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徐工自卸上报翻斗状态时使用类型 7。
2026-09-24 14:14:21 +0800b763fc42d7fa1daaf72244aa4d3ab44cf2add1a7feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈editperipheral_msgs/msg/PeripheralOperateStates.msg
- cloud_msgs/msg/CraneInfo.msg1b306566b5e66a524235d5f2635d6ef234fcc6a81791621071000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-10 16:31:11 +08001b306566b5e66a524235d5f2635d6ef234fcc6a8feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
- cloud_msgs/msg/CraneInfo.msg27402f14260ed710f3f7ea37c0667ed4d344f3e11792251883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-17 23:44:43 +080027402f14260ed710f3f7ea37c0667ed4d344f3e1feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
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2026-10-30 17:12:28 +0800253235ff229b66e4c17c269624b8ccc7ce218785feat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msg
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#10281028false10281401043FAILURE1794472005454http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1028/- algorithm/wbca/wbca_manager.cppTesting/wbca_smooth_continuity_test.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3f676e2239704a72d8be0a0780f4a3907db2cb531788956922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(wbca): align IMV smooth planning with shared route logic
2026-09-09 20:28:42 +08003f676e2239704a72d8be0a0780f4a3907db2cb53fix(wbca): align IMV smooth planning with shared route logiceditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/imv_wbca_manager.cpp
- CMakeLists.txtTesting/trailer_parking_safety_test.cppdata/ssep/trailer_parking_safety.cpp7b28a9cf19d4fe474fff3e76fed2eb528b46681d1789467437000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoFix SSEP straight-tail obstacle extent in tractor goal frame
2026-09-15 18:17:17 +08007b28a9cf19d4fe474fff3e76fed2eb528b46681dFix SSEP straight-tail obstacle extent in tractor goal frameaddTesting/trailer_parking_safety_test.cppeditCMakeLists.txteditdata/ssep/trailer_parking_safety.cpp
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cppa78b22ec362b64575bce78553b3664064f3b438c1789637753000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(routing): keep destination continuous across neighboring lanes
Project same-section neighboring lane positions onto the destination lane instead of accumulating overlapping route entries. Cover the LS020 index transition, differing lane coordinates, and successor distances.
Validation: 15 routing tests pass. Offline destination replay across all 635 LS020 snapshots reproduces the original distances exactly and removes the -204 m jump with the fix.
2026-09-17 17:35:53 +0800a78b22ec362b64575bce78553b3664064f3b438cfix(routing): keep destination continuous across neighboring laneseditTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/vehicle/vehicle_destination.hppTesting/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editplan/prepare/prepare_status.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditproto/map_data.protoeditplan/prepare/prepare_status.hppeditdata/vehicle/vehicle_destination.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppaddTesting/step_align_distance_source_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/vehicle/vehicle_destination.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditTesting/CMakeLists.txt
- Testing/ssep_path_corridor_test.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_util.cppTesting/low_bay_replan_gate_test.cppTesting/CMakeLists.txtdocs/ssep_search_lifecycle.md956b9b0aa1f57ba8278e2df0dbf6027a2f82dd041793004245000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复低贝位场桥误判及出口重搜截止
以出口后实际通道与场桥实体框相交判定低贝位，避免缓存 SL 和 U 弯跨支路投影误触发。
使用当前车辆投影与出口停止线判定截止，并在参考线生成前使用本帧已选地图路径。
补充几何、出口截止和 U 弯重搜测试，修正通道过滤日志并整理搜索逻辑。
验证：相关 26 项测试通过；clang-format 21.1.8 与 diff 检查通过。
尚未覆盖整段 bag 连续回放及真实多段地图重建。
2026-10-26 16:44:05 +0800956b9b0aa1f57ba8278e2df0dbf6027a2f82dd04fix: 修复低贝位场桥误判及出口重搜截止editdata/other/flow_control.cppaddTesting/low_bay_replan_gate_test.cppeditdata/ssep/ssep_util.cppeditTesting/ssep_path_corridor_test.cppeditTesting/CMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdocs/ssep_search_lifecycle.md
- ssep/scenarios/tractor_trailer_short_distance_planner.hdocs/ssep_search_lifecycle.md4e5e5eeb162b62bf1f3410716dddc2b792bf7ae01793004253000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高短距离入场优化约束以修复重搜失败
将短距离规划器运动学和动态约束权重对齐进场精优化的 1e6，减少新窄通道下首段横移造成的运动学验收失败。
保留原有碰撞、运动学校验及首次 LOW_BAY 历史初值策略，并记录问题和修复依据。
验证：CPU 回放现场 3 次失败输入均成功，普通进场对照成功，实体阻挡案例正确拒绝，共 5 项验收通过；未进行 GPU 验证。
2026-10-26 16:44:13 +08004e5e5eeb162b62bf1f3410716dddc2b792bf7ae0fix: 提高短距离入场优化约束以修复重搜失败editdocs/ssep_search_lifecycle.mdeditssep/scenarios/tractor_trailer_short_distance_planner.h
- data/ssep/ex_lane_change_ec.cppTesting/search_decider_lifecycle_test.cpp4495cd25e56cfe13a49d8e5d91219e0cb324f1901793005438000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 延长场桥变道搜索约束的前后范围
仅对场桥将两路障碍纵向约束前后分别由 1 m 增至 2 m、0.5 m 增至 1.5 m。
保留原始 SL 诊断数据、障碍筛选和其他类型的约束余量。
验证：生产构造测试覆盖左右方向、曲率开关、类型对照和参考线末端；真实 CPU 场景重搜完成。
2026-10-26 17:03:58 +08004495cd25e56cfe13a49d8e5d91219e0cb324f190fix: 延长场桥变道搜索约束的前后范围editdata/ssep/ex_lane_change_ec.cppeditTesting/search_decider_lifecycle_test.cpp
- Testing/search_decider_lifecycle_test.cppdata/plan/switch_data.cpp43705c5739161f575c10650a25aa7c904dc64bd11793005451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定堆场变道场桥使用原始障碍框校验
在堆场多车道及直进、直出堆场多车道前置段，场桥在变道安全校验中取消额外障碍框膨胀。
静态和动态分支保持一致，自车、其他障碍及其他区域的膨胀保持不变。
验证：四项搜索构造及碰撞回归通过，覆盖六类区域和静动态分支。正式 CPU 复验中，T728 两帧障碍检查通过，截图帧完整安全检查通过。场景采用本机搜索配置和默认环境参数，属于独立帧验证。
2026-10-26 17:04:11 +080043705c5739161f575c10650a25aa7c904dc64bd1fix: 限定堆场变道场桥使用原始障碍框校验editdata/plan/switch_data.cppeditTesting/search_decider_lifecycle_test.cpp
- replayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/plan_frame_decoder.cppdata/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.protoproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_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.txtreplayer/scene_data/generated/plan_frame_descriptor.pbtasks/deciders/other_decider/alarm_decider.cpp1f36e891812dd5cb5f2f81c262fa4f3c19e685091793007756000http://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editreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/plan_frame.cppeditproto/config.protoedittasks/deciders/other_decider/alarm_decider.cppedittasks/deciders/other_decider/alarm_decider.hppeditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/CMakeLists.txteditdata/config/cfg_func_sw.cppeditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditsink/ros_sink_chassis_ctrl.hppeditdata/plan_frame.hppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppaddTesting/front_vehicle_reverse_alarm_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditsink/ros_sink_chassis_ctrl.cppedittools/pnc_proto_mapper/generator.pyeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_decoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/plan_frame_field_roles.csv
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/obstacle/decision/obstacle_decision_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/obstacle/decision/obstacle_decision.hppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_numeric_leaf_contract.csvdata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppdata/obstacle/obstacle_decider_attr.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppdata/obstacle/obstacle_decider_attr.hppproto/obstacle.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyreplayer/scene_data/generated/plan_frame_descriptor.pb575f84c73cba6f4cc2f8721bd7fd6009b64aca1c1793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按时间窗口确认障碍物静止状态
使用固定 1.5 秒速度窗口和连续 1 秒静止确认，不新增配置参数。重复帧不累积，观测中断保留同一目标的已确认运动防护，身份变化清空证据。
保存 Full、Compact 和 Candidate 跨帧计时状态，补充精度、旧数据默认行为与动静切换回归测试。
2026-10-26 21:06:04 +0800575f84c73cba6f4cc2f8721bd7fd6009b64aca1cfix: 按时间窗口确认障碍物静止状态editdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditproto/obstacle.protoeditreplayer/scene_data/obstacle_proto_codec.cppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/obstacle/obstacle_decider_attr.hpp
- hmi/common/obstacle_details.hpphmi/common/pnc_graphics_view.cppTesting/obstacle_detail_render_test.cppda047adcda57d76b0ffc780da76c838433df7b1d1793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物静止确认和跟车等待秒数
展示静止确认进度、跟车等待时长及现有超时阈值，明确旧快照缺失计时状态的显示。
2026-10-26 21:06:04 +0800da047adcda57d76b0ffc780da76c838433df7b1dfeat: 显示障碍物静止确认和跟车等待秒数edithmi/common/obstacle_details.hppeditTesting/obstacle_detail_render_test.cppedithmi/common/pnc_graphics_view.cpp
- Testing/compact_driving_corridor_restore_test.cpp91e36e87767b87a45ac3a968281a5973f7ac30381793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加静止计时连续回放验收
使用独立期望窗口校验等待开始期限、计时起点和逐帧计数，拒绝缺帧、计时重置及冻结。覆盖跨验收窗口起点的大缺口。
验证汇总：808 项通过、12 项可选测试跳过；现场 bag 的 569 条快照验收通过。
2026-10-26 21:06:04 +080091e36e87767b87a45ac3a968281a5973f7ac3038test: 增加静止计时连续回放验收editTesting/compact_driving_corridor_restore_test.cpp
- data/vehicle/request_routing_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/lat_decider/side_pass_decider.cppCMakeLists.txthmi/replayer_hmi.cpphmi/widget/diagnose.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdplan/scenarios/prepare_scenario.cppplan/prepare/prepare_spreader.cppplan/prepare/prepare_objs.cppcore/decision_async.cppdata/map/envelop/map_envelops.cppplan/prepare/prepare_map_related.cppplan/prepare/module.cppreplayer/scene_data/generated/compact_scene_descriptor.pbplan/prepare/prepare_ogm.cppproto/pnc_scene/compact_plan_frame_fields.protohmi/common/plan_timing_history.hppproto/debug.protoreplayer/scene_data/plan_timing_proto_codec.hppproto/pnc_scene/compact_recorded_debug.prototasks/deciders/long_decider/constrain_decider.cppTesting/encoding_benchmark_test.cppreplayer/scene_data/compact_numeric_policy.yamlplan/prepare/prepare_lock_station.cppTesting/plan_timing_render_test.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppplan/prepare/prepare_destination.cppreplayer/scene_data/encoding_benchmark.cppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/plan_timing.hppreplayer/scene_data/plan_frame_full_mapping.yamlcore/node_runtime_timing.hppdata/plan_frame.hppdata/map/reference/center_line.cppproto/pnc_scene/full_plan_frame.protohmi/widget/perf_cost_detail.cppreplayer/scene_data/compact_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppcore/plan_runtime_watchdog.hppplan/prepare/prepare_default.cppplan/prepare/prepare_offset.cppreplayer/scene_data/generated/plan_frame_decoder.cpptasks/deciders/other_decider/stop_decider.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppreplayer/scene_data/plan_timing_proto_codec.cppsink/ros_sink_snapshot_compact_scene.cppnode/logic.cppTesting/scene_replay_foundation_test.cppplan/prepare/prepare_his.cppTesting/plan_timing_capture_test.cpphmi/widget/diagnose.hppreplayer/scene_data/generated/plan_frame_encoder.cppplan/prepare/prepare_priori_bay_info.cppcore/hmi_sync.cppdata/plan/center_line_info.cppreplayer/scene_data/generated/plan_frame_field_roles.jsoncore/plan_async.cppdata/plan/switch_data.cppreplayer/scene_data/generated/compact_typed_field_codec.cppplan/prepare/prepare_state.cppscenarios/stage.cppreplayer/scene_data/generated/plan_frame_member_inputs.jsontools/pnc_proto_mapper/generator.pydata/obstacle/decision/obstacle_decision.cppplan/prepare/prepare_lane_constrain.cpphmi/widget/perf_cost_detail.hppreplayer/scene_data/plan_frame_field_roles.csvcore/snapshot_async.cppTesting/CMakeLists.txtreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan_frame.cppreplayer/scene_data/generated/plan_frame_descriptor.pbhmi/node_hmi.cppede65270ab0adee7356660caa2606072bc923d9e1793022823000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 紧凑记录 PNC 节点模块耗时并复用原界面
按固定编号记录单帧模块与任务耗时，使用执行位图和 0.1 ms 整数编码，
替换 Proto 中重复保存的 50 帧历史及字符串耗时。异步模块携带独立来源帧
和完成时间，watchdog 记录当前执行项；Boost 字段保持不增不删。
原 HMI 本地维护历史平均并展示模块明细，区分实时与录制数据。
规划帧超过 1 秒未更新时保留业务绘制保护，继续刷新实时耗时窗口。
验证：生成与合同检查通过；Icecream 分布式编译 pnc_node、replayer
及测试通过；测试汇总 825 项通过、12 项可选跳过。合成的 30 项模块与任务
统计加 watchdog、5 个异步槽及 Proto 嵌套开销共 167 字节。
