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module-confname.jenkinsfileeditmodule-confname.jenkinsfilegitdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/vehicle/vehicle_destination.hppreplayer/scene_data/compact_numeric_policy.yamlTesting/step_align_distance_source_test.cppdata/vehicle/vehicle_destination.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppreplayer/scene_data/compact_numeric_leaf_contract.csvproto/map_data.protoplan/prepare/prepare_status.hppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pb9765986feb718c3dbdb57379e8120a4b455aae4d1792144466000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 统一步进对准地图选源并完善补偿与失效停车 STEP 执行期间使用地图距离计算相对进度，退出后清除步进补偿，避免精停来源切换和旧补偿污染 AA 反馈。完善地图失效及请求结束时的停车状态流转，补充回归用例与 Full/Compact 回放字段配套。验证：git diff --cached --check 通过；本次未运行编译和现场回放。 2026-10-16 17:54:26 +08009765986feb718c3dbdb57379e8120a4b455aae4dfeat: 统一步进对准地图选源并完善补偿与失效停车editdata/vehicle/vehicle_destination.hppeditdata/vehicle/vehicle_destination.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/remaining_plan_proto_codec.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditplan/prepare/prepare_status.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/map_data.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditplan/prepare/prepare_status.hppaddTesting/step_align_distance_source_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/CMakeLists.txtreplayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppreplayer/scene_data/generated/config_schema_inputs.jsonsink/ros_sink_chassis_ctrl.hppreplayer/scene_data/generated/plan_frame_encoder.cppsink/ros_sink_chassis_ctrl.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamlreplayer/scene_data/generated/plan_frame_member_inputs.jsontools/pnc_proto_mapper/generator.pyreplayer/scene_data/plan_frame_full_mapping.yamldata/plan_frame.hpptasks/deciders/other_decider/alarm_decider.hppreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protodata/plan_frame.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txttasks/deciders/other_decider/alarm_decider.cppreplayer/scene_data/generated/plan_frame_descriptor.pb1f36e891812dd5cb5f2f81c262fa4f3c19e685091793007756000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 前车倒退预警功能 2026-10-26 17:42:36 +08001f36e891812dd5cb5f2f81c262fa4f3c19e68509feat: 前车倒退预警功能addTesting/front_vehicle_reverse_alarm_test.cppeditdata/plan_frame.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditreplayer/scene_data/compact_numeric_policy.yamledittasks/deciders/other_decider/alarm_decider.hppedittools/pnc_proto_mapper/generator.pyeditproto/pnc_scene/full_plan_frame.protoedittasks/deciders/other_decider/alarm_decider.cppeditsink/ros_sink_chassis_ctrl.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditdata/config/cfg_func_sw.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditTesting/CMakeLists.txteditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditsink/ros_sink_chassis_ctrl.hppeditproto/config.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/plan_frame.hppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbtasks/deciders/other_decider/alarm_decider.cppreplayer/scene_data/generated/plan_frame_descriptor.pbb1002b6a3b41ba8a2c06afa119bb268a3702ae521793068851000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 配置挂车报警范围并精简快照结果保存 2026-10-27 10:40:51 +0800b1002b6a3b41ba8a2c06afa119bb268a3702ae52feat: 配置挂车报警范围并精简快照结果保存editreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/plan_frame_full_mapping.yamleditdata/config/cfg_safe_const.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/other_decider/alarm_decider.cppeditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/config/cfg_safe_const.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/front_vehicle_reverse_alarm_test.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/plan_frame_field_roles.csveditproto/config.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_decoder.cppTesting/search_decider_lifecycle_test.cpptasks/deciders/other_decider/replan_decider.cpp2476fe1a5fde3cbbe1666ab1fb2abe0ba876ac501793166336000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制精准停车换向重搜并校验接入偏差精准停车内部正常换向时，使用原始 SSEP 下一段检查横偏不超过 10 cm 且车身航向差不超过 1 度，满足双门限才跳过换向重搜。