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module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilegitdata/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cpp9400659a6fb905588498dc7aa6b40598beb1b89a1790165936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正切入车辆跟车与绕行承诺先更新本帧位置再识别切入和通行策略；切入优先解除绕行承诺，普通侧方避让及消抖旧标签不能建立新承诺。切入完成后保持跟车，退回邻车道后释放跟车锁存。补充左右切入和承诺生命周期回归。验证：分布式构建通过，polygon_sl_projector_test 共 126 项通过。 2026-09-23 20:18:56 +08009400659a6fb905588498dc7aa6b40598beb1b89afix: 修正切入车辆跟车与绕行承诺editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppcd45d025fff50ff766c0a72baf3f156e55b0b84a1790165936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免切入收边强迫已越线车辆回归移除切入来源侧固定 12 米收边，按实车和有效拼接起点的牵引车及挂车外廓判定越线。已越线时保留来源侧原道路空间，避免截断向外连续转向；回到车道内后恢复限制。验证：分布式构建和 126 项决策、边界回归通过，覆盖双侧切入、拼接点、挂车及 DP 采样范围。 2026-09-23 20:18:56 +0800cd45d025fff50ff766c0a72baf3f156e55b0b84afix: 避免切入收边强迫已越线车辆回归editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppdata/obstacle/obstacle_decider_attr.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbproto/obstacle.protoreplayer/scene_data/generated/plan_frame_descriptor.pbfcde6e4ee2b22fd71b394e2a366faf60ec065fe91790165936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在场景快照中恢复切入跨帧状态为切入标志、来源方向及解除计数补充原值 Proto 编解码，Full、Compact 和 Candidate 均恢复。同步字段合同与生成产物，采用 Proto 默认值，不增加观测有效性兼容状态。验证：scaffold、generate、check-generated 和 breaking 检查通过，切入编解码及带宽测试通过。 2026-09-23 20:18:56 +0800fcde6e4ee2b22fd71b394e2a366faf60ec065fe9fix: 在场景快照中恢复切入跨帧状态editreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/obstacle_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditproto/obstacle.protoeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/obstacle/obstacle_decider_attr.hppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/compact_scene_descriptor.pbhmi/common/obstacle_details.hpphmi/common/pnc_graphics_view.cpphmi/draw/draw_perception.cpphmi/widget/pnc_mat.cpphmi/common/pnc_graphics_view.hpphmi/widget/replayer_pnc_mat.cpphmi/draw/draw_perception.hppTesting/CMakeLists.txtTesting/obstacle_detail_render_test.cpphmi/node_hmi.cpphmi/replayer_hmi.cpp581ea80168e914b83207df2d07a1e5913ad2dbce1790165937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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稳定编码基准的引导线消融默认状态editreplayer/scene_data/encoding_benchmark.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cpp440615906e0c9528d2857a14d6f758cea98c451d1790180724000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 将变道距离锁存推迟到进入变道状态准备阶段按最新速度更新完成距离，进入 SWITCHING 时确定距离和起终点，持续变道时继承锁存几何，避免减速后仍沿用高速边界。历史候选失效时清除未锁存几何，边界兜底同步更新安全检查距离；补充减速、状态切换、候选失效和重置回归。分布式编译及 19 项相关测试通过。 2026-09-24 00:25:24 +0800440615906e0c9528d2857a14d6f758cea98c451dfix: 将变道距离锁存推迟到进入变道状态edittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/plan/switch_data.cppreplayer/scene_data/generated/compact_scene_descriptor.pbproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/plan/switch_data.cppdata/config/cfg_lat_decide.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppconfig/config_truck/plan.yamlreplayer/scene_data/generated/config_schema_inputs.jsondata/obstacle/cluster_lane_change_safety_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamlreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbf6e9beb190e8b47a0160ccfa3511da7c45149e3e1790181868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持普通变道到最外侧车道的独立速度配置根据 mlt_center_lines 的目标索引是否为最后一条车道选择 switch_in_normal_outermost_km_h，未配置时继承 switch_in_normal_km_h，并同步普通路口变道准备距离计算。