2026-10-26 21:53:43 +0800ede65270ab0adee7356660caa2606072bc923d9efeat: 紧凑记录 PNC 节点模块耗时并复用原界面editdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditTesting/CMakeLists.txteditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/lat_decider/side_pass_decider.cppadddata/plan_timing.hppeditplan/prepare/prepare_lane_constrain.cppeditplan/prepare/module.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/plan/center_line_info.cppeditdata/map/reference/center_line.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbedithmi/replayer_hmi.cppeditproto/debug.protoeditdata/map/envelop/map_envelops.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedithmi/widget/diagnose.cppeditplan/scenarios/prepare_scenario.cppeditproto/pnc_scene/compact_recorded_debug.protoaddTesting/plan_timing_capture_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_numeric_leaf_contract.csveditplan/prepare/prepare_destination.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/plan/switch_data.cppeditTesting/encoding_benchmark_test.cppeditplan/prepare/prepare_map_related.cppeditreplayer/scene_data/compact_proto_codec.cppeditcore/snapshot_async.cppeditplan/prepare/prepare_objs.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditplan/prepare/prepare_state.cppedithmi/node_hmi.cppeditsink/ros_sink_snapshot_compact_scene.cppaddTesting/plan_timing_render_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditcore/plan_runtime_watchdog.hppeditTesting/scene_replay_foundation_test.cppeditdata/plan_frame.hppeditdata/vehicle/request_routing_data.cppedithmi/widget/perf_cost_detail.hppedittools/pnc_proto_mapper/generator.pyeditplan/prepare/prepare_offset.cppeditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/encoding_benchmark.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditplan/prepare/prepare_priori_bay_info.cppedithmi/widget/diagnose.hppeditcore/hmi_sync.cppeditplan/prepare/prepare_lock_station.cppeditscenarios/stage.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditproto/pnc_scene/compact_plan_frame_fields.protoaddhmi/common/plan_timing_history.hppaddreplayer/scene_data/plan_timing_proto_codec.hppeditcore/decision_async.cppeditplan/prepare/prepare_his.cppeditnode/logic.cppeditplan/prepare/prepare_default.cppeditplan/prepare/prepare_ogm.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditproto/pnc_scene/full_plan_frame.protoeditcore/plan_async.cppaddreplayer/scene_data/plan_timing_proto_codec.cppaddcore/node_runtime_timing.hppeditreplayer/scene_data/generated/plan_frame_decoder.cppedittasks/deciders/other_decider/stop_decider.cppedithmi/widget/perf_cost_detail.cppeditCMakeLists.txteditplan/prepare/prepare_spreader.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/plan/ssep_data.hppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamlTesting/parking_pass_progress_test.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppdata/other/parking_pass_progress.hppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp2540432575a6afd0326b72a4177a4fd48763eb8f1793028657000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持末段精准倒车阶段并保存跨帧状态
按当前最后分段的前进转倒车切换精准倒车，替代固定两段判断。
将最终倒车阶段绑定任务签名，跨搜索重置和失败重试保留，取消或目标变化后失效。
同步 Full、Compact、候选帧编码及字段合同，旧数据缺字段时默认为 false。
补充任务生命周期、场景参数读取和序列化往返测试。
验证：158 项相关回归通过；生成和 Proto breaking 检查通过；两例 CPU 参数对照完成。
2026-10-26 23:30:57 +08002540432575a6afd0326b72a4177a4fd48763eb8ffix: 保持末段精准倒车阶段并保存跨帧状态editdata/other/parking_pass_progress.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamleditdata/other/parking_pass_progress.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/forward_ec.cppeditproto/plan_data.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/plan/ssep_data.hppeditreplayer/scene_data/full_proto_custom_encoder.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_custom_field_proto_codec.cpp
- Testing/ssep_path_corridor_test.cppscenarios/stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cpptasks/other_tasks/stitch_path_data_to_path.cpp1ba3a01ff6b3ede89c696953fb00b15fee9768d71793028669000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 最后段跳过 PJPO 后优先拼接新 SSEP 路径
共用生产任务组选择逻辑，依据实际跳过 PJPO 的最后段组选择 SSEP 拼接，避免静态规划器可用位导致复用旧路径。
将方向校验放入 SSEP 拼接函数；无可用搜索结果保留历史路径兜底，新结果可用后优先采用。
覆盖正倒车、新旧路径区分、WAIT 优先、公共 PJPO、方向错误及历史兜底后恢复。
验证：6 项拼接回归及 30 项既有选择器/等待回归通过，pnc_node 编译通过。
2026-10-26 23:31:09 +08001ba3a01ff6b3ede89c696953fb00b15fee9768d7fix: 最后段跳过 PJPO 后优先拼接新 SSEP 路径editscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppeditscenarios/stage.cppeditTesting/ssep_path_corridor_test.cppedittasks/other_tasks/stitch_path_data_to_path.cpp
- replayer/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/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_codec.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/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/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/plan_frame_field_roles.csveditproto/config.protoeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/front_vehicle_reverse_alarm_test.cppeditdata/config/cfg_safe_const.hppeditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/plan_frame_decoder.cppeditdata/config/cfg_safe_const.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/config_schema_inputs.jsonedittasks/deciders/other_decider/alarm_decider.cppeditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_field_roles.json
- ssep/test/truck_parking_retry_test.ccssep/scenarios/truck_accurate_reversing_planner.cc8d596476920b044ec8d28fdcd4826c67d8e1eb0d1793079665000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止精准倒车预优化改变换向方向
校验预优化后的几何运动方向与方向标签，异常时回退已验证的搜索初值。
增加六米硬尾段场景回归，检查运动学和起终点约束。
2026-10-27 13:41:05 +08008d596476920b044ec8d28fdcd4826c67d8e1eb0dfix: 防止精准倒车预优化改变换向方向editssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_accurate_reversing_planner.cc
- ssep/scenarios/stitching_replanner.hssep/test/truck_parking_retry_test.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/test/rigid_truck_parking_validation_test.ccssep/ssep_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/rigid_truck_parking_validation.h011024d861aea1f5abb8fffc2aed8e4dd0994ee61793079673000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制泊车换向段有效长度至少为1.5米
搜索候选与优化结果统一检查换向段长度，最终停车段允许短距离对位。
覆盖历史拼接、路径缓存与实际下发出口，拒绝优化压短或复用的短段路径。
新增边界、重复点、方向标签兼容及候选拒绝测试；相关45项CPU测试通过。
2026-10-27 13:41:13 +0800011024d861aea1f5abb8fffc2aed8e4dd0994ee6fix: 限制泊车换向段有效长度至少为1.5米editssep/scenarios/stitching_replanner.heditssep/test/rigid_truck_parking_validation_test.cceditssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/rigid_truck_parking_validation.h
- data/other/flow_control.cpp14c18c36c3fef3a7241cfa27c3e9b222b7b70e091793079678000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧散货停车与远控的TTC碰撞豁免
使用最终目标剩余距离判断停车豁免，避免中间换向短段提前忽略碰撞。
远控专用豁免分支要求请求显式设置is_ignore_safe。
2026-10-27 13:41:18 +080014c18c36c3fef3a7241cfa27c3e9b222b7b70e09fix: 收紧散货停车与远控的TTC碰撞豁免editdata/other/flow_control.cpp
- ssep/scenarios/stitching_replanner.hssep/test/parking_history_collision_test.ccddcdc24a24079387fad077e7016d45682cc5f92c1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强泊车历史路径的碰撞优化重试
历史路径在曲率通过但车身或前向净空不满足时继续增强碰撞罚项重试，避免复用碰撞初值。保留请求截止时间与最终完整验收，并覆盖超过换向点后的历史路径修复。
2026-10-27 15:44:40 +0800ddcdc24a24079387fad077e7016d45682cc5f92cfix: 增强泊车历史路径的碰撞优化重试editssep/scenarios/stitching_replanner.heditssep/test/parking_history_collision_test.cc
- ssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/rigid_truck_parking_validation.h5dcb35c17c561812fde8b2bdb3cee25c90c69b431793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按真实圆弧长度验收泊车换向段
对严格满足圆弧几何的采样边恢复弧长，避免有效 1.5 米换向段因弦长略短被拒绝。一般折线仍保守取弦长，保持原长度阈值和容差，覆盖 UTM 与异常朝向边界。
2026-10-27 15:44:40 +08005dcb35c17c561812fde8b2bdb3cee25c90c69b43fix: 按真实圆弧长度验收泊车换向段editssep/test/rigid_truck_parking_validation_test.cceditssep/scenarios/rigid_truck_parking_validation.h
- ssep/scenarios/truck_accurate_reversing_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/truck_parking_retry_test.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/test/rigid_truck_tail_connection_test.ccf42ac550d56adfde7577d0b89968e07325d7eb3e1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复狭窄泊车场景的搜索与调整重试
跳过无改进节点以保留搜索预算，保留未延伸换向候选，并在共享截止时间内依次细化步长和补充中间曲率；已配置细步长也能进入曲率补救，复用 planner 时恢复原配置。
双向重试允许另一侧继续展开，软途经参考不再阻挡调整兜底。兜底继承派生默认尾长，保留显式配置优先及粗路径任务换向标记，不伪造纯倒车任务进度。
验证：相关 77 项 C++ 用例最终通过；原始 22 例回放成功，独立 0.25 米步长变体恢复成功。验证使用隔离源码快照，未纳入工作树并行 KEB 改动。
2026-10-27 15:44:40 +0800f42ac550d56adfde7577d0b89968e07325d7eb3efix: 恢复狭窄泊车场景的搜索与调整重试editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/test/truck_parking_retry_test.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/test/rigid_truck_tail_connection_test.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_accurate_reversing_planner.cc
- ssep/test/local_regression/rigid_parking_quality.pyssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/test_rigid_parking_motion_quality.pyssep/test/local_regression/test_weiqiao_rigid_parking_quality.py8e81fbaf65f9bfa662b94525eac04239aab0198b1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐泊车独立验收的换向段长检查
独立按实际几何方向检查非末段至少 1.5 米，并对严格圆弧恢复弧长；保留末段和单向短路径豁免，输出逐段长度指标。
仅在显式 allowed_direct_reverse 验收策略下接受无任务换向标记的纯倒车路径，不改变默认策略或在线任务进度。
验证：30 项 Python 用例通过；原始 22 例及独立步长变体均通过完整几何检查。
2026-10-27 15:44:40 +08008e81fbaf65f9bfa662b94525eac04239aab0198bfix: 补齐泊车独立验收的换向段长检查editssep/test/local_regression/rigid_parking_motion_quality.pyeditssep/test/local_regression/test_rigid_parking_motion_quality.pyeditssep/test/local_regression/rigid_parking_quality.pyeditssep/test/local_regression/test_weiqiao_rigid_parking_quality.py
- Testing/search_decider_lifecycle_test.cppdata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.md4159bbadf81e896d2dcf662798fc6994cf5f58fa1793103247000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 变道任务交接不因道路类型和目的地变化重搜
移除变道复用的堆场区域限制、前后区域相等限制及任务目的地相等检查，保留变道连续性和目标车道覆盖旧完成点等校验。
补充左右变道跨区域及目的地变化回归，并验证连续任务交接保留路径和搜索请求次数、手动重搜仍有效；同步更新生命周期说明。
验证：clang-format 21.1.8；分布式编译通过；reference_line_replan_test 447 项通过、101 项跳过、0 失败。
2026-10-27 20:14:07 +08004159bbadf81e896d2dcf662798fc6994cf5f58fafix: 变道任务交接不因道路类型和目的地变化重搜editTesting/search_decider_lifecycle_test.cppeditdata/plan/ssep_task_context.cppeditdocs/ssep_search_lifecycle.md
- Testing/reference_line_replan_test.cppdata/plan/smooth_data.cppdata/map/reference/bends_decider/bends_decider.cpp9255010d2a0023cf25523e2a98ca92860322ad941793104586000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止弯道缓存覆盖当前路段并修正重搜判断
弯道选线仅允许修改当前路段内的车道，阻止缓存首弯道跨路段覆盖定位索引，并记录不匹配信息。
按旧车道映射到本帧后的索引与当前选线比较，避免索引重排误报并保留真实换线触发；修正历史地图有效性检查。
新增旧弯道、未来弯道、连续帧、真实换线、同车道索引重排及直线路段保护回归。分布式编译通过，452 项测试通过、101 项跳过、0 失败；未执行现场 bag 算法回放，缓存异常来源仍待确认。
2026-10-27 20:36:26 +08009255010d2a0023cf25523e2a98ca92860322ad94fix: 防止弯道缓存覆盖当前路段并修正重搜判断editTesting/reference_line_replan_test.cppeditdata/plan/smooth_data.cppeditdata/map/reference/bends_decider/bends_decider.cpp
- Testing/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp7b277702d39c3c2f9e72ad5f92d3b1f82e469ea81793115188000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免弯中任务后续路线变化触发重搜
弯中最近出口未变时结束出口比较，避免新任务截短远端路线触发 AFTER_BEND_CHANGE；保留直道前方目标检查，并修正历史地图有效性判断。
新增普通路口和桥梁共 12 个回归用例。相关测试 464 个通过、101 个跳过；原始任务 82161 到 19613 生产决策链复现确认修复后不再重搜。
2026-10-27 23:33:08 +08007b277702d39c3c2f9e72ad5f92d3b1f82e469ea8fix: 避免弯中任务后续路线变化触发重搜edittasks/deciders/other_decider/replan_decider.cppeditTesting/continuous_junction_replan_test.cpp
- Testing/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editTesting/search_decider_lifecycle_test.cppedittasks/deciders/other_decider/replan_decider.cpp
- Testing/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.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/config/cfg_stage.cppeditTesting/ssep_path_corridor_test.cpp
- ssep/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/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/test/rigid_truck_parking_validation_test.cceditssep/test/rigid_truck_tail_connection_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/keb_optimizer/keb_problem.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/keb_optimizer/keb_problem.heditdata/ssep/forward_ec.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.h
- data/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.cpp
- Testing/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edittasks/plan/reversing_truck_path_task.cppeditTesting/path_pair_validation_test.cpp
- Testing/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.cpp
- replayer/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edittasks/deciders/long_decider/constrain_decider.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/lattice/trajectory_evaluator.cppeditdata/lattice/longitudinal_comfort.hpp