保留首次场景切换及其他重搜触发，拒绝无效和退化路径。补充生命周期、阈值边界、角度归一化及现场录制路径测试。 2026-10-28 13:45:36 +08002476fe1a5fde3cbbe1666ab1fb2abe0ba876ac50fix: 限制精准停车换向重搜并校验接入偏差edittasks/deciders/other_decider/replan_decider.cppeditTesting/search_decider_lifecycle_test.cppTesting/ssep_path_corridor_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cpptasks/other_tasks/stitch_path_data_to_path.cppdata/config/cfg_stage.hpp0984a943991619dd7013d4c57b7c6c7db8138ee21793166345000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景配置选择精准停车原始搜索路径新增精准停车任务选择条件，由场景配置决定全部分段是否直接输出 SSEP。只有实际选中直出组且未执行其他横向规划器时启用，保留 WAIT 优先级；方向不一致或直出失败时清空输出并报错。补充配置解析与 codec 往返、Stage 调度及路径输出测试，更新配置成员审计指纹。分布式构建 pnc_node 和相关测试通过，相关测试合计 261 项通过、101 项按参数范围跳过。 2026-10-28 13:45:45 +08000984a943991619dd7013d4c57b7c6c7db8138ee2feat: 支持场景配置选择精准停车原始搜索路径editdata/config/cfg_stage.cppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/other_tasks/stitch_path_data_to_path.cppeditscenarios/task_condition_evaluator.hppssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/ssep/forward_ec.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/keb_problem.hssep/test/rigid_truck_parking_validation_test.ccTesting/ssep_scenario_config_lifecycle_test.cppssep/test/rigid_truck_tail_connection_test.ccssep/keb_optimizer/keb_problem.cca0200b8fa646a7ddcbc38d6ec2b3aaf8a23634241793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持精准停车前进拉直余量及完整候选验收将实际 KEB 优化和硬约束纳入候选验收，失败后继续搜索。按场景配置尝试额外前进拉直，空间不足逐级缩短，保持完整碰撞与运动学校验及末端约束。验证：搜索测试 51 项、配置测试 43 项通过，8 个 CPU 现场场景回放成功。 2026-10-28 16:02:47 +0800a0200b8fa646a7ddcbc38d6ec2b3aaf8a2363424feat: 支持精准停车前进拉直余量及完整候选验收editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/rigid_truck_parking_validation_test.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/test/rigid_truck_tail_connection_test.cceditdata/ssep/forward_ec.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem.hdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppTesting/reverse_pickup_lifecycle_test.cppda7b1489ff8d91aef548efdd2f7e758a583682e21793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止精准停车中间换向时误入锁定状态入锁前核对当前与历史帧为同任务同一有效末段，阻止等待重搜时完成。历史引导线失效时使用实际 SSEP 末点与已有距离阈值判定，保留反向取货及末段料堆分支。新增 9 项回归通过。 2026-10-28 16:02:47 +0800da7b1489ff8d91aef548efdd2f7e758a583682e2fix: 防止精准停车中间换向时误入锁定状态editdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditTesting/reverse_pickup_lifecycle_test.cppTesting/path_pair_validation_test.cpptasks/plan/reversing_truck_path_task.cpp037c8d0eba35271a0690acf379bf56039c9699561793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 拒绝非有限值及退化的 SSEP 路径在 WBCA 之前统一检查车头与挂车坐标、角度、曲率及路径长度，允许局部重复点。非法输入清理优化缓存并沿用历史路径回退；更新已失效的旧切线测试，保留无效几何拒绝断言。 2026-10-28 16:02:47 +0800037c8d0eba35271a0690acf379bf56039c969956fix: 拒绝非有限值及退化的 SSEP 路径editTesting/path_pair_validation_test.cppedittasks/plan/reversing_truck_path_task.cppTesting/routing_transition_test.cpp633f8b2ff847e3aa2c8eb8ed6ca4ebb6c808ed6b1793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补齐同任务搜索重置测试的历史任务标识使当前与历史任务 ID 一致，正确验证同任务保留搜索与任务变化清理搜索。完整 routing_transition 测试 117 项通过，生产 pnc_node 编译通过。 2026-10-28 16:02:47 +0800633f8b2ff847e3aa2c8eb8ed6ca4ebb6c808ed6btest: 补齐同任务搜索重置测试的历史任务标识editTesting/routing_transition_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/long_decider/constrain_decider.cppdata/lattice/longitudinal_comfort.hppdata/lattice/trajectory_evaluator.cpp8a8b6f78956d8d7a85f37e73c6e605f6051c2a671793186158000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: wbca接入lattice的速度考虑载重系数 2026-10-28 19:15:58 +08008a8b6f78956d8d7a85f37e73c6e605f6051c2a67feat: wbca接入lattice的速度考虑载重系数editdata/lattice/trajectory_evaluator.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/deciders/long_decider/constrain_decider.cppeditdata/lattice/longitudinal_comfort.hppTesting/ssep_path_corridor_test.cppTesting/search_decider_lifecycle_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppTesting/scenario_search_exit_test.cppdata/app/reaction/app_reaction.cpptasks/deciders/other_decider/replan_decider.cpp6094ad89d685cfe28efb384fa96ac504b5906a441793189600000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理跨任务出库状态并限制出库点变化重搜补齐任务重置时的途经点标志和开放空间点清理，任务切换或取消时清除旧搜索输入，避免历史起点导致新任务提前退出出库。