/monitor/lateral_guard_data.cppdata/monitor/below_plane_guardian_data.hppdata/monitor/ttc_guardian_data.hppdraw/draw_collision_pts.hppdraw/draw_diagnose.cppdata/monitor/ttc_guardian_data.cppdata/monitor/lateral_guard_data.hppdraw/draw.cppef50594137206654e0fe4155f232013ef78ca9241781181085000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加碰撞点的显示 2026-06-11 20:31:25 +0800ef50594137206654e0fe4155f232013ef78ca924feat:添加碰撞点的显示editdata/monitor/lateral_guard_data.hppeditdraw/draw.cppeditdraw/draw_ogm_pts.cppeditdata/monitor/below_plane_guardian_data.cppeditdata/monitor/below_plane_guardian_data.hppeditdata/monitor/ttc_guardian_data.cppadddraw/draw_collision_pts.hppeditdata/monitor/ttc_guardian_data.hppeditdraw/draw_diagnose.hppeditdraw/draw.hppeditdata/monitor/lateral_guard_data.cppeditdraw/draw_diagnose.cppdata/vehicle/command.cppc48d06c1545e24b2ff84bb73ad2c1a2e832847991781237999000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化车辆类型转换逻辑 2026-06-12 12:19:59 +0800c48d06c1545e24b2ff84bb73ad2c1a2e83284799feat: 优化车辆类型转换逻辑editdata/vehicle/command.cppmonitor/parallel_report_monitor.cppdraw/draw_parallel_report.cppdata/monitor/parallel_report_data.hpp8c49b0f3476554392dd7a5e1c398887693943bdf1781749016000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 退出平行驾驶时清空上报数据非平行驾驶状态下清空 DataFrame 及 worker 缓存的结果, 避免残留数据被持续上报和绘制. 2026-06-18 10:16:56 +08008c49b0f3476554392dd7a5e1c398887693943bdffeat: 退出平行驾驶时清空上报数据editdata/monitor/parallel_report_data.hppeditdraw/draw_parallel_report.cppeditmonitor/parallel_report_monitor.cppgitalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.cppedittest/accel_to_pedal_converter_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppadddocs/startup_traction_control_review.mdeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/process/prepare/prepare_state.cppeditnode/sink/ros_sink_command.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editdata/ctrl/lateral_cmd.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/sink/ros_sink_command.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/module.cppeditconfig/config_imv/ctrl.yamleditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editdata/ctrl/lateral_cmd.hppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/lon_dynamics_csv_logger.cppeditconfig/config_imv/ctrl.yamleditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/config/cfg_steering_offset_observer.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/ctrl/lateral_cmd.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/module.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppnode/process/prepare/prepare_creep.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamldata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/longitude_controller.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editconfig/config_truck/ctrl.yamleditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_safe_const.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_sc/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditconfig/config_car/ctrl.yamleditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/ctrl_frame.cppeditnode/process/prepare/prepare_status.cppeditdata/vehicle/vehicle_status.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppAGENTS.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editAGENTS.mdeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/logic.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/ctrl/lateral_cmd.hppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppalgorithm/ctrl/observer/steering_offset_observer.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl_frame.hppmath/identification/lateral_kinematics_estimator.cppdata/config/cfg_static.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editdata/config/cfg_static.hppaddmath/identification/lateral_kinematics_estimator.cppeditdata/ctrl_frame.cppaddmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppdata/config/cfg_static.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditmath/identification/lateral_kinematics_estimator.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppCLAUDE.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_static.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editnode/process/proc/proc_limit.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppconfig/config_truck/ctrl.yamldata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl_frame.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/ctrl/velocity_cmd.cppeditconfig/config_sc/ctrl.yamleditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditdata/lon_dynamics_csv_logger.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppmath/identification/parking_distance_estimator.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_status.cppeditdata/ctrl/observer_debug_data.cppeditmath/identification/parking_distance_estimator.hppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditmath/identification/parking_distance_estimator.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editcommon/util/error_code_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/config/cfg_error.hppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_error.cppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditcommon/util/error_code_data.hppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppeditdata/ctrl_frame.cppeditnode/source/ros_source_parallel_cmd.cppeditdata/vehicle/vehicle_command.