- Testing/ssep_path_corridor_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppTesting/search_decider_lifecycle_test.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editdata/app/reaction/app_reaction.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/search_decider_lifecycle.cppeditTesting/search_decider_lifecycle_test.cppeditTesting/scenario_search_exit_test.cppeditTesting/ssep_path_corridor_test.cpp
- data/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editTesting/scenario_search_exit_test.cppeditdata/app/cmd/cmd_set_target.cpp
- Testing/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.cpp
- ssep/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.h
- data/ssep/ssep_scenario_config_loader.cppTesting/ssep_scenario_config_lifecycle_test.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editdata/ssep/ssep_scenario_config_loader.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdocs/ssep_scenario_config_lifecycle.md
- data/plan/ssep_data.cppssep/scenarios/head_straight_distance.hssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/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/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/test/parking_collision_provenance_test.ccdata/ssep/ssep_ec.cppssep/test/head_straight_distance_test.ccssep/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addssep/data_structures/path_motion_segment.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/scenarios/truck_bulk_yark_in_out_planner.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/keb_optimizer/keb_problem.cceditssep/test/coarse_search_stop_clearance_test.cceditdocs/ssep_scenario_config_lifecycle.mdeditssep/test/parking_collision_provenance_test.cceditssep/maps/ogm_config_utils.cceditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/test/rigid_parking_collision_test.cceditssep/keb_optimizer/keb_problem.heditssep/test/keb_normal_extension_test.cceditdata/ssep/ssep_ec.cppeditssep/ssep_planner.cceditdata/plan/ssep_data.cppaddssep/scenarios/head_straight_distance.heditssep/scenarios/rigid_parking_collision.haddssep/test/head_straight_distance_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditTesting/parking_pass_progress_test.cppeditssep/test/CMakeLists.txteditssep/maps/ogm.cceditssep/maps/ogm.heditssep/maps/ogm_builder.ccaddssep/scenarios/first_segment_clearance_checker.haddssep/test/truck_bulk_exit_fallback_test.cceditssep/test/forward_clearance_check_test.cceditssep/maps/ogm_builder.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.h
- data/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.cpp
- Testing/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.cpp
- Testing/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.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbdata/decide/decide_reaction.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/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editreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppadddata/ssep/accurate_parking_switch_config.hppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/search_decider_lifecycle_test.cppeditdata/decide/decide_reaction.cppeditdocs/ssep_scenario_config_lifecycle.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/ssep/forward_ec.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/decide/decide_reaction.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditproto/decision.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/other_decider/replan_decider.cpp
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/base_stop_line_filter.cppdata/ssep/base_stop_line_filter.hppTesting/pnc_map_overlap_test.cppdata/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editdata/ssep/base_stop_line_filter.hppeditdata/ssep/base_stop_line_filter.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/pnc_map_overlap_test.cppadddata/ssep/junction_exit_stop_line.hpp
- data/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_safe_const.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/config/cfg_func_sw.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csvedittasks/deciders/other_decider/alarm_decider.cppeditTesting/front_vehicle_reverse_alarm_test.cpp
- replayer/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.json
- tools/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.py
- replayer/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/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonconfig/config_imv/plan.yamlreplayer/scene_data/compact_numeric_policy.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editreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/config/cfg_safe_const.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditconfig/config_imv/plan.yamleditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_safe_const.cppeditdata/vehicle/lock_station_data.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/routing_map_guard_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/config.protoeditreplayer/scene_data/generated/plan_frame_encoder.cpp
- Testing/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/compact_driving_corridor_restore_test.cppeditTesting/routing_map_guard_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cpp
- data/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.cpp
- ssep/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.hdocs/ssep_stop_collision_extension.mdssep/scenarios/forward_clearance_check.hssep/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/gpu/collision/collision_checker.cuheditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdocs/ssep_stop_collision_extension.mdeditssep/test/forward_clearance_check_test.cceditssep/test/gpu_collision_test.cceditssep/coarse_search/gpu_context.heditssep/gpu/device_types.heditssep/scenarios/forward_clearance_check.heditssep/coarse_search/evaluator/collision_cost_computer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/keb_normal_extension_test.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/evaluator/forward_collision_check_lengths.heditssep/coarse_search/gpu_context.cc
- ssep/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/test/parking_collision_provenance_test.ccssep/scenarios/scenario_planner_interface.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/first_segment_clearance_checker.hssep/scenarios/forward_clearance_check.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/test/forward_clearance_check_test.ccssep/coarse_search/gpu_context.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/coarse_search/evaluator/evaluator.heditssep/maps/ogm_config_utils.cceditssep/scenarios/first_segment_clearance_checker.heditssep/gpu/collision/collision_checker.cuheditssep/test/forward_collision_check_params_test.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/truck_multi_segment_parking_planner.heditdocs/ssep_stop_collision_extension.mdeditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/stitching_replanner.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/test/forward_clearance_check_test.cceditssep/scenarios/forward_collision_check_params.heditssep/test/parking_collision_provenance_test.cceditssep/ssep_planner.cceditssep/scenarios/imv_parking_validation.heditssep/scenarios/forward_clearance_check.heditssep/test/gpu_collision_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/gpu_context.cceditssep/test/keb_normal_extension_test.cceditssep/scenarios/legacy_planner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/gpu/device_types.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/scenario_planner_interface.heditssep/coarse_search/evaluator/forward_collision_check_lengths.h
- ssep/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/scenarios/forward_clearance_check.heditssep/test/forward_clearance_check_test.cc
- data/plan/lane_change_space_check.cppTesting/routing_transition_test.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editdata/plan/lane_change_space_check.cppeditTesting/routing_transition_test.cpp
- ssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/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addssep/test/truck_kinematic_constraint_test.cceditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/rigid_truck_parking_validation.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/test/rigid_truck_parking_validation_test.cceditssep/test/local_regression/README.mdeditssep/keb_optimizer/tractor_trailer_continuous_model.heditssep/test/CMakeLists.txtaddssep/keb_optimizer/rigid_truck_continuous_model.haddssep/test/local_regression/weiqiao_heading_20261101_manifest.tsveditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/offboard/scene_replay/CMakeLists.txt
- data/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.cpp
- data/ssep/out_yard_junction_ec.hppTesting/out_yard_bag_regression_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppTesting/continuous_junction_replan_test.cpptasks/deciders/search_decider/out_yard_junction_search_decider.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/ssep/out_yard_junction_ec.cppeditdata/ssep/out_yard_junction_ec.hppedittasks/deciders/search_decider/search_decider_lifecycle.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppeditdata/plan/start_point_data.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppeditdocs/ssep_search_lifecycle.mdedittasks/deciders/search_decider/search_decider_lifecycle.hppeditreplayer/scene_data/generated/state_schema_inputs.jsonedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditTesting/continuous_junction_replan_test.cppeditTesting/out_yard_bag_regression_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/search_decider_lifecycle_test.cppeditTesting/routing_map_guard_test.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/plan/start_point_data.hppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hpp
- plan/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editdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditTesting/compact_driving_corridor_restore_test.cppeditTesting/scene_replay_foundation_test.cppeditplan/pilot/pilot_update.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.md
- data/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/replayer_data_process/replayer_computation_policy.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonTesting/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.cppeditreplayer/replayer_data_process/replayer_computation_policy.hppeditdata/plan/side_pass_data.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/algorithm_replay/production_variant_runner.cppeditTesting/experiment_session_test.cppeditdocs/pnc_algorithm_replay/dp_corridor_performance.mdeditreplayer/algorithm_replay/production_variant_runner.hppeditreplayer/replayer_data_process/replayer_data_process.cpp
- docs/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_replay_session.cppeditreplayer/scene_data/compact_scene_archive_codec.cppeditTesting/compact_replay_session_test.cppeditdocs/pnc_algorithm_replay/usage.md
- ssep/keb_optimizer/control_space_path_adapter.ccssep/keb_optimizer/control_space_path_adapter.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9c86ba303cb7982edf31448c905ed9130e8ac3be1793677692000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持 KEB 严格几何一致性验收
增加可配置的连续运动学位置残差阈值和绝对误差豁免，保持默认行为。
严格场景支持无预热收尾优化，并向控制空间修正传递相同阈值。
允许释放固定段时显式保留终点约束，补充侧移、非法参数及固定段回归。
验证：65 项几何相关测试通过。
2026-11-03 11:48:12 +08009c86ba303cb7982edf31448c905ed9130e8ac3befix: 支持 KEB 严格几何一致性验收editssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/control_space_path_adapter.cceditssep/test/tractor_trailer_kinematic_weight_test.cceditssep/keb_optimizer/control_space_path_adapter.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
- Testing/out_yard_bag_regression_test.cppdata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cpp0bdd9eb3d133ac600deb99ed6108b4fc79dfdcdd1793677709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前构造动态上码头搜索起点
仅对存在有效同向邻居的码头连接提前至 70 m 进入及准备备用地图。
上码头起点提前 42 m，并在路口和停止线选择后保留提前量及前视下限。
强化 bag 回归基准、首次有效构造和最终起点断言，作用域恢复全局配置。
验证：33 项路由测试及 2 项 bag 测试通过；196 帧重建成功，
首次有效构造提前约 6.30 s，同帧起点提前 19.85 m。