仅在同一有效任务内判断 BULK_OUT_POS_CHANGE，保留同任务重搜及路径复用行为。补充取消、任务切换、位移阈值和出库退出回归测试。 2026-10-28 20:13:20 +08006094ad89d685cfe28efb384fa96ac504b5906a44fix: 清理跨任务出库状态并限制出库点变化重搜editTesting/search_decider_lifecycle_test.cppeditTesting/scenario_search_exit_test.cppeditdata/app/reaction/app_reaction.cppedittasks/deciders/search_decider/search_decider_lifecycle.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppdata/app/cmd/cmd_set_target.cppTesting/scenario_search_exit_test.cpp1ca86021a246a2354407e3fc858e57510c9884d81793189613000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 出库阶段拒绝普通新任务在 TRAVEL_OUT 阶段拒绝普通设置终点命令，覆盖搜索请求尚未发起的窗口，防止新任务替换正在执行的出库任务。保留取消任务和脱困命令例外，补充门禁、取消、正常行驶接收与脱困回归测试。 2026-10-28 20:13:33 +08001ca86021a246a2354407e3fc858e57510c9884d8fix: 出库阶段拒绝普通新任务editdata/app/cmd/cmd_set_target.cppeditTesting/scenario_search_exit_test.cppTesting/parking_pass_progress_test.cpp0925ba44a5874489d9209bda8423fc56fc8a776e1793189624000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补齐 IMV 停车测试夹具车型子类型设置 IMV 车型时同步填写 Proto 子类型，避免配置解码因车型不一致失败，恢复停车进度测试覆盖。相关测试合计 699 通过、101 跳过、0 失败，pnc_node 编译通过。 2026-10-28 20:13:44 +08000925ba44a5874489d9209bda8423fc56fc8a776etest: 补齐 IMV 停车测试夹具车型子类型editTesting/parking_pass_progress_test.cppssep/test/truck_parking_retry_test.ccssep/scenarios/truck_multi_segment_parking_planner.h04c09477538edbe70547a5a631db2cc7930b71d21793196268000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整卡车泊车搜索预算并保留细网格重试前向调整搜索按剩余总预算的三分之一分配时间，最多 4 秒，避免固定 2 秒在短换向候选被拒绝后过早截断后续可修复连接。首次粗网格调整只使用一半剩余预算；阶段超时且总请求尚未超时时，继续已有的细位置网格重试。最终阶段使用剩余预算，保持总请求截止时间以及碰撞、换向长度、末端直线和运动学验收要求。新增真实不可达场景测试，覆盖阶段超时保留预算、最终总超时及已过期请求不得继续重试。25 项专项测试通过；魏桥分析包中原参数末端直线为 2 米的 4 例 CPU 回放全部成功。3–4 米约束下仍可能超时，不把缩短末端直线的诊断实验计入原参数回归成功。 2026-10-28 22:04:28 +080004c09477538edbe70547a5a631db2cc7930b71d2fix: 调整卡车泊车搜索预算并保留细网格重试editssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_multi_segment_parking_planner.hTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/ssep_scenario_config_loader.cppdocs/ssep_scenario_config_lifecycle.md6b52f31415f1bbe21684847b2de269833f181d9e1793284560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景位置条件的或匹配为 start/end 增加 any_of 和 Lane/YardArea 的 ids 简写，兼容原有单位置配置。加载阶段展开组合并保留规则优先级，不改变运行时匹配和快照合同。补充组合、优先级、非法配置测试及配置文档。验证：场景配置目标 130 项测试通过。 2026-10-29 22:36:00 +08006b52f31415f1bbe21684847b2de269833f181d9efeat: 支持场景位置条件的或匹配editTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/ssep_scenario_config_loader.cppeditdocs/ssep_scenario_config_lifecycle.mddata/plan/ssep_data.cppssep/scenarios/head_straight_distance.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/scenarios/truck_bulk_yark_in_out_planner.hssep/test/coarse_search_stop_clearance_test.ccssep/data_structures/path_motion_segment.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/test/keb_normal_extension_test.ccssep/test/rigid_parking_collision_test.ccssep/test/parking_collision_provenance_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/test/head_straight_distance_test.ccdata/ssep/ssep_ec.cppssep/scenarios/rigid_parking_collision.hssep/scenarios/first_segment_clearance_checker.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccdocs/ssep_scenario_config_lifecycle.mdssep/test/truck_bulk_exit_fallback_test.ccTesting/parking_pass_progress_test.cppssep/test/forward_clearance_check_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hssep/ssep_planner.ccTesting/ssep_scenario_config_lifecycle_test.cpp51d60f87d931d70ebdb9d53081cc9b25ffd04dc21793284633000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出库起始直线与按行驶段恢复障碍物新增 head_straight_distance，使用任务锚点及执行期完成锁存，重搜只补剩余直线。纯前进候选在搜索、优化或验收失败后尝试多段调整，保留固定直线和正确方向标记。抽象首末段豁免的恢复区间，换向公共点及起点豁免过期后的路径使用恢复障碍物。统一搜索状态、KEB 选图和连续车身/停车扩展验收，保留终点与出入口清障语义。恢复起点来源对应的普通和反向膨胀，不重复扩大原图已有障碍。验证：459 项测试通过；CPU 2 米、3 米及任务进度派生场景复验。 3 米场景输出前进 3.000 米、倒车 2.123 米、前进 21.669 米。回绕派生输入按生产搜索起点方向构造后成功，旧输出驶入方向不作为新请求方向。 2026-10-29 22:37:13 +080051d60f87d931d70ebdb9d53081cc9b25ffd04dc2feat: 支持出库起始直线与按行驶段恢复障碍物editssep/scenarios/scenario_planner_factory.heditssep/test/coarse_search_stop_clearance_test.ccaddssep/test/truck_bulk_exit_fallback_test.cceditssep/maps/ogm_config_utils.