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppgitsrc/RMInterpreter/ros_mqtt_bridge.cpp9676658af9dd4a2c73ec7110e421b208d218f3bb1781589613000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加车端向云端发送/vehicle/parallel/report 2026-06-16 14:00:13 +08009676658af9dd4a2c73ec7110e421b208d218f3bbfeat_out:增加车端向云端发送/vehicle/parallel/reporteditsrc/RMInterpreter/ros_mqtt_bridge.cppsrc/RMInterpreter/ros_mqtt_bridge.cpp551db46ee820522570d24aea46d909615b81ca841781614650000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:云端topic修改 2026-06-16 20:57:30 +0800551db46ee820522570d24aea46d909615b81ca84feat_out:云端topic修改editsrc/RMInterpreter/ros_mqtt_bridge.cppsrc/RMInterpreter/ros_mqtt_bridge.cpppackage.xmlc442cfc092a2453537e5c4cb3330789906ebf24a1782369194000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加定位消息上传 2026-06-25 14:33:14 +0800c442cfc092a2453537e5c4cb3330789906ebf24afeat_out:增加定位消息上传editsrc/RMInterpreter/ros_mqtt_bridge.cppeditpackage.xmlgitsrc/mqtt_fms.cppmqtt/src/MOSQClient.cpp43c7e922663917589c975b70b64ef9ccd957db211781064399000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修复证书崩溃问题 2026-06-10 12:06:39 +080043c7e922663917589c975b70b64ef9ccd957db21feat_out:修复证书崩溃问题editsrc/mqtt_fms.cppeditmqtt/src/MOSQClient.cppmqtt/include/MOSQClient.hmqtt/src/MOSQClient.cpp31985b9f6c1fd6fbbc94f01daae6494cf03b9d431781067471000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修复tls bug 2026-06-10 12:57:51 +080031985b9f6c1fd6fbbc94f01daae6494cf03b9d43feat_out:修复tls bugeditmqtt/include/MOSQClient.heditmqtt/src/MOSQClient.cppgiterror_codes/error_codes_tracker_v2.cpp7a308ab029e7bc1ffaacef887d74faebb30aa1eb1781005767000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:溯源环防护 2026-06-09 19:49:27 +08007a308ab029e7bc1ffaacef887d74faebb30aa1ebfeat_out:溯源环防护editerror_codes/error_codes_tracker_v2.cppgitcore/spreader_detection.hcore/spreader_detection.cpp436615cec1ac0150dbfc2a081822b9325ecba5571781507563000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto低速时不修改载物 2026-06-15 15:12:43 +0800436615cec1ac0150dbfc2a081822b9325ecba557低速时不修改载物editcore/spreader_detection.cppeditcore/spreader_detection.hcore/spreader_detection.cpp49adad15a01601c237d52891f1ea82ad0bea92b61781515716000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto存图名称里加速度字段 2026-06-15 17:28:36 +080049adad15a01601c237d52891f1ea82ad0bea92b6存图名称里加速度字段editcore/spreader_detection.cppcore/spreader_detection.cpp52787d4db8079cc5994c136dfe12c39b527fcd771781751428000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto加大转角滞后允许阈值到0.5秒 2026-06-18 10:57:08 +080052787d4db8079cc5994c136dfe12c39b527fcd77加大转角滞后允许阈值到0.5秒editcore/spreader_detection.cppcore/spreader_detection.cppf28862316c7ad34bf9a5cbb1b521e28a650d7d211782964954000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto启动之处误报"高度检出不足" 2026-07-02 12:02:34 +0800f28862316c7ad34bf9a5cbb1b521e28a650d7d21启动之处误报"高度检出不足"editcore/spreader_detection.cppcore/spreader_detection.cpp9e6811a25c4ff8eb2573755f93f4a4ef0ce8cfb31782966064000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto压挡流板报警加y约束 2026-07-02 12:21:04 +08009e6811a25c4ff8eb2573755f93f4a4ef0ce8cfb3压挡流板报警加y约束editcore/spreader_detection.cppgitcommon/container_compensate.cppcommon/container_compensate.hcore/crane_align.cppcommon/warn_module.h2771fc9dc009078015faf692718ada0a87d868a21781004133000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autoadd debug topup cloud info 2026-06-09 19:22:13 +08002771fc9dc009078015faf692718ada0a87d868a2add debug topup cloud infoeditcommon/container_compensate.cppeditcore/crane_align.cppeditcommon/warn_module.heditcommon/container_compensate.hcommon/container_compensate.cppcommon/container_compensate.hcore/crane_align.cppcore/crane_align.h2fba2bc72be1d2ccca39471882696a3130a698ea1781059144000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autofix align_kf data race && topup few cloud thresh 2026-06-10 10:39:04 +08002fba2bc72be1d2ccca39471882696a3130a698eafix align_kf data race && topup few cloud thresheditcommon/container_compensate.cppeditcore/crane_align.heditcommon/container_compensate.heditcore/crane_align.cppcommon/tos_task.cppcore/crane_align.cppabcc8c9ffc1391ec938978168cc8cbb81ef3b8291781594363000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autonew_task state consider location,try load pcd 2026-06-16 15:19:23 +0800abcc8c9ffc1391ec938978168cc8cbb81ef3b829new_task state consider location,try load pcdeditcommon/tos_task.cppeditcore/crane_align.cppcore/crane_align.cppcore/crane_align.hc29dc4dada5fed86afb52b14d60820bc6223b0f21781597695000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autoadd sc_model lock 2026-06-16 16:14:55 +0800c29dc4dada5fed86afb52b14d60820bc6223b0f2add sc_model lockeditcore/crane_align.cppeditcore/crane_align.hcore/crane_align.cppdbc6ee8ff0e142976b92a98d6de4ffb428f5e2b31782301757000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autofix find trail yard bug 2026-06-24 19:49:17 +0800dbc6ee8ff0e142976b92a98d6de4ffb428f5e2b3fix find trail yard bugeditcore/crane_align.cppcommon/tos_task.cppcore/crane_align.cppcore/crane_align.hdoc/config_block_thread_safety.md2a51fa9509564615ba3d60d06b4705eb1eef50e61783057102000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix stc_blk/shc_blk data race crash: immutable snapshot + pointer swap 节点崩溃根因:AsyncSpinner(4)下TOS任务回调整体赋值stc_blk_/shc_blk_, 与点云回调线程无锁拷贝其中vector/string成员并发,读到悬空指针段错误。 - stc_blk_/shc_blk_ 改为 shared_ptr 不可变快照:写者复制新块改完换指针, 读者锁内取快照,见 doc/config_block_thread_safety.md - target_point_change_threshold 0.1 -> 0.15,避免TOS坐标抖动反复全量重载任务 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> 2026-07-03 01:38:22 -04002a51fa9509564615ba3d60d06b4705eb1eef50e6fix stc_blk/shc_blk data race crash: immutable snapshot + pointer swapeditcommon/tos_task.cppeditcore/crane_align.cppadddoc/config_block_thread_safety.mdeditcore/crane_align.hgitextrinsics/JXDFTG_PX_IMV002.gitmodulesextrinsics/JXDFTG_PX_IMV001de7544f70c8f4b7c97d749c165535f1035de97851782113827000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto移除无效 submodule JXDFTG_PX_IMV001 / JXDFTG_PX_IMV002 远端 GitLab (159.27.226.4) 已无法访问这两个仓库（project not found or no permission），从 .gitmodules、索引和 .git/modules 缓存中一并清理。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-06-22 15:37:07 +0800de7544f70c8f4b7c97d749c165535f1035de9785移除无效 submodule JXDFTG_PX_IMV001 / JXDFTG_PX_IMV002deleteextrinsics/JXDFTG_PX_IMV001deleteextrinsics/JXDFTG_PX_IMV002edit.gitmodulesextrinsics/P702ffd3a37a3f411a42f3b6e9d2d37c1280909ae0a81782128471000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto更新 P702 gitlink: 添加雷达校准 CSV (PandarXT32 left/right/top) via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-06-22 19:41:11 +0800ffd3a37a3f411a42f3b6e9d2d37c1280909ae0a8更新 P702 gitlink: 添加雷达校准 CSV (PandarXT32 left/right/top)editextrinsics/P702extrinsics/JXDFTG_PX_IMV014.gitmodulesextrinsics/JXDFTG_PXPT_IMV009extrinsics/JXDFTG_PXPT_IMV008extrinsics/JXDFTG_PXLB_IMV014extrinsics/JXDFTG_PXJZX_IMV013extrinsics/JXDFTG_PXPT_IMV003extrinsics/JXDFTG_PXJZX_IMV101extrinsics/JXDFTG_PXPT_IMV002extrinsics/JXDFTG_PXJZX_IMV102extrinsics/JXDFTG_PXPT_IMV001extrinsics/JXDFTG_PXPT_IMV007extrinsics/JXDFTG_PXPT_IMV006extrinsics/JXDFTG_PXPT_IMV005extrinsics/JXDFTG_PXPT_IMV004extrinsics/JXDFTG_PXPT_IMV010extrinsics/JXDFTG_PXJZX_IMV011extrinsics/JXDFTG_PXJZX_IMV0122218a3852e6b4dd95546d677efb092138282f8411782976305000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.auto增加嘉兴东方特钢 JXDFTG 车辆参数 (17 个) PXJZX_IMV011/012/013/101/102 PXLB_IMV014 PXPT_IMV001-010 PX_IMV014 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-07-02 03:11:45 -04002218a3852e6b4dd95546d677efb092138282f841增加嘉兴东方特钢 JXDFTG 车辆参数 (17 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(52 个) CS_SQHW_AT001 CS_SQHW_AT002 HNCS_SANY_ADT001 HNYP_JLX7E_AT081 HNYP_JLX7E_AT082 HNYP_JLX7E_AT083 JNLSG_JL_AT011 JNLSG_JL_AT012 JNLSG_JL_AT013 JNLSG_JL_AT014 JNLSG_JL_AT015 JNLSG_JL_AT016 NBZS_JLPT_AT700 PXPZ_SANY_AT0014 PXPZ_SANY_AT006 PXPZ_SANY_AT007 PXPZ_SANY_AT008 PXPZ_SANY_AT009 PXPZ_SANY_AT010 PXPZ_SANY_AT011 PXPZ_SANY_AT012 PXPZ_SANY_AT013 PXPZ_SANY_AT014 PXPZ_SANY_AT015 PXPZ_SANY_AT016 PXPZ_SANY_AT017 PXPZ_SANY_AT018 PXPZ_SANY_AT019 PXPZ_SANY_AT020 PXPZ_SANY_AT021 PXPZ_SANY_AT022 QDDG_SANY_AT001 QDQG371 QDQG372 QDQG373 QDQG375 QDQG376 YWSX_BYDQ1_AT16 YWSX_BYDQ1_AT21 YWSX_KINGLONG_IGV11 YWSX_KINGLONG_IGV12 YWSX_KINGLONG_IGV13 YWSX_KINGLONG_IGV14 YWSX_KINGLONG_IGV15 YWSX_KINGLONG_IGV16 YWSX_KINGLONG_IGV17 YWSX_KINGLONG_IGV18 YWSX_KINGLONG_IGV19 YWSX_KINGLONG_IGV20 YWSX_SANY_AT16 YWSX_SANY_AT17 pxpz_sany_at005 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> 2026-07-02 05:45:50 -04003131fa9de218f738af26c976ed78ca9167f05d74同步带雷达校准文件的车辆参数 (52 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stability: 2 out of the last 5 builds failed.icon-health-40to59health-40to59.png60falsefalseorinmasterconfListGet-BranchsconfCould not get conf for confListcheckallyesOTApublicregionliangshangangdeviceChoicefalsemsgBranchrc_dev_jiningliangshangangrslidarSDKBranchrc_devrslidarSdkNewBranchrc_devcameraDriverBranchrc_devloginSyncToolBranchrc_devsystemRosBranchrc_devnodeManagerBranchrc_devthirdpartyBranchrc_devunifiedSystemMonitorBranchrc_devrosBridgeBranchnohdcontrolBranchrc_devversionsObserverBranchrc_devcacheBagNodeBranchrc_devsystemMonitorBranchrc_devperformanceAnalystBranchrc_devscheduleManagerBranchrc_devimvSpreaderDetectionBranchrc_devcraneAlignBranchdev_truck_comment_lhmrpt2Branchrc_devwarningModuleBranchrc_devrminterpreterBranchrc_devnodeManagerOnlineBranchrc_devrtspRelayerBranchrc_devhesaiLidarBranchrc_devnewTruckSpreaderDetectionBranchrc_devrcinterpreterBranchrc_devpncBranchfeat_trajectoryguardianBranchfeat_yangpustaticTransformBranchrc_devmsfLocBranchtest_qingdaomsfAssistantBranchrc_devhdmapBranchnoperipheralControllerBranchfeat_jnlsgpredictionBranchrc_devlaneDetectionBranchnodataCollectionBranchrc_devtosVisualizeBranchrc_devsinsCalibrationHmiBranchrc_devtoolsBranchrc_devsegmentationBranchnocontrolBranchfeat_creep_statushdmapCloudBranchrc_devnodeManagerHmiBranchrc_devgroundmarkerDetectionBranchnocalibrationToolsBranchrc_devsimulatorBranchnosnapshotUploadBranchnohdmapInterfaceBranchrc_devspreaderSegmentationBranchnotrafficLightDetectionBranchnoperceptionPublisherBranchrc_devavmBranchnov2BranchNone-BranchnewDetectionBranchNone-BranchseniorCalibrationBranchNone-BranchdoxBranchNone-BrancholeLidarBranchNone-BranchlidarCameraFusionBranchNone-BranchoperatenoorinConfmastereditConfNamenotes梁山港主机全量（）usersStarted 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curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/keb_optimizer/keb_problem.cceditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils_core.hppeditssep/maps/ogm.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 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align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.hppeditdata/map/pnc_map/pnc_map_helper.cppeditplan/prepare/prepare_status.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/replayer_hmi.hpphmi/widget/path_curve_detail.