2026-11-03 11:48:29 +08000bdd9eb3d133ac600deb99ed6108b4fc79dfdcddfix: 提前构造动态上码头搜索起点editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppeditTesting/out_yard_bag_regression_test.cppeditdata/ssep/open_space_ec.cpp
- data/ssep/open_space_ec.cppssep/test/forward_precise_planner_test.ccdata/ssep/open_space_ec.hppdata/ssep/ssep_ec.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/tractor_trailer_general_planner.hssep/ssep_planner.ccTesting/ssep_scenario_config_lifecycle_test.cpp85176f4206daa062aed8ce6dbeb111fd91cd208b1793677728000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按场景配置验收上码头车身净距
从场景 custom_params 读取 minimum_obstacle_clearance，贯穿起点守卫、
粗搜索、优化及完整车身扫掠验收，禁止未经相同约束的历史路径复用。
保留原起终点局部清障，框外仍检查净距，起点整车深陷继续拒绝。
严格场景释放固定首尾段并保留终点约束，避免绕过几何验收。
更新源成员审计摘要，未修改 Proto 字段合同。
验证：61 项配置、清障及规划器测试通过；现场 CPU 场景回放成功。
2026-11-03 11:48:48 +080085176f4206daa062aed8ce6dbeb111fd91cd208bfix: 按场景配置验收上码头车身净距editssep/test/forward_precise_planner_test.cceditdata/ssep/ssep_ec.hppeditssep/ssep_planner.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/open_space_ec.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/scenarios/tractor_trailer_general_planner.h
- ssep/scenarios/tractor_trailer_parking_collision.hssep/offboard/ssep_planner_wrapper.ccssep/maps/ogm.hssep/ssep_planner.hssep/maps/ogm_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/maps/ogm_config_utils.ccssep/maps/ogm_builder.hssep/test/parking_collision_provenance_test.ccssep/test/scene_replay_obstacle_inputs_test.ccssep/ssep_planner.ccssep/maps/ogm_config_utils.hssep/offboard/main_test/main_ssep_input.ccdata/ssep/ssep_activation.cppdocs/ssep_stop_collision_extension.mde9ff87baa59edeefdef653f3a67f93fd8d7e22201793694944000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持末端直线清障并限定首末段豁免
新增 terminal_collision_ignore_distance，默认关闭并限制在末端拉直距离内。
统一生产与 PB 回放建图参数，裁剪终点直线区域实体来源，保留区外障碍和道路约束。
取消粗搜索按整个拉直长度无条件跳过碰撞的行为。
复用公共运动分段规则：起点清障仅首段有效，终点清障仅末段有效，
中间段和共享换向点恢复原始来源、派生线与膨胀占用并检查连续头挂扫掠。
同步优化碰撞约束，并在抽稀分段后合并完整输出再次验收。
验证：clang-format 21.1.8、diff 检查、分布式生产及回放编译通过；
91 项分段回归及 97 项共享调用方测试通过。
威海录制 CPU 回放默认配置碰撞拒绝，显式 3 米和 8 米各输出 84 点；未执行 GPU 验证。
2026-11-03 16:35:44 +0800e9ff87baa59edeefdef653f3a67f93fd8d7e2220feat: 支持末端直线清障并限定首末段豁免editssep/maps/ogm_config_utils.heditdocs/ssep_stop_collision_extension.mdeditssep/offboard/main_test/main_ssep_input.cceditdata/ssep/ssep_activation.cppeditssep/ssep_planner.cceditssep/maps/ogm_builder.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/tractor_trailer_parking_collision.heditssep/test/parking_collision_provenance_test.cceditssep/maps/ogm_config_utils.cceditssep/ssep_planner.heditssep/maps/ogm.heditssep/test/scene_replay_obstacle_inputs_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/maps/ogm_builder.h
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/open_space_ec.cppdata/ssep/ssep_util.hppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cppdata/ssep/ssep_util.cppbc4b7564ad07e4879569912a6bc0e204e849fec51793706832000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定指定途经点的上码头提前策略
仅对 UTM (308844.028240, 2181447.135336) 半径 1 米内的有效途经点启用提前。
场景进入和备用地图准备保留多车道码头条件，搜索起点明确限定 UP_SEASIDE。
其他途经点恢复原场景距离和起点选择，避免直角上码头等场景过早进入搜索。
补充位置范围、距离边界、上下码头及起点对照回归，并刷新头文件生成校验指纹。
验证：分布式编译、121 项回归测试和生成文件/Proto 兼容性检查通过。
2026-11-03 19:53:52 +0800bc4b7564ad07e4879569912a6bc0e204e849fec5fix: 限定指定途经点的上码头提前策略editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/routing_transition_test.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_util.hppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- Testing/routing_transition_test.cppdata/ssep/open_space_ec.cppc6c7a9156f303e695a8188cfa01a5687b90b40121793706841000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留直角上码头的路由终点搜索起点
普通直角上码头成功投影当前路由段终点后，禁止后续场内停止线覆盖起点选择。
指定途经点的特殊提前逻辑及其他场景的停止线规则保持原行为。
新增真实参考线、路口和成对停止线回归，覆盖 YARD/STACKER 共 12 组选择条件。
验证：分布式编译及全部 122 项回归测试通过；新 bag 与日志确认录制使用停止线起点。
未执行该 bag 的完整闭环搜索回放。
2026-11-03 19:54:01 +0800c6c7a9156f303e695a8188cfa01a5687b90b4012fix: 保留直角上码头的路由终点搜索起点editdata/ssep/open_space_ec.cppeditTesting/routing_transition_test.cpp
- replayer/scene_data/compact_proto_codec.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protoreplayer/scene_replay/scene_replay_service.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_env_const.cppreplayer/scene_data/compact_scene_archive_codec.cppTesting/lane_change_space_check_test.cppTesting/routing_transition_test.cppdata/obstacle/cluster_lane_change_safety_test.cppTesting/scene_replay_foundation_test.cppdata/plan/lane_change_preview.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/plan/lane_change_preview.hppreplayer/algorithm_replay/profile_collectors.cppdata/plan/switch_data.hppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/plan/lane_change_junction_wait.cppdata/plan/switch_data.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamltasks/deciders/long_decider/constrain_decider.cppTesting/lane_change_junction_geometry_test.cppscenarios/stage.cppreplayer/scene_data/config_proto_codec.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/plan/lane_change_space_check.hppreplayer/scene_data/generated/state_schema_inputs.jsonreplayer/scene_data/plan_frame_field_roles.csvdata/map/reference/center_line.cppdata/plan/lane_change_space_check.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb53a03fe0698e8ea7d0709fd967e5db0e4189c34e1793762630000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善途经点变道提前执行与停车等待
按等待距离预算扩展显式途经点变道的提前条件，检查普通路由提前候选的跨线边界；提前积累准备与安全确认，保留经验证的等待资格并校验候选回退后的授权。
增加已加载路段的途经点预识别、减速和等待交接，保存目标车道及原始点对身份，处理连续缺图、任务变更和目标完成；忽略已确认无效的点对并记录原因。
同步 Full/Compact 状态合同和生成产物，补齐 27 个等待相关配置与来源版本检查，保留旧 Compact 重编码的配置缺口，增加变道诊断字段与组件回归。
验证：分布式编译 6 个目标成功；166 项组件测试通过；生成检查及 Proto 兼容性检查通过。
已知问题按本次审查决定保留：多个点对下原目标暂缺图可能被其他有效预览解除等待；Legacy Boost 导入可能将缺失等待配置标记为完整。本次验证不代表障碍场景闭环变道通过。
2026-11-04 11:23:50 +080053a03fe0698e8ea7d0709fd967e5db0e4189c34efeat: 完善途经点变道提前执行与停车等待editproto/config.protoeditreplayer/algorithm_replay/profile_collectors.cppadddata/plan/lane_change_preview.cppeditdata/plan/lane_change_space_check.hppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_proto_codec.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_replay/scene_replay_service.cppeditdata/config/cfg_env_const.cppeditscenarios/stage.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan/switch_data.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/lane_change_junction_geometry_test.cppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/obstacle/cluster_lane_change_safety_test.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/config_proto_codec.hppadddata/plan/lane_change_preview.hppeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/plan/lane_change_junction_wait.cppeditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan/switch_data.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/lane_change_space_check_test.cppeditdata/map/reference/center_line.cppeditproto/plan_data.protoeditTesting/routing_transition_test.cppeditdata/plan/lane_change_space_check.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pb
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp4ef682261f5cfef3202714bdbb52fd089f55585b1793958562000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按实际车道航向判断上码头连接形状
前后车道已知且目标为码头车道时，比较连接处实际航向，避免港口岸线配置将同向或反向平行连接误判为直角上码头。保留纵向道路分类和配置兜底。
新增旋转、正反向、30 度和 150 度邻近边界及潍坊错误岸线配置回归。分布式编译完成，当前工作区 129 项路由相关测试通过；未执行完整搜索回放。
2026-11-06 17:49:22 +08004ef682261f5cfef3202714bdbb52fd089f55585bfix: 按实际车道航向判断上码头连接形状editTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- Testing/routing_transition_test.cppdata/config/cfg_func_sw.cpp7b4342f85e049949a16d79a38c6fbeebc5b353221793958575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按潍坊 4552 车道校正默认岸线航向
将潍坊默认岸线航向由 2.346 rad 调整为地图 4552_0_3 轴线的 3.9150972784460487 rad，供缺少前车道等分支使用；保留显式 ROS 参数覆盖。
补充缺前车道时的同向、反向、跨 2π 和垂直方向测试，覆盖横向道路与码头道路。clang-format 21 格式化及分布式编译通过，129 项路由相关测试全部通过。
2026-11-06 17:49:35 +08007b4342f85e049949a16d79a38c6fbeebc5b35322fix: 按潍坊 4552 车道校正默认岸线航向editTesting/routing_transition_test.cppeditdata/config/cfg_func_sw.cpp
- ssep/data_structures/path_validation.hssep/test/forward_clearance_check_test.ccssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/test/imv_enter_station_candidate_test.ccssep/scenarios/truck_bulk_yark_in_out_planner.hssep/scenarios/imv_enter_station_candidate.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/ssep_planner.ccssep/scenarios/forward_clearance_check.hssep/scenarios/first_segment_clearance_checker.hssep/test/truck_bulk_exit_fallback_test.cc92b48add30ec766584605be2418097cf6d503a9a1793983424000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化堆场出库搜索并补齐候选路径验收
对带固定前进头段的双向兜底搜索降低保守圆盘软罚权重，使用真实车身连续碰撞检查约束可行性，避免短距离调整被长距离绕行挤掉。
按新增运动基元检查首段清障与换向接缝，空占用区域快速跳过；最后一个搜索器的候选经过优化和完整验收后才返回，失败继续原队列。统一规划时限，补齐优化后的障碍、约束图与分段自相交验收，并完善自交诊断。
验证：相关 113 项测试通过；魏桥原始场景及另一出库场景通过；现有同类型回归集 1 例基础验收通过；青岛 372 原始输入 21 例 CPU 回放中 16 例基础验收通过，5 例达到搜索节点上限，未完成修改前后对照，不宣称全量无回归。
2026-11-07 00:43:44 +080092b48add30ec766584605be2418097cf6d503a9afix: 优化堆场出库搜索并补齐候选路径验收editssep/scenarios/truck_bulk_yark_in_out_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/test/forward_clearance_check_test.cceditssep/test/truck_bulk_exit_fallback_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/test/imv_enter_station_candidate_test.ccaddssep/data_structures/path_validation.heditssep/scenarios/imv_enter_station_candidate.heditssep/scenarios/forward_clearance_check.heditssep/ssep_planner.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditssep/scenarios/first_segment_clearance_checker.h
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/full_custom_codec_exclusions.yamlreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoTesting/disable_stop_regression_test.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppreplayer/scene_data/generated/config_schema_inputs.jsonTesting/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.pbb53a46f85c8dfac191f4007dd24181b3fe3e40341794073087000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加直行出堆场弯道禁停独立开关
新增 use_func_straight_out_yard_park，默认启用；按路口通行方向单独过滤直行出堆场禁停，保留原出堆场总开关及转弯、穿场行为。
补齐 Full 和 Compact ReplayInput 的反向布尔编码，旧快照缺字段默认启用；新增行为与回放兼容测试。
2026-11-08 01:38:07 +0800b53a46f85c8dfac191f4007dd24181b3fe3e4034feat: 增加直行出堆场弯道禁停独立开关editreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/full_custom_codec_exclusions.yamleditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditproto/config.protoeditdata/config/cfg_func_sw.hppeditTesting/disable_stop_regression_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/hmi_collision_render_test.cppae2163483da602ea6cd0ee66626ed3fcab28fd671794074671000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 拒绝包含非连续车道链的任务路由
在路由扩展前校验所有 passage 的地图车道和 successor 关系，
避免将上游错误的跨车道连接直接拼为中心线。多路径接收失败时
清空部分结果，由现有路径解析失败流程拒绝新任务并保留原任务。
补充异常路由、合法换道和接收失败生命周期测试，以及 IGV03
原始任务字段专项验证。旧分支不支持整帧 encoding v10，专项仅
通过已核对兼容的 context 和 exact_numeric 解码恢复任务路由。
验证：130 项路由回归通过；现场 115 帧正常任务接收、329 帧异常
任务拒绝，15 帧无任务单列。clang-format 21.1.8 及 diff 检查通过。
2026-11-08 02:04:31 +0800ae2163483da602ea6cd0ee66626ed3fcab28fd67fix: 拒绝包含非连续车道链的任务路由editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppeditTesting/hmi_collision_render_test.cpp
- data/plan/ssep_data.cppreplayer/scene_data/compact_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/plan/ssep_data.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/other/head_straight_progress.hppreplayer/scene_data/compact_custom_field_proto_codec.cppdata/other/head_straight_progress.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/plan/ssep_task_context.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_replay_input.protodata/plan/ssep_task_context.hppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamldocs/ssep_search_lifecycle.mdTesting/routing_map_guard_test.cppplan/prepare/prepare_state.cppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppdata/other/task_progress.hppreplayer/scene_data/generated/plan_frame_descriptor.pb18f980d13dac11b925a60f7d862e59c6d26d5f051794151419000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索任务进度并保留跨场景初始直行状态
抽取公共任务签名和进度失效清理，供初始直行与脱挂车出库倒车复用。
将初始直行锚点和完成状态独立保存在 SsepData，依据实际车辆位置更新，避免场景切换后重搜再次要求直行 2.5 米。
补齐旧请求迁移、Full/Compact 编解码和生命周期回归测试。
验证：pnc_node 构建及 Proto 合同检查通过；1066 项测试通过，14 项可选数据测试跳过。尚未执行原始 bag 连续回放。