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/scenarios/rigid_parking_collision.heditTesting/parking_pass_progress_test.cppaddssep/scenarios/first_segment_clearance_checker.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdata/plan/ssep_data.cppeditssep/keb_optimizer/keb_problem.ccaddssep/scenarios/head_straight_distance.heditssep/maps/ogm.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_bulk_yark_in_out_planner.haddssep/data_structures/path_motion_segment.heditssep/test/parking_collision_provenance_test.cceditssep/maps/ogm_builder.cceditssep/test/keb_normal_extension_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/ssep_planner.ccaddssep/test/head_straight_distance_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditdocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/ssep_ec.cppeditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/maps/ogm.cceditssep/maps/ogm_builder.heditssep/test/forward_clearance_check_test.cceditssep/test/CMakeLists.txteditssep/test/rigid_parking_collision_test.ccdata/plan/predict_path.cpp31d897c6fd90bb3e9aab51787e51ac7d919d63f61793287717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复预测路径转向角平滑限速在 Truck 和 IMV 前后轮预测入口，将方向盘角速度按传动比换算为车轮弧度每秒，修复预测转角直接跳到控制目标的问题。统一增量限幅并处理非法速度和传动比，保留原函数声明。验证：通过项目分布式入口编译 pnc_node；12 个函数级数值测试通过，默认 0.05 秒步长下每步最大转角变化约 0.402 度。 2026-10-29 23:28:37 +080031d897c6fd90bb3e9aab51787e51ac7d919d63f6fix: 修复预测路径转向角平滑限速editdata/plan/predict_path.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp350899fcd474265a40ef9470a357f0c87c212f1b1793290945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按车道身份判断弯后出口变化将历史出口车道 ID 映射到当前帧车道索引后再比较，避免索引重排引起误重搜或真实换道漏重搜；缺失匹配证据时继续触发重搜。增加普通路口和桥梁的同车道重排、真实换道编号不变回归。已运行 clang-format 21.1.8 和 git diff --check，编译测试由合入分支统一执行。 2026-10-30 00:22:25 +0800350899fcd474265a40ef9470a357f0c87c212f1bfix: 按车道身份判断弯后出口变化editTesting/continuous_junction_replan_test.cppedittasks/deciders/other_decider/replan_decider.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp5609d7fd460d641821becc569742693e93fb6f9f1793292748000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 仅凭明确出口变化触发重搜删除重复的车道匹配失败判断；校验出口决策索引与车道 ID 一致。旧车道缺失时，通过前后帧唯一的路口 ID 及紧邻完整出口确认目标变化，不再把地图裁剪或缺失决策直接当成换线。保持最近出口未知时的弯中检查范围。新增裁剪、缺失与越界目标、完整出口替换和重复路口身份回归。已完成 clang-format 21.1.8 与差异检查，编译测试由主代理统一执行。 2026-10-30 00:52:28 +08005609d7fd460d641821becc569742693e93fb6f9ffix: 仅凭明确出口变化触发重搜edittasks/deciders/other_decider/replan_decider.cppeditTesting/continuous_junction_replan_test.cppreplayer/scene_data/remaining_plan_proto_codec.cppdata/decide/decide_reaction.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/decide/decide_reaction.hppdocs/ssep_scenario_config_lifecycle.mddata/ssep/accurate_parking_switch_config.hppTesting/search_decider_lifecycle_test.cpptasks/deciders/other_decider/replan_decider.cppreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/decision.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp9264d875d842aaa04e36dd2e0b3f080fbfc701441793329960000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制精准倒车换向追加调整并支持参数配置换向接入超差默认最多追加重规划 3 次，横偏和航向门限默认 0.10 米和 1 度，均按实际精准倒车场景配置。计数跨搜索继承，在任务取消、失效或目标变化时清零，无效路径不按次数放行。补齐多段泊车切入精准倒车时的参数传递，增加 Full/Compact Bootstrap 计数持久化及旧快照默认值，覆盖次数、误差边界、生命周期、配置切换和回放往返测试。验证：26 个精准倒车专项测试、131 个场景配置测试通过；回放基础测试 442 通过、9 个外部数据用例跳过；生成合同及兼容性检查通过。 2026-10-30 11:12:40 +08009264d875d842aaa04e36dd2e0b3f080fbfc70144fix: 限制精准倒车换向追加调整并支持参数配置edittasks/deciders/other_decider/replan_decider.cppadddata/ssep/accurate_parking_switch_config.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamleditdata/decide/decide_reaction.hppeditproto/decision.protoeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/remaining_plan_proto_codec.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/decide/decide_reaction.cppeditdata/ssep/forward_ec.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdocs/ssep_scenario_config_lifecycle.mdeditTesting/search_decider_lifecycle_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/base_stop_line_filter.cppTesting/pnc_map_overlap_test.cppdata/ssep/base_stop_line_filter.hppdata/ssep/junction_exit_stop_line.hpp7ecda84517c5e50293523a0b9acbff6066e0cf7a1793340287000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐路口出口边界停止线并统一目标筛选对仅有入口停止线的路口，按已选参考线的直接后继拓扑和边界范围补配唯一出口线；拒绝短连接、下一路口邻近及多候选歧义。