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/replayer_hmi.cpphmi/node_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.hppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.hppaddhmi/widget/path_curve_detail.cppedithmi/node_hmi.cppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/plan/path_data.cppeditalgorithm/util/curvature.cppeditalgorithm/util/curvature.hppeditdata/common/guide_path.cppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.hppeditdata/plan_frame.cppedithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/lattice/ogm_crash_data.cppeditplan/prepare/prepare_ogm.cppeditdata/config/cfg_hmi.cppeditdata/lattice/ogm_crash_data.hppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测edithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hppeditdata/plan_frame.cppeditdata/config/cfg_hmi.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 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。editdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cppdata/config/cfg_stage.hpptasks/plan/lane_change_path_task_v2.cppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/config/cfg_stage.hppeditdata/plan/switch_data.cppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_stage.cppeditconfig/config_imv/scenario.yamladdtasks/plan/lane_change_path_task_v2.hppeditdata/config/cfg_lat_plan.hppedittasks/task_factory.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editnode/logic.cppeditscenarios/scenario.cppeditcore/plan_runtime_watchdog.hppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥不创建双黄线约束editdata/ssep/bridge_junction_ec.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: 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editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_multi_segment_parking_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 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 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 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editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppscenarios/stage.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editscenarios/stage.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.cppreplayer/replayer_data_process/replayer_data_process.cppdata/plan/guide_line.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppc985b5d139bd58bfced869c12fd281635385d23d1781704635000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线赋值的bug 2026-06-17 21:57:15 +0800c985b5d139bd58bfced869c12fd281635385d23dfix:修复停止线赋值的bugeditdata/map/pnc_map/pnc_map_path.cppCMakeLists.txt7208d3d12ea79d541e5468946bb14f96755e63211781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 2026-06-17 22:44:01 +08007208d3d12ea79d541e5468946bb14f96755e6321fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题editCMakeLists.txtdata/map/envelop/map_envelop.cppae7311500c04fd8ac201a456995c22500151a2b81781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 2026-06-17 22:44:01 +0800ae7311500c04fd8ac201a456995c22500151a2b8fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划editdata/map/envelop/map_envelop.cppdata/map/reference/reference_road_section.hppdata/map/reference/reference_road_section.cppc9307e98a239504f9c8b930abc637985f93443541781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 2026-06-17 22:44:01 +0800c9307e98a239504f9c8b930abc637985f9344354refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性editdata/map/reference/reference_road_section.hppeditdata/map/reference/reference_road_section.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.cce65ecba034e9ae68666f2a036d3ac12d4ef5c7d21782115296000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 2026-06-22 16:01:36 +0800e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作editssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域 (IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大, 解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。 2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpptasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。 2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppdata/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis 直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer), 避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。 2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 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editdata/ssep/into_yard_junction_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 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。 2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: 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。editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题editalgorithm/plan/keb_optimizer.cppeditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_utils.ccdata/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理 - piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退 - pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激 - 补充 pjpo 曲率约束相关测试 - 清理 PJPO 调试 trace 日志 2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppreplayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 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editreplayer/replayer_data_process/replayer_data_process.cpptasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cppdata/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 - CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判 - 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定 - 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值 2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/plan/switch_data.