2026-11-08 23:23:39 +080018f980d13dac11b925a60f7d862e59c6d26d5f05fix: 统一搜索任务进度并保留跨场景初始直行状态editTesting/parking_pass_progress_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditdata/plan/ssep_data.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdocs/ssep_search_lifecycle.mdeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditproto/pnc_scene/compact_replay_input.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditplan/prepare/prepare_state.cppeditdata/plan/ssep_task_context.cppadddata/other/head_straight_progress.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan/ssep_data.cppeditdata/plan/ssep_task_context.hppeditreplayer/scene_data/compact_proto_codec.cppeditdata/ssep/ssep_ec.cppadddata/other/head_straight_progress.cppadddata/other/task_progress.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/plan_frame_descriptor.pbeditproto/plan_data.protoeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yaml
- ssep/scenarios/truck_accurate_reversing_planner.cc09e90baa4f94b732f1dabfba5e5535f9b36e52171794152936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免精准倒车候选优化被搜索子阶段时限截断
节点展开继续使用子阶段截止时间，已生成候选的净空检查、优化和延伸
改用本次调整请求的剩余总预算，避免仍有时间的有效候选被提前丢弃。
保留总时限、外层细网格重试预留以及碰撞和运动学硬约束。
验证：相关单元测试 30/30、已有刚性停车回归 21/21 通过。
现场 10 例在显式 1.5 米拉直实验下全部通过独立验收，最后两例复测通过；
保留 2 米、仅修预算的代表对照为 2/3 通过。未修改默认拉直距离或任务点。
2026-11-08 23:48:56 +080009e90baa4f94b732f1dabfba5e5535f9b36e5217fix: 避免精准倒车候选优化被搜索子阶段时限截断editssep/scenarios/truck_accurate_reversing_planner.cc
- data/ssep/forward_ec.cppTesting/parking_pass_progress_test.cpp60c1d9379949c885c603ce98f0325c0acc2407011794203208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留牵引车重规划时未完成的任务途经点
牵引车多段泊车拉直重规划复用任务途经点构造，避免以终点延伸的合成点覆盖尚未完成的任务点。保留任务点完成后及未配置任务点时的显式拉直行为。
增加威海现场坐标回归，覆盖重复重规划和任务点生命周期。分布式编译通过，相关 224 项测试全部通过；尚未验证完整泊车搜索。
2026-11-09 13:46:48 +080060c1d9379949c885c603ce98f0325c0acc240701fix: 保留牵引车重规划时未完成的任务途经点editTesting/parking_pass_progress_test.cppeditdata/ssep/forward_ec.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/dp_poly_path/dp_road_graph.cppdata/plan/start_point_data.cppdata/plan/predict_path.cppdata/config/cfg_dynamic.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_dynamic.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvalgorithm/decision/semantic_set_transformation_2.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan_frame.cppreplayer/scene_data/generated/plan_frame_descriptor.pb8623bcf5e4ec5086aafd1b04cac7432238486fdb1794279951000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解耦与底盘约定的最大角度值和keb规定的最大角度值
2026-11-10 11:05:51 +08008623bcf5e4ec5086aafd1b04cac7432238486fdbfeat: 解耦与底盘约定的最大角度值和keb规定的最大角度值editTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/plan/start_point_data.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/plan_frame.cppeditdata/config/cfg_dynamic.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditproto/config.protoeditdata/config/cfg_dynamic.hppeditreplayer/scene_data/compact_numeric_policy.yamleditalgorithm/decision/semantic_set_transformation_2.cppeditdata/plan/predict_path.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/config_proto_codec.cpp
- Testing/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cpp62885152c75772075c26f3f7e9f4e2c21b3670ae1794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 复用直行出堆场开关控制入堆场弯道禁停
直行入堆场与出堆场共用 use_func_straight_out_yard_park 参数，保留各自总开关及转弯、穿堆场策略。
扩展回归覆盖入场、出场、穿场、转弯及开关恢复；修改已在 feat_daxie_proto 完成分布式编译，17 项禁停相关测试通过。
2026-11-10 11:54:27 +080062885152c75772075c26f3f7e9f4e2c21b3670aefix: 复用直行出堆场开关控制入堆场弯道禁停editdata/constrain/disable_stop_range.cppeditTesting/disable_stop_regression_test.cpp
- data/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/long_decider/constrain_decider.cppTesting/routing_transition_test.cppTesting/bulk_speed_limit_test.cppf86e45c7294f184fa67775f6d80a65bc9771dc451794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐普通路由非末段终点停车防护
普通 routing 在非 bulk in 场景使用当前段终点距离创建停止线，避免同向
分段路由索引未切换时丢失终点停车约束；保留 bulk in、SSEP 和混合
路径的末段判断，并过滤无效终点距离。越过终点后继续保留停车约束。
接收任务时对换向途经点连接同向路由记录错误日志，不改变任务、
操作方向或停车策略。补充录制负距离、连续重规划、真实换向、
bulk in 切换及无效数据回归，并修正双向 IMV 测试的车型子类型配置。
2026-11-10 11:54:27 +0800f86e45c7294f184fa67775f6d80a65bc9771dc45fix: 补齐普通路由非末段终点停车防护editdata/map/pnc_map/routing_extension/routing_data.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/routing_transition_test.cppeditTesting/bulk_speed_limit_test.cpp
- Testing/compact_driving_corridor_restore_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cpp3f75b855094641c5d375307be7180a5ab3050ef71794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 cluster 速度滤波残值误触发变道临停
动静确认改用当前有效刚体位移测量的速度累计证据，避免单次位移的
滤波残值在后续零位移测量中重复计为运动证据。预测与关联继续使用
滤波速度，并保留原有动静确认阈值及静止迟滞。
补充单次跳动后静止、持续运动目标仍触发碰撞风险的回归测试，
为连续 bag 回放增加 cluster 风险、轮廓和独立停车 Range 诊断。
验证：相关 100 项测试通过；津西 bag 使用指纹一致的 1.0.15 地图，
460 帧 CPU 子链连续回放中，修复前重现录制的 12 帧临停，修复后为 0。
验证覆盖跟踪、风险评估和 Range 创建，不包含完整车辆闭环。
2026-11-10 11:54:27 +08003f75b855094641c5d375307be7180a5ab3050ef7fix: 修复 cluster 速度滤波残值误触发变道临停editTesting/compact_driving_corridor_restore_test.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.cpp
- ssep/test/ssep_planner_test.ccssep/test/forward_clearance_check_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.h4bad66115966ad2e0f52c11bb72fb96e162c05c61794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 减少拖挂多段搜索的重复碰撞验收耗时
为单次静态地图搜索构建碰撞线段空间索引，并按完整边几何缓存
normal 扩展检查结果；缓存有容量上限，超时不缓存，stop 仍独立验收。
窄换向偏好阶段没有有效候选且再次命中同一精确碰撞边时，提前转入
已有任务区域兜底，保留总请求时限、最终碰撞检查和换向区域上限。
增加索引等价性、缓存生命周期、超时及阶段切换测试。
验证：105 项相关单测通过，1 项原有禁用；Orin 两个现场场景共 6 次
实际 GPU 回放成功，独立碰撞检查为零。拖挂回归执行 37 条真实 GPU
测试，9 条原规则失败在修复前同样失败；另有途经点走向不符合业务
要求但被旧规则判过的案例，两版 273 个路径状态完全一致，仍待修复。
2026-11-10 11:54:27 +08004bad66115966ad2e0f52c11bb72fb96e162c05c6fix: 减少拖挂多段搜索的重复碰撞验收耗时editssep/test/forward_clearance_check_test.cceditssep/scenarios/forward_clearance_check.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/ssep_planner_test.cc
- data/plan/ssep_data.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/plan/ssep_data.hppdata/ssep/parking_task_params.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/plan/ssep_task.cppdata/ssep/ssep_scenario_config_loader.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamlplan/prepare/prepare_state.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp9c065453895757fcf39346e2aa6265d24a24ccd11794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 同一停车任务沿用起点规则选定的曲率参数
通过 task_persistent_params 显式选择完整的三项停车曲率参数，
在实际提交搜索后绑定，同任务跨位置、途经点完成和倒车重搜保留。
任务身份或终点变化、取消、结束时清除，仅向停车规划器恢复参数。
补齐跨帧继承、Full/Compact/Candidate 类型化状态与缺字段兼容，
增加配置校验、生命周期及实际任务身份回放测试。
验证：146 项场景配置测试、46 项状态与配置回放测试通过；
生成文件、字段覆盖及 Proto breaking 检查通过。
2026-11-10 11:58:44 +08009c065453895757fcf39346e2aa6265d24a24ccd1feat: 同一停车任务沿用起点规则选定的曲率参数editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/plan/ssep_data.cppeditdata/other/parking_pass_progress.cppeditdata/ssep/ssep_ec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbadddata/ssep/parking_task_params.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/ssep/ssep_scenario_config_loader.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/plan/ssep_data.hppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditplan/prepare/prepare_state.cppeditreplayer/scene_data/compact_numeric_policy.yamledittasks/plan/ssep_task.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditproto/plan_data.proto
- Testing/ssep_path_corridor_test.cppdata/ssep/ssep_ec.cpp41636368c43329dddd33897cdeeb1da138d9a5f91794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留 IMV 禁止翻头时的起始操作头身份
IMVGeneral 禁止起点翻头时保留当前操作模式，避免首次同点搜索丢失换向信息。补充首次搜索、换向和停稳重搜的输入及场景导出回归用例，并更新起点偏移任务退出后的预期。
2026-11-10 11:58:44 +080041636368c43329dddd33897cdeeb1da138d9a5f9fix: 保留 IMV 禁止翻头时的起始操作头身份editdata/ssep/ssep_ec.cppeditTesting/ssep_path_corridor_test.cpp
- hmi/widget/diagnose.cppscenarios/scenario.cppscenarios/stage.cpp5c25d678b02ef79a686dade0330785c3a26bbda41794295830000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 诊断窗口显示实际执行的横向规划器
按任务实际执行情况记录规划器，逐帧清除历史记录；SSEP 原始路径直出时显示无横向规划器。
2026-11-10 15:30:30 +08005c25d678b02ef79a686dade0330785c3a26bbda4fix: 诊断窗口显示实际执行的横向规划器editscenarios/scenario.cppeditscenarios/stage.cppedithmi/widget/diagnose.cpp
- replayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonscenarios/task_condition_evaluator.hppdata/ssep/ssep_scenario_config_loader.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppTesting/cfg_scenarios_proto_codec_test.cppssep/scenarios/imv_general_planner.hdata/ssep/offline_obstacles_loader.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/other/head_straight_progress.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/test/head_straight_distance_test.ccdata/ssep/ssep_ec.cpptasks/other_tasks/stitch_path_data_to_path.cppTesting/ssep_path_corridor_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbTesting/reverse_pickup_stage_selector_test.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/config.protodata/ssep/location_condition.hppssep/scenarios/scenario_planner_factory.hdata/config/cfg_stage.cppreplayer/scene_data/compact_numeric_policy.yamldata/ssep/location_condition.cpptools/pnc_proto_mapper/test_exact_numeric_codegen.pydata/ssep/offline_obstacles_loader.hppdata/config/cfg_stage.hppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyc466a901055983a21871cb475392d8a6ef5147951794295845000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景组合条件与 IMV 出库固定直行
兼容原有 OR 条件列表，增加 all/any、库区位置及 SSEP 首末中段条件，同步 Full/Compact 配置合同。
支持指定分段直接使用 SSEP 路径及 BulkOut 末段选择 KEB；IMV 沿物理车头直行并在重搜时保留剩余距离，两段式搜索不重复施加首段约束。
验证：foundation 541 项、routing 138 项、corridor 237 项通过；SSEP 相关 29 项通过，foundation 13 项可选测试跳过。
2026-11-10 15:30:45 +0800c466a901055983a21871cb475392d8a6ef514795feat: 支持场景组合条件与 IMV 出库固定直行editreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/plan_frame_field_roles.jsonedittools/pnc_proto_mapper/test_exact_numeric_codegen.pyeditssep/test/head_straight_distance_test.cceditdata/other/head_straight_progress.cppeditTesting/cfg_scenarios_proto_codec_test.cppeditssep/scenarios/scenario_planner_factory.hedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/cfg_scenarios_proto_codec.cppeditdata/ssep/ssep_scenario_config_loader.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/config/cfg_stage.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditssep/scenarios/imv_general_planner.heditscenarios/task_condition_evaluator.hppeditTesting/reverse_pickup_stage_selector_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonadddata/ssep/location_condition.cppeditTesting/ssep_path_corridor_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/compact_numeric_policy.yamleditproto/config.protoadddata/ssep/location_condition.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditscenarios/task_condition_evaluator.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_stage.hppeditdata/ssep/offline_obstacles_loader.hppeditTesting/scene_replay_foundation_test.cppeditdata/ssep/offline_obstacles_loader.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
- data/boundary/road_boundary.cppdccb10f976ff8a4e11c758ec1d710d0cf8d99b3a1794300031000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换
2026-11-10 16:40:31 +0800dccb10f976ff8a4e11c758ec1d710d0cf8d99b3afix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换editdata/boundary/road_boundary.cpp
- data/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle.cpp8e72ae7d875c12311da5e7732d260d8c24bf91ee1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(sidepass): 允许绕行合格静止机动车旁的居中两轮车
- 按静止状态、跟踪成熟度、邻接距离及预测运动判断绕行资格
- 先确定机动车策略，避免两轮车准入依赖障碍物遍历顺序
- 保留横穿解除迟滞及条件失效后的绕行承诺撤销
- 保留静止两轮车预测，支持运动风险检查
2026-11-10 17:01:46 +08008e72ae7d875c12311da5e7732d260d8c24bf91eefeat(sidepass): 允许绕行合格静止机动车旁的居中两轮车editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle.cpp
- data/boundary/road_boundary.cpp6c0824c216a0f1640de2398a81eb76966667099b1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄
路径穿过多边形边时，同时过滤两侧连续共线邻边，
避免入口被多个顶点拆段后残留边参与道路边界求交。
复用现有平行及共线判断，支持闭合首尾并跳过零长度边；
遇到转角停止扩展，不改变合并包络生成逻辑。
2026-11-10 17:01:46 +08006c0824c216a0f1640de2398a81eb76966667099bfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄editdata/boundary/road_boundary.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbdata/constrain/block_data.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/decision.protodata/constrain/block_data.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb260f1110c6038c9cbd1498a2535be0fefc9b3f001794301964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行
按当前速度、额定加减速度和路口限速计算通行时间。
保持已生效的停车要求，避免减速末段因制动距离豁免撤销停车。
原始停止线一米内经历红转绿后允许放行，不再要求车辆静止。