目标路口筛选与最终输出共用局部停止线对，修复越过 junction 边界但尚未越过出口时漏选路口的问题，保留原地图归属。增加精确大榭地图、出口前后、连续搜索和歧义拒绝测试，并刷新生成审计摘要。分布式编译及 165 项测试通过；完整 bag 搜索链仍受后续起始车姿构建限制。 2026-10-30 14:04:47 +08007ecda84517c5e50293523a0b9acbff6066e0cf7afix: 补齐路口出口边界停止线并统一目标筛选editTesting/pnc_map_overlap_test.cppeditdata/ssep/base_stop_line_filter.hppadddata/ssep/junction_exit_stop_line.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/base_stop_line_filter.cppdata/config/cfg_safe_const.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cpptasks/deciders/other_decider/alarm_decider.cppe5667cae323b43dbb5392445a4183fdb31512a891793340608000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认开启前车倒车报警并设为5米 2026-10-30 14:10:08 +0800e5667cae323b43dbb5392445a4183fdb31512a89fix: 默认开启前车倒车报警并设为5米editdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/alarm_decider.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/compact_numeric_policy.yamleditTesting/front_vehicle_reverse_alarm_test.cppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonea4d671ee9f4073d13dc4d6f2b69132e187641c31793341140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 同步报警默认值修改后的Proto声明记录 2026-10-30 14:19:00 +0800ea4d671ee9f4073d13dc4d6f2b69132e187641c3fix: 同步报警默认值修改后的Proto声明记录editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/config_schema_inputs.jsontools/pnc_proto_mapper/sync_config_schema.pytools/pnc_proto_mapper/test_config_schema_presence.pyedb64c5b1bf910600ddafc429fdcc2f41bbca3601793349964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止配置 Proto 生成器复用保留字段支持显式分配跨分支字段号，并保留 reserved 声明。拒绝复用保留名称、单号和编号范围，补充生成稳定性与冲突回归。 2026-10-30 16:46:04 +0800edb64c5b1bf910600ddafc429fdcc2f41bbca360fix: 防止配置 Proto 生成器复用保留字段edittools/pnc_proto_mapper/sync_config_schema.pyedittools/pnc_proto_mapper/test_config_schema_presence.pyreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protodata/vehicle/lock_station_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamlconfig/config_imv/plan.yamlTesting/routing_map_guard_test.cppdata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbf227e302e1039319e01082b425810d4229a9c86a1793349983000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置缓冲点横向匹配距离将 UpdateBufferRange 横向阈值参数化，默认保持 3 米。配置加载及运行时对负数和非有限值回退默认值，保留零值语义。同步 Full/Compact 配置合同与旧数据缺省恢复，补充过滤及往返回归。 2026-10-30 16:46:23 +0800f227e302e1039319e01082b425810d4229a9c86afeat: 支持配置缓冲点横向匹配距离editdata/vehicle/lock_station_data.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditTesting/scene_replay_foundation_test.cppeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/config.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/config/cfg_safe_const.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditdata/config/cfg_safe_const.hppeditreplayer/scene_data/config_proto_codec.cppeditconfig/config_imv/plan.yamlTesting/routing_map_guard_test.cppdata/app/fsm/motion_fsm/motion_fsm.cppTesting/compact_driving_corridor_restore_test.cpp2ef00f120fe4f8a1a9dbbf4bebae84bf5b836a5f1793349998000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐双向 IMV 普通路由换向停车处理复用 SSEP 近换向线停稳处理，支持普通路由换向停车原因及解除前保持。保留安全停车优先级，并使普通路由不受遗留 SSEP 首段倒车状态限制。补充嵌套运动状态机回归及带 routing 初始化的可选 bag 验证入口。现场 bag 回放仍受备用参考线索引缺失阻断，未作为通过验收依据。 2026-10-30 16:46:38 +08002ef00f120fe4f8a1a9dbbf4bebae84bf5b836a5ffix: 补齐双向 IMV 普通路由换向停车处理editTesting/routing_map_guard_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cppeditTesting/compact_driving_corridor_restore_test.cppdata/ssep/into_yard_junction_ec.cpp68d673201540f19e3c0dbfbec43c6a12f7e8974e1793350024000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整中铁联集多车道进场末端直线距离 IMV 目标车道数不超过两条时保持末端附加直线距离 20 米，超过两条时调整为 5 米。 2026-10-30 16:47:04 +080068d673201540f19e3c0dbfbec43c6a12f7e8974efix: 调整中铁联集多车道进场末端直线距离editdata/ssep/into_yard_junction_ec.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/gpu_collision_test.ccssep/coarse_search/evaluator/forward_collision_check_lengths.hssep/gpu/device_types.hssep/test/keb_normal_extension_test.ccssep/test/forward_clearance_check_test.ccssep/coarse_search/gpu_context.