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化 CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化), DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。 upper/underlying 两层都判断, 下层碰撞时短路跳过上层。 2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/obstacle/ogm.hppeditdata/plan/switch_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项, 锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0; 修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。 2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 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editdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.cpptasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑editdata/plan/smooth_data.cppedittasks/plan/pjpo_task.cppedittasks/plan/pjpo_task.hppalgorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cppdata/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppsink/ros_sink_pnc_status.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 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editdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.hppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 - 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框 - open_space_ec 起点框内联逻辑改为调用该函数 - into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底 2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d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editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppscenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057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 groupeditscenarios/stage.cpptasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cppdata/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 - U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE) - 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽 2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cppdata/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner 2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.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.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: 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editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/scenario_planner_factory.halgorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug 2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash bugeditalgorithm/wbca/path_optimization/imv_path_optimization.cppgithttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing419http://159.27.114.184:8080/jenkins/job/orin-slave32/419/orinmasterconfListGet-BranchsconfCould not get conf for 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curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/keb_optimizer/keb_problem.cceditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils_core.hppeditssep/maps/ogm.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 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align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.hppeditdata/map/pnc_map/pnc_map_helper.cppeditplan/prepare/prepare_status.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/replayer_hmi.hpphmi/widget/path_curve_detail.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/replayer_hmi.cpphmi/node_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.hppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.hppaddhmi/widget/path_curve_detail.cppedithmi/node_hmi.cppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/plan/path_data.cppeditalgorithm/util/curvature.cppeditalgorithm/util/curvature.hppeditdata/common/guide_path.cppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.hppeditdata/plan_frame.cppedithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/lattice/ogm_crash_data.cppeditplan/prepare/prepare_ogm.cppeditdata/config/cfg_hmi.cppeditdata/lattice/ogm_crash_data.hppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测edithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hppeditdata/plan_frame.cppeditdata/config/cfg_hmi.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 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。editdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cppdata/config/cfg_stage.hpptasks/plan/lane_change_path_task_v2.cppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/config/cfg_stage.hppeditdata/plan/switch_data.cppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_stage.cppeditconfig/config_imv/scenario.yamladdtasks/plan/lane_change_path_task_v2.hppeditdata/config/cfg_lat_plan.hppedittasks/task_factory.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editnode/logic.cppeditscenarios/scenario.cppeditcore/plan_runtime_watchdog.hppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥不创建双黄线约束editdata/ssep/bridge_junction_ec.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: 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editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_multi_segment_parking_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 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 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 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editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppscenarios/stage.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editscenarios/stage.