同步停车保持和放行状态的 Full/Compact 编解码及字段合同。
2026-11-10 17:12:44 +0800260f1110c6038c9cbd1498a2535be0fefc9b3f00fix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行editreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/constrain/disable_stop_range.hppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/constrain/block_data.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditproto/config.protoeditproto/decision.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/constrain/block_data.hppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
- data/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision_test.cpp95a60bf56ca2cdd45d5a0a78b4366ee817697ad61794302457000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(sidepass): 补全两轮车预测运动检查与承诺退出条件
检查原始预测的全部分支，避免零初速 C2V 和非优选运动预测被忽略。未靠边目标仅在本帧满足相邻静止例外时豁免承诺硬退出，不以通用 ALLOW 代替安全判定。
适配两阶段决策与现有取消任务后机动车标签恢复流程，补充正常静止例外、两类预测运动和类型策略关闭时边界缺失的回归。
2026-11-10 17:20:57 +080095a60bf56ca2cdd45d5a0a78b4366ee817697ad6fix(sidepass): 补全两轮车预测运动检查与承诺退出条件editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cpp
- data/plan/ssep_data.cppTesting/ssep_path_curvature_test.cppdata/ssep/ssep_ec.cppdata/ssep/ssep_util.cpp3dcd53eb0eb9d4786209096a235efda466d0dd3b1794319795000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 SSEP 曲率方向与控制转向约定
按路径点序计算左正右负的有符号曲率，消除旧叉积阈值导致的方向反转和采样间距依赖，避免左转路径原地打轮时先向右打。
在倒车分段和挂车参考路径转换处显式转为车头方向曲率，保持与控制原地转向及 MPC 前馈公式一致。重复点返回零曲率，不足五点时清理旧曲率，防止重复计算翻转缓存。
补充魏桥现场样本、左右转、前后换向、不同采样间距、退化点、短路径重复计算及挂车参考方向回归。
验证：clang-format 21.1.8；Icecream 分布式构建成功；pnc_ssep_path_corridor_test 共 244 项通过。
2026-11-10 22:09:55 +08003dcd53eb0eb9d4786209096a235efda466d0dd3bfix: 修正 SSEP 曲率方向与控制转向约定editdata/ssep/ssep_util.cppeditdata/plan/ssep_data.cppeditTesting/ssep_path_curvature_test.cppeditdata/ssep/ssep_ec.cpp
- Testing/CMakeLists.txtTesting/bulk_speed_limit_test.cpptasks/deciders/long_decider/constrain_decider.cpp5d58b8d53e668e7395fb0a3b03e5ed975d12ed951794369300000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复多段路由换向点停车原因冲突
先建立本帧操作头换向停车约束，仅在该约束匹配有效且距离有限时，
抑制普通路由非末段重复的绝对终点停车线，避免 ABSOLUTE_SIGN_STOP
抢占停因后阻止路由释放当前段。保留末段、同向和换向投影失败时的
终点停车防护，并修正操作头数组的边界判断。
新增换向停因及路由释放、模式进入持续退出、无效路由、投影失败恢复
和约束匹配失效的回归；测试只隔离外部地图查询，执行生产约束和停因逻辑。
验证：分布式编译通过，38 项单测通过，clang-format 21 修改范围检查通过。
东方特钢 309 bag 使用精确地图加载成功，但输入恢复报
standby_index_seed_missing，未执行到修复逻辑，现场回放验收尚未完成。
2026-11-11 11:55:00 +08005d58b8d53e668e7395fb0a3b03e5ed975d12ed95fix: 修复多段路由换向点停车原因冲突editTesting/CMakeLists.txtedittasks/deciders/long_decider/constrain_decider.cppeditTesting/bulk_speed_limit_test.cpp
- replayer/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.protoplan/prepare/prepare_status.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppTesting/step_align_distance_source_test.cppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb3b6c1b5c369cde9c6051551df5f90c0cf4318c091794388502000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准受阻检测功能增加开关 增加静止防抖
2026-11-11 17:15:02 +08003b6c1b5c369cde9c6051551df5f90c0cf4318c09feat: 对准受阻检测功能增加开关 增加静止防抖editreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_func_sw.cppeditplan/prepare/prepare_status.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditproto/config.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/step_align_distance_source_test.cppeditdata/config/cfg_func_sw.hpp
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#10271027false10271396442SUCCESS1794291875242http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1027/- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbd614056233949fc8cf2895f4a53b53262f68c9a91794291320000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(proto): 按 Protobuf 3.9.1 重新生成回放描述符
2026-11-10 14:15:20 +0800d614056233949fc8cf2895f4a53b53262f68c9a9fix(proto): 按 Protobuf 3.9.1 重新生成回放描述符editreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pb
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2026-11-09 03:03:38 +0000bc9b0f718136a05395a6908683064a53bbea5c78Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
git- sink/ros_sink_ads_target_state.cppdata/map/heliostat_environment.cppdata/other/heliostat_flow_control.cppdata/map/heliostat_mirror_map.hppssep/scenarios/truck_multi_seg_general_planner.halgorithm/wbca/wbca_manager.hppdata/common/guide_path.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/long_decider/heliostat_constrain_decider.cppdata/map/heliostat_cleaning_contact.cppssep/keb_optimizer/keb_problem.ccreplayer/scene_data/compact_custom_field_proto_codec.cppdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cpptasks/plan/heliostat_path_optimization.cpptasks/other_tasks/create_reference_line.cppsource/ros_source_ads_target.cppreplayer/scene_data/generated/compact_scene_descriptor.pbalgorithm/wbca/path_optimization/minco/minco.hppdata/config/heliostat_config.hpptasks/plan/heliostat_path_reuse.cpptasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/compact_numeric_policy.yamltasks/plan/heliostat_optimization_targets.cpptasks/deciders/search_decider/open_space_search_decider.cppdata/common/guide_path.cppssep/keb_optimizer/tractor_trailer_continuous_model.hdata/plan/heliostat_connection.hppssep/keb_optimizer/keb_problem.hdata/app/app_data.cpptasks/plan/heliostat_path_solver.cppdata/app/heliostat_target_receiver.cppalgorithm/wbca/path_optimization/car_path_optimization.cppalgorithm/wbca/wbca_manager.cppssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.hreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/full_custom_codec_exclusions.yamlalgorithm/wbca/heliostat_wbca_manager.cppdata/plan/guide_line.cppalgorithm/wbca/path_optimization/path_optimization.hppdata/map/heliostat_environment.hppdata/app/cmd/cmd_set_target.hppdata/boundary/heliostat_driving_corridor.cppdata/ssep/heliostat_open_space_ec.cpptasks/plan/heliostat_path_optimization.hppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppproto/scenario.protoproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/keb_optimizer/rigid_truck_keb_optimizer.ccscenarios/heliostat_task_chain.cppssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccdata/config/heliostat_config.cppdata/app/reaction/app_reaction.cppmath/curve1d/quintic_polynomial_curve1d_rt.cppdata/dp_poly_path/dp_road_graph.cpptasks/plan/heliostat_optimization_validation.cppreplayer/scene_data/generated/plan_frame_member_inputs.jsonalgorithm/wbca/path_optimization/car_path_optimization.hppreplayer/scene_data/heliostat_proto_codec.cppdata/map/heliostat_cleaning_contact.hppssep/keb_optimizer/cost_features/truck_kinematic_constraint.hdata/map/heliostat_mirror_map.cppdata/app/app_data.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan/heliostat_connection.cppreplayer/scene_data/generated/plan_frame_descriptor.pbe39703defa77d505bd6c4a42a7857238b908daec1794289175000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(heliostat): 修复镜场连接规划与换向执行连续性
优化连接搜索及回退，优先保持换向点航向
修正接点验收、几何约束与路径复用
补齐半径准入、拒绝原因回传及对应 Full/Compact 合同
2026-11-10 13:39:35 +0800e39703defa77d505bd6c4a42a7857238b908daecfix(heliostat): 修复镜场连接规划与换向执行连续性edittasks/plan/heliostat_path_reuse.cppeditsink/ros_sink_ads_target_state.cppedittasks/plan/heliostat_optimization_validation.cppeditdata/config/heliostat_config.hppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cppedittasks/plan/heliostat_path_optimization.cppeditreplayer/scene_data/full_custom_codec_exclusions.yamleditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditdata/config/heliostat_config.cppedittasks/plan/heliostat_optimization_targets.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/map/heliostat_environment.cppeditdata/dp_poly_path/dp_road_graph.cppeditdata/ssep/heliostat_open_space_ec.cppeditdata/map/heliostat_mirror_map.cppeditproto/config.protoedittasks/other_tasks/create_reference_line.cppeditssep/scenarios/truck_multi_seg_general_planner.heditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/search_decider/open_space_search_decider.cppeditsource/ros_source_ads_target.cppeditdata/boundary/heliostat_driving_corridor.cppeditdata/app/reaction/app_reaction.cppeditdata/other/heliostat_flow_control.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbedittasks/plan/heliostat_path_optimization.hppeditdata/common/guide_path.hppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdata/app/app_data.cppeditalgorithm/wbca/path_optimization/minco/minco.hppeditalgorithm/wbca/path_optimization/path_optimization.hppeditmath/curve1d/quintic_polynomial_curve1d_rt.cppeditalgorithm/wbca/path_optimization/car_path_optimization.hppeditdata/common/guide_path.cppeditproto/scenario.protoeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/app/cmd/cmd_set_target.hppedittasks/deciders/long_decider/constrain_decider.cppedittasks/plan/heliostat_path_solver.cppeditreplayer/scene_data/heliostat_proto_codec.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/map/heliostat_cleaning_contact.cppeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppeditssep/keb_optimizer/tractor_trailer_continuous_model.heditdata/map/heliostat_mirror_map.hppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/map/heliostat_cleaning_contact.hppedittasks/deciders/long_decider/heliostat_constrain_decider.cppeditssep/keb_optimizer/keb_problem.heditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditscenarios/heliostat_task_chain.cppeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditdata/plan/guide_line.cppeditdata/app/heliostat_target_receiver.cppeditdata/map/heliostat_environment.hppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditdata/plan/heliostat_connection.cppeditalgorithm/wbca/wbca_manager.hppeditdata/app/app_data.hppeditssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.heditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditalgorithm/wbca/wbca_manager.cppeditdata/plan/heliostat_connection.hppeditreplayer/scene_data/full_proto_custom_encoder.cppeditssep/keb_optimizer/keb_problem.cceditreplayer/scene_data/generated/plan_frame_encoder.cppeditalgorithm/wbca/heliostat_wbca_manager.cppeditreplayer/scene_data/compact_numeric_policy.yaml
git- math/util/math_utils.hppnode/process/prepare/prepare_traj.cppab6c1b0b70b2c2c8441e5e0f04b626a53d8269661794289175000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(control): 修正定日镜单车倒车转向方向
2026-11-10 13:39:35 +0800ab6c1b0b70b2c2c8441e5e0f04b626a53d826966fix(control): 修正定日镜单车倒车转向方向editnode/process/prepare/prepare_traj.cppeditmath/util/math_utils.hpp
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2026-11-09 03:03:38 +0000bc9b0f718136a05395a6908683064a53bbea5c78Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
git- data/map/heliostat_mirror_map.hppdata/other/heliostat_flow_control.cppsink/ros_sink_ads_target_state.cppdata/map/heliostat_environment.cppalgorithm/wbca/wbca_manager.hppssep/scenarios/truck_multi_seg_general_planner.hdata/common/guide_path.hpptasks/deciders/long_decider/heliostat_constrain_decider.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/map/heliostat_cleaning_contact.cppssep/keb_optimizer/keb_problem.ccreplayer/scene_data/compact_custom_field_proto_codec.cppdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cpptasks/plan/heliostat_path_optimization.cpptasks/other_tasks/create_reference_line.cppsource/ros_source_ads_target.cppreplayer/scene_data/generated/compact_scene_descriptor.pbalgorithm/wbca/path_optimization/minco/minco.hppdata/config/heliostat_config.hpptasks/plan/heliostat_path_reuse.cpptasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/compact_numeric_policy.yamltasks/plan/heliostat_optimization_targets.cpptasks/deciders/search_decider/open_space_search_decider.cppdata/common/guide_path.cppssep/keb_optimizer/tractor_trailer_continuous_model.hdata/plan/heliostat_connection.hppssep/keb_optimizer/keb_problem.hdata/app/app_data.cpptasks/plan/heliostat_path_solver.cppdata/app/heliostat_target_receiver.cppalgorithm/wbca/path_optimization/car_path_optimization.cppalgorithm/wbca/wbca_manager.cppssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.hreplayer/scene_data/generated/compact_exact_numeric_visitor.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hreplayer/scene_data/full_custom_codec_exclusions.yamlalgorithm/wbca/heliostat_wbca_manager.cppdata/plan/guide_line.cppdata/map/heliostat_environment.hppalgorithm/wbca/path_optimization/path_optimization.hppdata/app/cmd/cmd_set_target.hppdata/boundary/heliostat_driving_corridor.cpptasks/plan/heliostat_path_optimization.hppdata/ssep/heliostat_open_space_ec.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppproto/scenario.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccscenarios/heliostat_task_chain.cppssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccdata/config/heliostat_config.cppdata/app/reaction/app_reaction.cppmath/curve1d/quintic_polynomial_curve1d_rt.cppdata/dp_poly_path/dp_road_graph.cpptasks/plan/heliostat_optimization_validation.cppreplayer/scene_data/generated/plan_frame_member_inputs.jsonalgorithm/wbca/path_optimization/car_path_optimization.hppdata/map/heliostat_cleaning_contact.hppreplayer/scene_data/heliostat_proto_codec.cppssep/keb_optimizer/cost_features/truck_kinematic_constraint.hdata/map/heliostat_mirror_map.cppdata/app/app_data.hppdata/plan/heliostat_connection.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbe39703defa77d505bd6c4a42a7857238b908daec1794289175000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(heliostat): 修复镜场连接规划与换向执行连续性