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/coarse_search/evaluator/collision_cost_computer.hssep/coarse_search/gpu_context.hssep/scenarios/forward_clearance_check.hdocs/ssep_stop_collision_extension.mdssep/gpu/collision/collision_checker.cuhb14ea17bdfc87648c930c6c959699a203885539e1793374487000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按驶入方向检查准确倒车换向安全距离将搜索 stop 长度接入倒车停点包络，CPU 与 GPU 使用独立的后向停车圆盘，保留普通倒车的旧收缩行为及未配置时的默认值。准确倒车的前置和精细 KEB 使用配置的后向停车长度；最终硬验收按驶入方向检查车头或车尾额外区域，并恢复换向调整期间的终点清障线段。保留最终倒车入位语义，补充参数说明及方向、阈值和清障回归用例。验证：分布式构建通过，57 项相关 CPU 测试通过，魏桥 2026-10-30 16:26:15 原场景 CPU 回放成功，两处换向点均满足纵向 0.5 米检查。 GPU 代码和回归用例已同步；服务器 SSH 认证失败，尚未编译或实机运行。 2026-10-30 23:34:47 +0800b14ea17bdfc87648c930c6c959699a203885539efix: 按驶入方向检查准确倒车换向安全距离editssep/test/forward_clearance_check_test.cceditssep/coarse_search/evaluator/forward_collision_check_lengths.heditssep/scenarios/forward_clearance_check.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/keb_normal_extension_test.cceditssep/coarse_search/gpu_context.heditssep/coarse_search/evaluator/collision_cost_computer.heditssep/gpu/collision/collision_checker.cuheditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdocs/ssep_stop_collision_extension.mdeditssep/coarse_search/gpu_context.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/test/gpu_collision_test.cceditssep/gpu/device_types.heditssep/test/coarse_search_stop_clearance_test.ccssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/keb_normal_extension_test.ccssep/scenarios/imv_parking_validation.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/forward_collision_check_params.hssep/scenarios/scenario_planner_interface.hssep/test/parking_collision_provenance_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.hssep/scenarios/first_segment_clearance_checker.hssep/gpu/collision/collision_checker.cuhssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/scenarios/legacy_planner.hssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/test/gpu_collision_test.ccssep/coarse_search/evaluator/forward_collision_check_lengths.hssep/gpu/device_types.hssep/coarse_search/gpu_context.ccssep/test/forward_clearance_check_test.ccssep/maps/ogm_config_utils.ccssep/test/forward_collision_check_params_test.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccdocs/ssep_stop_collision_extension.md7d5017e869db07dcdd69961f20b4c3c11b203a201793377361000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一全场景换向点前后安全距离检查将显式 stop 距离统一接入刚性车、IMV 和拖挂车搜索及 KEB，按驶入方向检查车头或车尾，并以搜索和优化距离的较大值验收最终分段换向点。复用公共换向几何检查，覆盖历史重优化和路径复用；保留普通行驶及末段入位策略，恢复换向区域被起终点清障移除的障碍来源。修正 CPU 挂车碰撞检查的有符号铰接点偏移，与 GPU 和最终验收坐标保持一致。验证：627 项非交互 C++ 测试通过，1 项既有 disabled；全量场景回归使用固定二进制并单独归档。GPU 服务器认证受阻，本次未完成 GPU 编译和运行验证。 2026-10-31 00:22:41 +08007d5017e869db07dcdd69961f20b4c3c11b203a20fix: 统一全场景换向点前后安全距离检查editssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/keb_normal_extension_test.cceditssep/maps/ogm_config_utils.cceditssep/scenarios/forward_clearance_check.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/evaluator/forward_collision_check_lengths.heditssep/scenarios/scenario_planner_interface.heditssep/scenarios/stitching_replanner.heditssep/test/gpu_collision_test.cceditssep/gpu/device_types.heditssep/test/forward_collision_check_params_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/scenarios/first_segment_clearance_checker.heditssep/ssep_planner.cceditssep/scenarios/forward_collision_check_params.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/test/forward_clearance_check_test.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/scenarios/imv_parking_validation.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/scenarios/legacy_planner.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/evaluator/evaluator.heditssep/keb_optimizer/imv_keb_optimizer.cceditdocs/ssep_stop_collision_extension.mdeditssep/test/parking_collision_provenance_test.ccssep/scenarios/forward_clearance_check.hssep/test/forward_clearance_check_test.cc3b7ae0760720f85c98156ad358b477d458f92d9a1793377853000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许换向校验路径无运动边端点方向未定多点路径的驶入首点和驶出末点不描述实际运动边，允许保留 kUndetermined，避免统一启用 stop 参数后误拒绝 IMV 搜索候选。