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.cppreplayer/replayer_data_process/replayer_data_process.cppdata/plan/guide_line.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppc985b5d139bd58bfced869c12fd281635385d23d1781704635000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线赋值的bug 2026-06-17 21:57:15 +0800c985b5d139bd58bfced869c12fd281635385d23dfix:修复停止线赋值的bugeditdata/map/pnc_map/pnc_map_path.cppCMakeLists.txt7208d3d12ea79d541e5468946bb14f96755e63211781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 2026-06-17 22:44:01 +08007208d3d12ea79d541e5468946bb14f96755e6321fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题editCMakeLists.txtdata/map/envelop/map_envelop.cppae7311500c04fd8ac201a456995c22500151a2b81781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 2026-06-17 22:44:01 +0800ae7311500c04fd8ac201a456995c22500151a2b8fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划editdata/map/envelop/map_envelop.cppdata/map/reference/reference_road_section.hppdata/map/reference/reference_road_section.cppc9307e98a239504f9c8b930abc637985f93443541781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 2026-06-17 22:44:01 +0800c9307e98a239504f9c8b930abc637985f9344354refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性editdata/map/reference/reference_road_section.hppeditdata/map/reference/reference_road_section.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.cce65ecba034e9ae68666f2a036d3ac12d4ef5c7d21782115296000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 2026-06-22 16:01:36 +0800e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作editssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域 (IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大, 解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。 2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpptasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。 2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppdata/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis 直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer), 避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。 2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 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editdata/ssep/into_yard_junction_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 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。 2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: 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。editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题editalgorithm/plan/keb_optimizer.cppeditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_utils.ccdata/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理 - piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退 - pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激 - 补充 pjpo 曲率约束相关测试 - 清理 PJPO 调试 trace 日志 2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppreplayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 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editreplayer/replayer_data_process/replayer_data_process.cpptasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cppdata/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 - CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判 - 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定 - 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值 2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/plan/switch_data.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化 CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化), DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。 upper/underlying 两层都判断, 下层碰撞时短路跳过上层。 2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/obstacle/ogm.hppeditdata/plan/switch_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项, 锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0; 修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。 2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 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editdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.cpptasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑editdata/plan/smooth_data.cppedittasks/plan/pjpo_task.cppedittasks/plan/pjpo_task.hppalgorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cppdata/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppsink/ros_sink_pnc_status.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 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editdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.hppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 - 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框 - open_space_ec 起点框内联逻辑改为调用该函数 - into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底 2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d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editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppscenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057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 groupeditscenarios/stage.cpptasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cppdata/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 - U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE) - 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽 2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cppdata/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner 2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.