补齐 Full/Compact/Candidate typed 配置及旧消息缺字段回退，新增速度选择、边界和回放兼容回归。合同生成与兼容检查通过，分布式编译通过；22 项变道测试通过，回放测试 285 项通过、2 项因缺少外部数据跳过。 2026-09-24 00:44:28 +0800f6e9beb190e8b47a0160ccfa3511da7c45149e3efeat: 支持普通变道到最外侧车道的独立速度配置editdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditproto/config.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/config_proto_codec.cppeditconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_lat_decide.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditconfig/config_truck/plan.yamleditdata/obstacle/cluster_lane_change_safety_test.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/plan/switch_data.cppeditconfig/config_imv/plan.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/config/cfg_lat_decide.hppeditconfig/config_car/plan.yamleditreplayer/scene_data/generated/config_schema_inputs.jsonTesting/CMakeLists.txtTesting/long_target_activation_test.cppdata/constrain/long_target.cppacb9f2343e96a0264c62697bdfa04d461ea8bb391790182202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免巡航负加速度误激活远端停车停车激活评估不再把普通负加速度视为已进入终点制动，保留候选起点 v/a、硬制动可达性和已激活停车的连续性。补充现场 bag 参数、连续重规划、目标移远、约束消失及近距离硬制动回归。 2026-09-24 00:50:02 +0800acb9f2343e96a0264c62697bdfa04d461ea8bb39fix: 避免巡航负加速度误激活远端停车editTesting/CMakeLists.txtaddTesting/long_target_activation_test.cppeditdata/constrain/long_target.cppdata/lattice/lattice_trajectory1d.cppmath/curve1d/curve1d.hppalgorithm/plan/lattice.cppmath/piecewise_jerk/piecewise_jerk_traj.cppTesting/longitudinal_curve_validation_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/lattice/longitudinal_curve_validator.hppdata/lattice/lattice_trajectory1d.hppmath/piecewise_jerk/piecewise_jerk_traj.hppTesting/CMakeLists.txtTesting/jerk_limited_stop_test.cpp8fd5a80b8aae60764c9d37775d6826ab6cb4c6721790182204000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解析校验长时域停车曲线以避免候选误拒绝分段常 jerk 曲线检查完整时域端点、内部速度极值和分段边界，支持历史时间重基与终点保持；未知曲线继续保留采样预算保护。补充远端停车及低速恢复回归，并在规划失败日志中输出首个前置候选拒绝原因。刷新本次头文件变化对应的审计哈希，不改变持久化字段。 2026-09-24 00:50:04 +08008fd5a80b8aae60764c9d37775d6826ab6cb4c672fix: 解析校验长时域停车曲线以避免候选误拒绝editdata/lattice/longitudinal_curve_validator.hppeditmath/piecewise_jerk/piecewise_jerk_traj.cppeditmath/piecewise_jerk/piecewise_jerk_traj.hppeditdata/lattice/lattice_trajectory1d.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/jerk_limited_stop_test.cppeditdata/lattice/lattice_trajectory1d.hppaddTesting/longitudinal_curve_validation_test.cppeditTesting/CMakeLists.txteditalgorithm/plan/lattice.cppeditmath/curve1d/curve1d.hppdata/common/trajectory_point.cppTesting/CMakeLists.txtTesting/trajectory_point_interpolation_test.cpp4470e60a991e108dc7e0629c4f1653e242a1f7541790182204000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按时间插值消除低速轨迹起点锁存时间匹配直接按时间比例插值，避免亚毫米制动轨迹被 1 cm 空间容差或 1 ms 时间容差截断；保留角度和 z 哨兵语义。新增低速、静止、亚毫秒、分段端点和重复时间回归。三个修复合并验证：99 项纵向规划测试通过，pnc_node 分布式构建通过。 