实际运动边、单点停车、非法枚举和非有限几何仍严格校验。新增端点标签与倒车安全距离边界测试，629 项非交互 C++ 测试通过。使用新冻结程序重跑全部 377 例，保留补修前结果。 2026-10-31 00:30:53 +08003b7ae0760720f85c98156ad358b477d458f92d9afix: 允许换向校验路径无运动边端点方向未定editssep/test/forward_clearance_check_test.cceditssep/scenarios/forward_clearance_check.hTesting/routing_transition_test.cppdata/plan/lane_change_space_check.cppe727e3b3c278ea01b26b676aa9d10eb97693301c1793464622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解除变道途经终点的完成位置硬限制允许候选变道完成点超过任务指定的变道途经终点，避免短窗口下执行检查持续拒绝并导致停车等待。保留起点、安全检查、有效候选及实际路由终点约束，不改变实时变道意图判断。补充 PARK_WAIT 恢复变道、当前候选复核和停车请求解除的回归，并验证路由终点不足时仍拒绝。统一格式化及 diff 检查通过，routing_transition_test 全部 122 项通过。 (cherry picked from commit 6439b056085d3bcb01daebdc55c1e73ae3a124c6) 2026-11-01 00:37:02 +0800e727e3b3c278ea01b26b676aa9d10eb97693301cfix: 解除变道途经终点的完成位置硬限制editTesting/routing_transition_test.cppeditdata/plan/lane_change_space_check.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtssep/test/local_regression/README.mdssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/test/local_regression/weiqiao_heading_20261101_manifest.tsvssep/test/rigid_truck_parking_validation_test.ccssep/offboard/scene_replay/CMakeLists.txtssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/rigid_truck_continuous_model.hssep/keb_optimizer/tractor_trailer_continuous_model.hssep/keb_optimizer/cost_features/truck_kinematic_constraint.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/test/truck_kinematic_constraint_test.ccssep/scenarios/rigid_truck_parking_validation.h09a6bf4e031f3336348136d5bb51700fb48fff171793597824000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复刚体倒车路径几何航向与 KEB 姿态不一致统一刚体 KEB 代价与可行性验收的连续曲率积分，复用集卡车头传播模型，保留零曲率梯度，并隔离换向前后曲率及出发边 pinch 约束。停车优化为自由曲率设置机械硬边界，为几何软约束保留求解余量，固定实测起点仍按真实机械上限检查；补齐存储曲率验收并提高精细运动学权重，减少位置和航向软约束残差。补充数值积分、自动微分、换向和固定首曲率边界测试，登记魏桥 7 个原始场景及 SHA256，记录几何角差从 1.12–1.60 度降至 0.28–0.65 度的 CPU 回放结果。验证：目标 7 例、已有停车 21 例及普通刚体/堆场 2 例均通过； 486 项单测通过，13 项缺数据跳过，1 项原有禁用。GPU 与实车闭环未覆盖。 2026-11-02 13:37:04 +080009a6bf4e031f3336348136d5bb51700fb48fff17fix: 修复刚体倒车路径几何航向与 KEB 姿态不一致editssep/keb_optimizer/keb_problem.ccaddssep/keb_optimizer/rigid_truck_continuous_model.heditssep/test/local_regression/README.mdaddssep/test/truck_kinematic_constraint_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/keb_optimizer/tractor_trailer_continuous_model.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/rigid_truck_parking_validation_test.cceditssep/offboard/scene_replay/CMakeLists.txteditssep/test/CMakeLists.txteditssep/scenarios/rigid_truck_parking_validation.heditssep/keb_optimizer/cost_features/truck_kinematic_constraint.haddssep/test/local_regression/weiqiao_heading_20261101_manifest.tsvdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cpp51bfad5b41f2686e9e62c6b67403fd4f303799a41793610553000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复切入保护误压走廊导致无路径停车校验断面车道边距，仅收回来源侧额外借道空间，保留道路生成约定的最小引导包络，同时不扩大原有窄通道。采样前检查搜索宽度、分辨率及索引上界；非法断面清除旧可行段和距离场，避免负数转无符号数造成分配异常。补充左右切入、恢复、窄通道和异常采样回归测试。验证：109 项相关单元测试通过；录制版本 43705c573 加本次生产补丁完成 30 个 CPU 横向快照回放案例，全部通过。第三段仍有路径截短，未验证完整纵向/FSM 及实车表现。 2026-11-02 17:09:13 +080051bfad5b41f2686e9e62c6b67403fd4f303799a4fix: 修复切入保护误压走廊导致无路径停车editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppdata/ssep/out_yard_junction_ec.hppTesting/out_yard_bag_regression_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppTesting/continuous_junction_replan_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpptasks/deciders/search_decider/search_decider_lifecycle.hppdata/ssep/out_yard_junction_ec.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/plan/start_point_data.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdocs/ssep_search_lifecycle.mdTesting/routing_map_guard_test.cppdata/plan/start_point_data.cppTesting/search_decider_lifecycle_test.cpptasks/deciders/search_decider/normal_junction_search_decider.cppreplayer/scene_data/generated/state_schema_inputs.jsontasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/search_decider/bridge_junction_search_decider.cpp35a883c55693a4f4381e9ba3d9db2c1d00c8d5171793610749000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复路口搜索构建失败后的停车与恢复生命周期五类路口在环境构建失败时撤销等待搜索停止线，保留请求和重试上下文。