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.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: 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editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/scenario_planner_factory.halgorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug 2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash 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curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/keb_optimizer/keb_problem.cceditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils_core.hppeditssep/maps/ogm.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 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align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.hppeditdata/map/pnc_map/pnc_map_helper.cppeditplan/prepare/prepare_status.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/replayer_hmi.hpphmi/widget/path_curve_detail.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/replayer_hmi.cpphmi/node_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.hppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.hppaddhmi/widget/path_curve_detail.cppedithmi/node_hmi.cppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/plan/path_data.cppeditalgorithm/util/curvature.cppeditalgorithm/util/curvature.hppeditdata/common/guide_path.cppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.hppeditdata/plan_frame.cppedithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/lattice/ogm_crash_data.cppeditplan/prepare/prepare_ogm.cppeditdata/config/cfg_hmi.cppeditdata/lattice/ogm_crash_data.hppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测edithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hppeditdata/plan_frame.cppeditdata/config/cfg_hmi.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 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。editdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cppdata/config/cfg_stage.hpptasks/plan/lane_change_path_task_v2.cppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/config/cfg_stage.hppeditdata/plan/switch_data.cppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_stage.cppeditconfig/config_imv/scenario.yamladdtasks/plan/lane_change_path_task_v2.hppeditdata/config/cfg_lat_plan.hppedittasks/task_factory.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editnode/logic.cppeditscenarios/scenario.cppeditcore/plan_runtime_watchdog.hppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥不创建双黄线约束editdata/ssep/bridge_junction_ec.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: 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editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_multi_segment_parking_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 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 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 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editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppscenarios/stage.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editscenarios/stage.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.cppreplayer/replayer_data_process/replayer_data_process.cppdata/plan/guide_line.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppc985b5d139bd58bfced869c12fd281635385d23d1781704635000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线赋值的bug 2026-06-17 21:57:15 +0800c985b5d139bd58bfced869c12fd281635385d23dfix:修复停止线赋值的bugeditdata/map/pnc_map/pnc_map_path.cppCMakeLists.txt7208d3d12ea79d541e5468946bb14f96755e63211781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 2026-06-17 22:44:01 +08007208d3d12ea79d541e5468946bb14f96755e6321fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题editCMakeLists.txtdata/map/envelop/map_envelop.cppae7311500c04fd8ac201a456995c22500151a2b81781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 2026-06-17 22:44:01 +0800ae7311500c04fd8ac201a456995c22500151a2b8fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划editdata/map/envelop/map_envelop.cppdata/map/reference/reference_road_section.hppdata/map/reference/reference_road_section.cppc9307e98a239504f9c8b930abc637985f93443541781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 2026-06-17 22:44:01 +0800c9307e98a239504f9c8b930abc637985f9344354refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性editdata/map/reference/reference_road_section.hppeditdata/map/reference/reference_road_section.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.cce65ecba034e9ae68666f2a036d3ac12d4ef5c7d21782115296000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 2026-06-22 16:01:36 +0800e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作editssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域 (IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大, 解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。 2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpptasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。 2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppdata/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis 直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer), 避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。 2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 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editdata/ssep/into_yard_junction_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 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。 