2026-09-24 00:50:04 +08004470e60a991e108dc7e0629c4f1653e242a1f754fix: 按时间插值消除低速轨迹起点锁存editTesting/CMakeLists.txtaddTesting/trajectory_point_interpolation_test.cppeditdata/common/trajectory_point.cppreplayer/replayer_data_process/replayer_data_process.cppreplayer/algorithm_replay/production_variant_runner.cppreplayer/replayer_data_process/replayer_data_process.hppTesting/scene_replay_foundation_test.cppc463af0de6aa16dc8cb5d1088faaa3fc18bf89351790182321000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复回放帧配置并保护共享配置访问逐帧同步 WBCA 等生产算法读取的配置单例，避免离线默认零速度覆盖录制配置。回放重建与任务执行共用递归互斥锁，防止并发回放互相覆盖配置。补充连续帧限速和相关配置恢复回归测试。 2026-09-24 00:52:01 +0800c463af0de6aa16dc8cb5d1088faaa3fc18bf8935fix: 恢复回放帧配置并保护共享配置访问editTesting/scene_replay_foundation_test.cppeditreplayer/algorithm_replay/production_variant_runner.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditreplayer/replayer_data_process/replayer_data_process.hppdata/dp_poly_path/trajectory_cost.hppdata/boundary/driving_corridor.cppdata/constrain/longitude_constrain.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hppreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsondata/obstacle/decision/obstacle_decision_test.cppdata/dp_poly_path/dp_road_graph.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/plan_frame_nested_persistence_review.yamlTesting/compact_driving_corridor_restore_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mddata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppreplayer/scene_data/plan_frame_field_roles.csvdata/obstacle/obstacle_decider_attr.hppproto/obstacle.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb4b28b4a4fa1c8cdaccdc57a377777622248da7c31790182338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前准备会车右让空间并补齐预测尾点检查会车预判覆盖纵向规划时域并检查真实预测尾点，自车与障碍物按同一时刻评估。提前生成右让准备段，考虑实车及有效拼接车身占用，保留可行通道和车身保护。按目标记录边界贡献，切入或换侧时撤销失效贡献并迁移代表位置，缺失保持迟滞。持久化会车确认状态，完善 Full、Compact、Candidate 及边界与动态代价回归。验证：分布式构建节点、回放器和测试目标；440 项常规测试通过；合同生成与兼容检查通过。两份 bag 重建完成，提前右让时机未退后；新增尾点碰撞使部分录制状态帧无解，尚未完成闭环连续通过验收。 2026-09-24 00:52:18 +08004b28b4a4fa1c8cdaccdc57a377777622248da7c3fix: 提前准备会车右让空间并补齐预测尾点检查editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/constrain/longitude_constrain.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditdata/boundary/driving_corridor_test.cppeditreplayer/scene_data/plan_frame_nested_persistence_review.yamleditdata/obstacle/obstacle_decider_attr.hppeditdata/dp_poly_path/trajectory_cost_test.cppeditdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/trajectory_cost.cppeditdata/boundary/driving_corridor.cppeditproto/obstacle.protoeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/obstacle/decision/obstacle_decision.hppeditreplayer/scene_data/obstacle_proto_codec.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/obstacle/obstacle_decider_attr.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditdata/obstacle/decision/obstacle_decision.cppeditTesting/compact_driving_corridor_restore_test.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/boundary/driving_corridor.hppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110277http://159.27.114.184:8080/jenkins/job/telediagnostic/277/getBranchstruedeviceChoicetruecommitChoicerc_devmsgBranchrc_dev_wuhanzhongtielianjipncBranchfeat_pnc_scene_replay_webhdmapBranchrc_devtelediagnosticBranchfeat_yangpu1hdmapInterfaceBranchrc_devnotestelediagnostic更新武汉usersStarted 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