补齐失败后的路口与 routing 失效核验，避免旧请求绕过停稳门禁。预构造按帧刷新出堆场连续搜索状态，防止区域漂移选错后继路口。撤销搜索等待后允许受约束的 FSM 行驶恢复，并保持有效拼接点速度和加速度连续。增加生命周期、双路口过滤、真实 FSM 和原 bag 连续回归。验证：500 项通过、134 项跳过，bag 43/43 帧通过；生成及 Proto 兼容检查通过。 2026-11-02 17:12:29 +080035a883c55693a4f4381e9ba3d9db2c1d00c8d517fix: 修复路口搜索构建失败后的停车与恢复生命周期editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppeditdata/ssep/out_yard_junction_ec.hppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/plan/start_point_data.hppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/plan/start_point_data.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/search_decider_lifecycle.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/search_decider_lifecycle.hppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditTesting/routing_map_guard_test.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppeditTesting/out_yard_bag_regression_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/continuous_junction_replan_test.cppeditdata/ssep/out_yard_junction_ec.cppeditdocs/ssep_search_lifecycle.mdeditTesting/search_decider_lifecycle_test.cppplan/pilot/pilot_update.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/obstacle/decision/obstacle_decision.cppTesting/compact_driving_corridor_restore_test.cppTesting/scene_replay_foundation_test.cpp0d51092de424d4a2224a3e301b606b96d593c9fb1793668242000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留重发任务的绕行判断并校正切入几何证据取消和空闲期间保留连续静止目标的等待起点及标签确认进度，恢复任务后重新校验身份、运动和准入条件。使用真实车道边界、车辆轮廓与来源拓扑判定切入，覆盖曲线边界和方向确认。补充状态生命周期、几何及序列化回归测试。 2026-11-03 09:10:42 +08000d51092de424d4a2224a3e301b606b96d593c9fbfix: 保留重发任务的绕行判断并校正切入几何证据editTesting/compact_driving_corridor_restore_test.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditplan/pilot/pilot_update.cppeditdata/obstacle/decision/obstacle_decision.cppeditTesting/scene_replay_foundation_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/plan/side_pass_data.cppreplayer/replayer_data_process/replayer_data_process.cppreplayer/algorithm_replay/production_variant_runner.cppreplayer/algorithm_replay/production_variant_runner.hppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/replayer_data_process/replayer_computation_policy.hppTesting/experiment_session_test.cppdata/plan/side_pass_data.hppdocs/pnc_algorithm_replay/dp_corridor_performance.md9b4538ca218b8796dfe5836cb25bec0ee1315f041793668255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 连续回放按源时间维护绕行状态与历史有效期空闲帧继续维护真实观测并传递本次候选状态，不执行路径任务。绕行计时在单帧内冻结，仅随连续源时间推进；重复帧不累计，断档、倒退和任务取消清除失效动作。限制求解历史继承，避免录制结果与外部候选墙钟污染本次回放。补充连续历史、计时及空闲恢复测试和字段扫描产物。 2026-11-03 09:10:55 +08009b4538ca218b8796dfe5836cb25bec0ee1315f04fix: 连续回放按源时间维护绕行状态与历史有效期editdata/plan/side_pass_data.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/plan/side_pass_data.cppeditreplayer/replayer_data_process/replayer_computation_policy.hppeditreplayer/algorithm_replay/production_variant_runner.cppeditreplayer/algorithm_replay/production_variant_runner.hppeditTesting/scene_replay_foundation_test.cppeditTesting/experiment_session_test.cppeditdocs/pnc_algorithm_replay/dp_corridor_performance.mdeditreplayer/replayer_data_process/replayer_data_process.cppdocs/pnc_algorithm_replay/usage.mdreplayer/scene_data/compact_replay_session.cppTesting/compact_replay_session_test.cppreplayer/scene_data/compact_scene_archive_codec.cppTesting/scene_replay_foundation_test.cppeb0ae808400360c21407143543eef1482ada4df11793668267000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持逐帧归档以保留任务状态变化显式允许 chunk_frames=1，使取消与重发任务的每帧 Bootstrap 独立保存；默认分块与既有格式不变，仍拒绝其他非法块大小。补充随机读取、候选恢复和非法配置测试，说明旧 reader 兼容性及存储开销。归档测试 8 项通过，真实 bag 599 快照连续回放完成；截图及重发后路径几何通过，早期远端相交项仍未通过验收。 2026-11-03 09:11:07 +0800eb0ae808400360c21407143543eef1482ada4df1fix: 支持逐帧归档以保留任务状态变化editTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_scene_archive_codec.cppeditdocs/pnc_algorithm_replay/usage.mdeditTesting/compact_replay_session_test.cppeditreplayer/scene_data/compact_replay_session.cppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuo289http://159.27.114.184:8080/jenkins/job/telediagnostic/289/287http://159.27.114.184:8080/jenkins/job/telediagnostic/287/