2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: 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。editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题editalgorithm/plan/keb_optimizer.cppeditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_utils.ccdata/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理 - piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退 - pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激 - 补充 pjpo 曲率约束相关测试 - 清理 PJPO 调试 trace 日志 2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppreplayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 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editreplayer/replayer_data_process/replayer_data_process.cpptasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cppdata/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 - CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判 - 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定 - 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值 2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/plan/switch_data.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化 CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化), DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。 upper/underlying 两层都判断, 下层碰撞时短路跳过上层。 2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/obstacle/ogm.hppeditdata/plan/switch_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项, 锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0; 修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。 2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 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editdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.cpptasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑editdata/plan/smooth_data.cppedittasks/plan/pjpo_task.cppedittasks/plan/pjpo_task.hppalgorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cppdata/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppsink/ros_sink_pnc_status.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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 2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 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editdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.hppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 - 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框 - open_space_ec 起点框内联逻辑改为调用该函数 - into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底 2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d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editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppscenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057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 groupeditscenarios/stage.cpptasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cppdata/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 - U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE) - 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽 2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cppdata/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner 2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.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.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: 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editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/scenario_planner_factory.halgorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug 2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash bugeditalgorithm/wbca/path_optimization/imv_path_optimization.cppgithttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing419http://159.27.114.184:8080/jenkins/job/orin-slave32/419/orinmasterconfListGet-BranchsconfCould not get conf for confListcheckallyesOTApublicregionliangshangangdeviceChoicefalsemsgBranchrc_dev_jiningliangshangangrslidarSDKBranchrc_devrslidarSdkNewBranchrc_devcameraDriverBranchrc_devloginSyncToolBranchrc_devsystemRosBranchrc_devnodeManagerBranchrc_devthirdpartyBranchrc_devunifiedSystemMonitorBranchrc_devrosBridgeBranchnohdcontrolBranchrc_devversionsObserverBranchrc_devcacheBagNodeBranchrc_devsystemMonitorBranchrc_devperformanceAnalystBranchrc_devscheduleManagerBranchrc_devimvSpreaderDetectionBranchrc_devcraneAlignBranchdev_truck_comment_lhmrpt2Branchrc_devwarningModuleBranchrc_devrminterpreterBranchrc_devnodeManagerOnlineBranchrc_devrtspRelayerBranchrc_devhesaiLidarBranchrc_devnewTruckSpreaderDetectionBranchrc_devrcinterpreterBranchrc_devpncBranchfeat_trajectoryguardianBranchfeat_yangpustaticTransformBranchrc_devmsfLocBranchtest_qingdaomsfAssistantBranchrc_devhdmapBranchnoperipheralControllerBranchfeat_jnlsgpredictionBranchrc_devlaneDetectionBranchnodataCollectionBranchrc_devtosVisualizeBranchrc_devsinsCalibrationHmiBranchrc_devtoolsBranchrc_devsegmentationBranchnocontrolBranchfeat_creep_statushdmapCloudBranchrc_devnodeManagerHmiBranchrc_devgroundmarkerDetectionBranchnocalibrationToolsBranchrc_devsimulatorBranchnosnapshotUploadBranchnohdmapInterfaceBranchrc_devspreaderSegmentationBranchnotrafficLightDetectionBranchnoperceptionPublisherBranchrc_devavmBranchnov2BranchNone-BranchnewDetectionBranchNone-BranchseniorCalibrationBranchNone-BranchdoxBranchNone-BrancholeLidarBranchNone-BranchlidarCameraFusionBranchNone-BranchoperatenoorinConfmastereditConfNamenotes梁山港主机全量（）usersStarted 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