优化连接搜索及回退，优先保持换向点航向
修正接点验收、几何约束与路径复用
补齐半径准入、拒绝原因回传及对应 Full/Compact 合同
2026-11-10 13:39:35 +0800e39703defa77d505bd6c4a42a7857238b908daecfix(heliostat): 修复镜场连接规划与换向执行连续性editssep/keb_optimizer/keb_problem.heditmath/curve1d/quintic_polynomial_curve1d_rt.cppeditsource/ros_source_ads_target.cppeditssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.heditdata/map/heliostat_mirror_map.hppeditproto/scenario.protoeditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccedittasks/deciders/long_decider/heliostat_constrain_decider.cppeditalgorithm/wbca/wbca_manager.cppeditdata/map/heliostat_mirror_map.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/other/heliostat_flow_control.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/app/app_data.hppeditdata/common/guide_path.hppeditdata/common/guide_path.cppeditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditssep/keb_optimizer/keb_problem.ccedittasks/plan/heliostat_path_optimization.hppeditdata/map/heliostat_environment.hppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/plan/guide_line.cppeditreplayer/scene_data/full_custom_codec_exclusions.yamleditalgorithm/wbca/path_optimization/car_path_optimization.hppeditdata/app/app_data.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbedittasks/plan/heliostat_optimization_targets.cppeditdata/app/reaction/app_reaction.cppeditdata/map/heliostat_cleaning_contact.hppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/heliostat_path_optimization.cppeditsink/ros_sink_ads_target_state.cppedittasks/plan/heliostat_optimization_validation.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditdata/app/cmd/cmd_set_target.hppeditalgorithm/wbca/heliostat_wbca_manager.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditalgorithm/wbca/wbca_manager.hppeditdata/map/heliostat_cleaning_contact.cppeditdata/map/heliostat_environment.cppeditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditscenarios/heliostat_task_chain.cppeditalgorithm/wbca/path_optimization/path_optimization.hppeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/heliostat_path_reuse.cppeditdata/plan/heliostat_connection.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/config/heliostat_config.cppeditdata/boundary/heliostat_driving_corridor.cppeditssep/scenarios/truck_multi_seg_general_planner.hedittasks/plan/heliostat_path_solver.cppeditdata/app/heliostat_target_receiver.cppeditproto/config.protoeditdata/plan/heliostat_connection.hppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/ssep/heliostat_open_space_ec.cppeditssep/keb_optimizer/tractor_trailer_continuous_model.heditdata/config/heliostat_config.hppeditalgorithm/wbca/path_optimization/minco/minco.hppeditreplayer/scene_data/heliostat_proto_codec.cppeditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cpp
git- math/util/math_utils.hppnode/process/prepare/prepare_traj.cppab6c1b0b70b2c2c8441e5e0f04b626a53d8269661794289175000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(control): 修正定日镜单车倒车转向方向
2026-11-10 13:39:35 +0800ab6c1b0b70b2c2c8441e5e0f04b626a53d826966fix(control): 修正定日镜单车倒车转向方向editmath/util/math_utils.hppeditnode/process/prepare/prepare_traj.cpp
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修复远起点任务准入并支持机械臂状态检查开关
- 基于 routing 终点查询镜环圆心，支持从远处下发完整任务
- 贯通机械臂检查开关，关闭且反馈无效时按作业阶段生成规划外廓
- 同步配置协议与回放编解码，旧快照缺失开关时默认开启检查
2026-11-06 17:14:20 +0800cba311fdd3aa333b179544ef1adb4463691de9eefix(heliostat): 修复远起点任务准入并支持机械臂状态检查开关editdata/app/app_data.hppeditdata/decide/heliostat_stop_request.cppeditdata/plan/heliostat_path_validation.cppeditdata/dp_poly_path/heliostat_dp_constraints.cppeditdata/config/heliostat_config.cppeditdata/config/heliostat_config.hppeditsource/ros_source_ads_target.cppeditdata/vehicle/heliostat_envelope.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/boundary/heliostat_driving_corridor.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cppeditdata/app/heliostat_target_receiver.cppeditdata/app/fsm/stop_reason.cppeditdata/boundary/heliostat_reference_constraint.cppeditreplayer/scene_data/heliostat_proto_codec.cppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/app/app_data.cppeditdata/plan/heliostat_connection.cppeditdata/vehicle/vehicle_status.hppeditdata/map/heliostat_mirror_map.hppeditproto/config.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/plan/heliostat_path_solver.cppeditplan/prepare/prepare_state.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/map/heliostat_environment.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/map/heliostat_mirror_map.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/ssep/heliostat_open_space_ec.cppeditdata/ssep/open_space_ec.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppedittasks/deciders/lat_decider/heliostat_path_boundary.cpp
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2026-11-05 20:06:21 -0800d49e7211dcef0edbf843db31fa98675bf7afc5d0修复崩溃堆栈依赖查找editCMakeLists.txt
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2026-11-05 09:06:29 +00005c3d5f664126347cb8746f43eacb83dd1d331b93Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
git- params/zhangjiagang-yonggang-submodule.jenkinsfiled79955438bf77e8916846af8bbef8e533e3155891793869139000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file
2026-11-05 08:58:59 +0000d79955438bf77e8916846af8bbef8e533e315589Add new fileaddparams/zhangjiagang-yonggang-submodule.jenkinsfile
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2026-10-26 13:19:47 +080033f174ee8e49402efb532e81e83663488a21c724feat: add dump 3rshelios 3rsbp calibration configurationaddlidar_manual_calib/config/dump_3rshelios_3rsbp.rvizaddlidar_manual_calib/param/dump_3rshelios_3rsbp/rshelios_left.yamladd"lidar_manual_calib/param/dump_3rshelios_3rsbp/\350\257\264\346\230\216.txt"editlidar_manual_calib/README.mdaddlidar_manual_calib/param/dump_3rshelios_3rsbp/rsbp_left_down.yamladdlidar_manual_calib/param/dump_3rshelios_3rsbp/rsbp_rear_down.yamladdlidar_manual_calib/param/dump_3rshelios_3rsbp/rshelios_top.yamladdlidar_manual_calib/rqt/dump_3rshelios_3rsbp.perspectiveaddlidar_manual_calib/param/dump_3rshelios_3rsbp/rshelios_right.yamladdlidar_manual_calib/launch/dump_3rshelios_3rsbp.launchaddlidar_manual_calib/param/dump_3rshelios_3rsbp/rsbp_right_down.yaml
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兼容 Protobuf 3.9.1 并保留定日镜快照语义
- 将 SSEP、Compact 和定日镜的 117 个 optional 字段改为独立 oneof
- 适配旧版生成代码的公开 presence 接口，保留字段编号和缺失语义
- 同步构建依赖、描述符、数值字段清单及精确迁移指纹
- 补齐配套测试，验证新旧协议双向读写
2026-11-05 16:08:34 +0800e33c06fdb8f746ae8c7204c1609ed2e1f141b438fix(proto): 兼容 Protobuf 3.9.1 并保留定日镜快照语义editTesting/live_compact_version_test.cppeditssep/common/utils/pass_point_proto.heditssep/common/utils/proto_converters.hppeditssep/offboard/path_drawing_tool/CMakeLists.txteditTaskfile.ymleditssep/offboard/CMakeLists.txteditssep/protos/scene.protoeditssep/offboard/ssep_replay_workbench/editor/editor_render_model.cceditssep/test/ssep_path_result_codec_test.cceditssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.cceditssep/protos/diagnostic.protoeditssep/test/ssep_scene_planner_test.cceditssep/data_structures/planner_param.hedittools/pnc_proto_mapper/descriptor_compat.pyeditssep/test/CMakeLists.txteditssep/offboard/ssep_replay_workbench/editor/scene_validator.ccaddtools/pnc_proto_mapper/migrations/ssep_v3_encoding10_protobuf391.jsoneditdata/other/flow_control.cppeditssep/offboard/generate_path_repository/CMakeLists.txteditssep/protos/planning_result.protoeditssep/offboard/ssep_replay_workbench/model/path_visualization.ccedittools/pnc_proto_mapper/test_ssep_encoding10.pyeditproto/pnc_scene/compact_replay_input.protoeditdata/ssep/ssep_ec.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/ssep_request_resources_test.cppeditssep/offboard/servers/CMakeLists.txteditssep/offboard/servers/scene_audit.heditssep/common/utils/path_result_codec.cceditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/test/proto_converters_test.ccedittools/pnc_proto_mapper/test_ssep_scene_v3.pyeditssep/offboard/ssep_replay_workbench/editor/editable_scene_document.cceditreplayer/scene_data/heliostat_proto_codec.cppeditTesting/ssep_path_corridor_test.cppeditTesting/ssep_raw_scene_geometry_test.cppeditssep/offboard/ssep_replay_workbench/model/repository_visualization.ccaddtools/pnc_proto_mapper/test_protobuf_391_compat.pyeditssep/common/utils/scene_preprocessor.cceditssep/data_structures/path_repository_manager.cceditssep/offboard/generate_scene_data/CMakeLists.txteditssep/offboard/ssep_replay_workbench/tests/editor_document_test.cceditssep/protos/map_element.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditssep/test/scene_preprocessor_test.cceditssep/test/ssep_planner_test.ccaddtools/pnc_proto_mapper/testdata/proto3_optional_pre_391_descriptor.pb.gzeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/offboard/servers/scene_editor_server.cceditssep/common/ssep_scene_format.heditTesting/ssep_replay_pipeline_test.cppeditssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.cceditproto/scenario.protoeditssep/data_structures/map_element_polyline.cceditCMakeLists.txteditssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.cceditssep/offboard/ssep_replay_workbench/app/workbench_main.cceditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/offboard/ssep_replay_workbench/tests/worker_session_test.cceditTesting/scene_replay_foundation_test.cppeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/path.protoeditdata/ssep/ssep_activation.cppeditssep/protos/params.protoeditssep/common/utils/path_result_proto_validation.hedithmi/draw/draw_ssep.cppeditreplayer/scene_data/compact_ssep_ec_geometry_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.cceditssep/offboard/ssep_replay_workbench/worker/worker_session.cceditssep/common/utils/scene_frame_visualization.cc
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2026-11-03 09:00:59 +000055370fabfc5c51dbb20cb75daa1bab20138fad5eUpdate orin-cleanup.jenkinsfileeditorin-cleanup.jenkinsfile
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data/app/heliostat_task.hppdata/dp_poly_path/heliostat_dp_constraints.cppalgorithm/wbca/wbca_manager.hppssep/scenarios/truck_multi_seg_general_planner.hplan/prepare/prepare_status.cppdata/decide/heliostat_stop_request.cppdata/decide/decide_reaction.hppdata/boundary/road_boundary.hpptasks/plan/ssep_task.cppdata/vehicle/vehicle_destination.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/heliostat_path_boundary.cppdata/lattice/trajectory_combiner.cpptasks/plan/heliostat_path_optimization.cppdata/boundary/heliostat_road_boundary.cpptasks/plan/heliostat_withdrawal_validation.cppdata/scenario/scenario_planner_bt.cppalgorithm/wbca/path_optimization/minco/minco.hpptasks/plan/heliostat_path_reuse.cpptasks/plan/heliostat_optimization_targets.cppalgorithm/wbca/path_optimization/quiticpolynomial.cpptasks/plan/path_optimization_task.hppdata/other/heliostat.hppscenarios/heliostat_planning_observation.hppdata/app/fsm/task_motion_fsm.cppdata/app/reaction/app_reaction.hppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpptools/wbca_debug/CMakeLists.txthmi/draw/draw_path_boundary.cppdata/boundary/road_boundary.cppdata/plan/heliostat_connection.hppdata/app/heliostat_target_receiver.cppalgorithm/wbca/path_optimization/car_path_optimization.cppalgorithm/wbca/wbca_manager.cppdata/dp_poly_path/trajectory_cost.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/other/flow_control.cppdata/app/fsm/motion_fsm/motion_fsm.cppalgorithm/wbca/path_optimization/path_optimization.hppdata/map/heliostat_environment.hppdata/plan/heliostat_guide_line.cppdata/vehicle/vehicle_destination.hppdata/vehicle/heliostat_destination.cppdata/dp_poly_path/heliostat_dp_constraints.hppdata/ssep/open_space_ec.cppdata/ssep/heliostat_open_space_ec.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/scenario/scenario_planner_bt.hpptasks/plan/path_optimization_task.cppscenarios/heliostat_task_chain.cppdata/other/heliostat.cppscenarios/heliostat_planning_observation.cppdata/app/reaction/app_reaction.cppsource/ros_source_peripheral_operate_states.cppdata/app/fsm/stop_reason.cppdata/dp_poly_path/dp_road_graph.cppscenarios/stage.cppdata/vehicle/heliostat_envelope.cppdata/app/heliostat_execution.hppdata/plan/path_direction_data.cppscenarios/open_space_scenario/open_space_stage.cppdata/map/heliostat_mirror_map.cppdata/plan/heliostat_path_validation.hppdata/plan/heliostat_connection.cppTesting/CMakeLists.txthmi/node_hmi.cppdata/plan/ssep_data.cppdata/other/heliostat_flow_control.cppdata/map/heliostat_environment.cppdata/vehicle/heliostat_arm_status.hpptasks/deciders/long_decider/heliostat_constrain_decider.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/map/pnc_map/routing_extension/routing_data.cppdata/map/heliostat_cleaning_contact.cpptasks/deciders/lat_decider/side_pass_decider.cppsink/ros_sink_trajectory.cppdata/other/flow_control.hppdata/boundary/heliostat_reference_constraint.cppdata/dp_poly_path/trajectory_cost.cppdata/app/cmd/cmd_set_target.cppdata/plan/guide_line.hppalgorithm/wbca/path_optimization/path_optimization.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cppdata/plan/path_data.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/search_decider_lifecycle.cppsource/ros_source_ads_target.cppalgorithm/wbca/occupancy_grid_map/data_render.cpptasks/deciders/long_decider/constrain_decider.cpptasks/deciders/lat_decider/path_after_turn_decider.cpptasks/deciders/search_decider/open_space_search_decider.cppdata/other/heliostat_withdrawal.cppdata/app/heliostat_plan_acceptance.cpptasks/deciders/lat_decider/wbca_path_boundary_decider.cppdata/app/heliostat_execution.cppsink/ros_sink_ctrl_reference.hppdata/plan/heliostat_path_validation.cpptasks/plan/heliostat_path_solver.cppreplayer/scene_data/heliostat_proto_codec.hppplan/pilot/pilot_update.cppdata/vehicle/heliostat_arm_status.cppplan/prepare/prepare_default.cppalgorithm/wbca/heliostat_wbca_manager.cppdata/plan/guide_line.cppdata/app/heliostat_task.cpphmi/draw/draw_path_boundary.hppdata/plan/guide_line_info.hppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.hppdata/boundary/heliostat_driving_corridor.cppdata/vehicle/vehicle_status.hppdata/app/fsm/task_fsm/task_fsm.cpptasks/plan/heliostat_path_optimization.hppdata/common/path.cpptasks/other_tasks/stitch_path_data_to_path.cpptasks/deciders/search_decider/search_decider_lifecycle.hppssep/scenarios/scenario_planner_factory.hdata/boundary/heliostat_reference_constraint.hppsink/ros_sink_ctrl_reference.cppdata/app/heliostat_plan_acceptance.hppplan/prepare/prepare_state.cpptasks/plan/heliostat_optimization_validation.cppalgorithm/wbca/path_optimization/car_path_optimization.hppdata/map/heliostat_cleaning_contact.hppalgorithm/wbca/linear_velocity_generator.cppalgorithm/wbca/occupancy_grid_map/data_render.hppdata/plan_frame.cpp9732a801d76b3598bdc5236abdcc0782473656a91793849646000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(heliostat): 修复任务执行与绕障规划并优化场景计算
- 修复撤离、启动等待、在线接入及终点停车保持
- 按职责拆分定日镜业务并完善边界与展臂碰撞约束
- 修复 WBCA 求解与连接几何，按场景选择参数并减少重复计算
- 同步必要生成清单和构建链接依赖
2026-11-05 11:34:06 +08009732a801d76b3598bdc5236abdcc0782473656a9fix(heliostat): 修复任务执行与绕障规划并优化场景计算editdata/app/heliostat_task.cppedittasks/deciders/search_decider/search_decider_lifecycle.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/search_decider_lifecycle.hppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/plan/guide_line_info.hppeditreplayer/scene_data/heliostat_proto_codec.hppeditdata/vehicle/heliostat_arm_status.hppadddata/other/heliostat_flow_control.cppaddscenarios/heliostat_planning_observation.hppeditdata/boundary/heliostat_driving_corridor.cppedittasks/plan/heliostat_path_optimization.cppadddata/plan/heliostat_connection.cppeditsink/ros_sink_ctrl_reference.hppeditdata/common/path.cppeditdata/vehicle/vehicle_status.hppedithmi/node_hmi.cppeditalgorithm/wbca/wbca_manager.hppeditdata/dp_poly_path/dp_road_graph.cppeditsource/ros_source_peripheral_operate_states.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/app/cmd/cmd_set_target.cppedittasks/deciders/lat_decider/path_after_turn_decider.cppeditalgorithm/wbca/path_optimization/path_optimization.hppeditdata/app/fsm/task_fsm/task_fsm.cppeditdata/app/heliostat_task.hppeditalgorithm/wbca/path_optimization/car_path_optimization.hppaddtasks/plan/heliostat_path_solver.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppeditdata/plan/path_data.cppeditdata/plan/guide_line.hppadddata/plan/heliostat_path_validation.hppadddata/map/heliostat_cleaning_contact.cppeditdata/vehicle/heliostat_arm_status.cppeditdata/app/reaction/app_reaction.cppadddata/dp_poly_path/heliostat_dp_constraints.cppeditdata/dp_poly_path/trajectory_cost.hppeditsource/ros_source_ads_target.cppeditscenarios/stage.cppeditssep/scenarios/truck_multi_seg_general_planner.heditdata/app/fsm/motion_fsm/motion_fsm.cppeditplan/prepare/prepare_state.cppadddata/boundary/heliostat_reference_constraint.hppeditdata/decide/decide_reaction.hppeditdata/plan/path_direction_data.cppedithmi/draw/draw_path_boundary.hppeditalgorithm/wbca/occupancy_grid_map/data_render.hppadddata/decide/heliostat_stop_request.cppeditalgorithm/wbca/path_optimization/path_optimization.cppeditTesting/CMakeLists.txteditplan/prepare/prepare_status.cppedittasks/plan/path_optimization_task.cppeditdata/app/fsm/task_motion_fsm.cppaddtasks/plan/heliostat_optimization_validation.cppeditdata/map/heliostat_mirror_map.cppadddata/boundary/heliostat_reference_constraint.cppeditsink/ros_sink_trajectory.cppadddata/app/heliostat_execution.hppeditdata/plan/ssep_data.cppedittasks/deciders/lat_decider/heliostat_path_boundary.cppeditdata/boundary/road_boundary.cppeditdata/map/heliostat_environment.cppaddtasks/plan/heliostat_path_optimization.hppeditalgorithm/wbca/linear_velocity_generator.cppeditdata/map/heliostat_environment.hppadddata/map/heliostat_cleaning_contact.hppeditdata/plan/guide_line.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppedittasks/plan/path_optimization_task.hppadddata/boundary/heliostat_road_boundary.cppadddata/app/heliostat_execution.cppeditdata/plan_frame.cppeditplan/pilot/pilot_update.cppadddata/plan/heliostat_connection.hppeditdata/vehicle/heliostat_destination.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cppeditdata/dp_poly_path/trajectory_cost.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.hppdeletedata/other/heliostat_withdrawal.cppeditdata/other/flow_control.hppeditdata/vehicle/vehicle_destination.cppeditalgorithm/wbca/wbca_manager.cppeditdata/plan/start_point_data.cppeditplan/prepare/prepare_default.cppedittasks/other_tasks/create_reference_line.cppeditdata/app/reaction/app_reaction.hppadddata/app/heliostat_plan_acceptance.hppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamledittools/wbca_debug/CMakeLists.txtedittasks/plan/ssep_task.cppdeletedata/other/heliostat.cppadddata/plan/heliostat_path_validation.cppdeletedata/other/heliostat.hppaddtasks/plan/heliostat_optimization_targets.cppeditalgorithm/wbca/occupancy_grid_map/data_render.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditdata/ssep/open_space_ec.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/boundary/road_boundary.hppeditdata/scenario/scenario_planner_bt.hppeditdata/app/heliostat_target_receiver.cppedittasks/deciders/long_decider/heliostat_constrain_decider.cppeditdata/app/fsm/stop_reason.cppeditssep/scenarios/scenario_planner_factory.hadddata/plan/heliostat_guide_line.cppaddtasks/plan/heliostat_path_reuse.cppadddata/app/heliostat_plan_acceptance.cppeditdata/lattice/trajectory_combiner.cppedithmi/draw/draw_path_boundary.cppeditdata/vehicle/vehicle_destination.hppeditsink/ros_sink_ctrl_reference.cppeditalgorithm/wbca/heliostat_wbca_manager.cppeditdata/ssep/heliostat_open_space_ec.cppedittasks/deciders/search_decider/open_space_search_decider.cppeditalgorithm/wbca/path_optimization/minco/minco.hppeditalgorithm/wbca/path_optimization/quiticpolynomial.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/deciders/lat_decider/wbca_path_boundary_decider.cppaddscenarios/heliostat_planning_observation.cppeditdata/scenario/scenario_planner_bt.cppadddata/dp_poly_path/heliostat_dp_constraints.hppdeletetasks/plan/heliostat_withdrawal_validation.cppeditscenarios/open_space_scenario/open_space_stage.cppeditscenarios/heliostat_task_chain.cppeditdata/vehicle/heliostat_envelope.cpp
git- algorithm/ctrl/lat_controller/augment_mpc.cppdata/plan/plan_data.cppdata/plan/plan_enum_definition.hpp30619f156c60a5feebfd69dc4d135163ba3bb3b01793849646000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(control): 支持定日镜任务识别与短连接段末端跟踪
2026-11-05 11:34:06 +080030619f156c60a5feebfd69dc4d135163ba3bb3b0fix(control): 支持定日镜任务识别与短连接段末端跟踪editalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.cppeditdata/plan/plan_enum_definition.hpp
git- include/hdmap_interface/public_data_struct.h39024fd74db91d92769b566da76dba1b652be3051793696014000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 定日镜镜子type修改为26
2026-11-03 16:53:34 +080039024fd74db91d92769b566da76dba1b652be305feat_out: 定日镜镜子type修改为26editinclude/hdmap_interface/public_data_struct.h
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Portal「仅重试 post」传 onlyPost=yes 时跳过编译、复用工作区 zip 重传 OTA。
2026-10-28 10:19:00 +0800be37692c70b87cd081ecb3bbecd2a746b2d38daaAdd onlyPost helper and orinRos2Choice onlyPost parameditsrc/org/orin/orinRos2Choice.groovyaddsrc/org/devops/postRetry.groovy
git- orin/orin-build-ros2.jenkinsfile082969a0015f3d4502cff2415c54960882c093a51793003580000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-build-ros2.jenkinsfile
2026-10-26 08:33:00 +0000082969a0015f3d4502cff2415c54960882c093a5Update orin-build-ros2.jenkinsfileeditorin/orin-build-ros2.jenkinsfile
- orin/orin-build-ros2.jenkinsfileweifang-config-container.jenkinsfilef74f07a390fd23edfbc66c75fc9bc28c96e0a7331793153962000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autoSupport onlyPost skip-build zip->post retry for orin-ros2 and weifang-config
Portal「仅重试 post」写入 onlyPost=yes / notes 含仅重试post 时跳过 checkout/build，复用工作区 zip 重传。
2026-10-28 10:19:22 +0800f74f07a390fd23edfbc66c75fc9bc28c96e0a733Support onlyPost skip-build zip->post retry for orin-ros2 and weifang-configeditweifang-config-container.jenkinsfileeditorin/orin-build-ros2.jenkinsfile
- hardware/polaris.jenkinsfile0baa87f715683e77a024c4a95113a8007bd370421793167587000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile
2026-10-28 06:06:27 +00000baa87f715683e77a024c4a95113a8007bd37042Update polaris.jenkinsfileedithardware/polaris.jenkinsfile
- orin-cleanup.jenkinsfiledfb260ae9929137130f9c7a4fcaad2ffda50732e1793178069000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file
2026-10-28 09:01:09 +0000dfb260ae9929137130f9c7a4fcaad2ffda50732eAdd new fileaddorin-cleanup.jenkinsfile
- orin-cleanup.jenkinsfile728295f9021ee87fcc26e506e947c437e21cd4c61793180157000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-cleanup.jenkinsfile
2026-10-28 09:35:57 +0000728295f9021ee87fcc26e506e947c437e21cd4c6Update orin-cleanup.jenkinsfileeditorin-cleanup.jenkinsfile
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- module-ros2-pncreplayer.jenkinsfile842c88e088666d14e171b7ddb6892e9c659f99d61792758512000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2-pncreplayer.jenkinsfile
2026-10-23 12:28:32 +0000842c88e088666d14e171b7ddb6892e9c659f99d6Update module-ros2-pncreplayer.jenkinsfileeditmodule-ros2-pncreplayer.jenkinsfile
- module-ros2-pncreplayer.jenkinsfilebeebc1f5d8cdf82c2bb20ef42b4677dfb3b69d431792986429000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2-pncreplayer.jenkinsfile
2026-10-26 03:47:09 +0000beebc1f5d8cdf82c2bb20ef42b4677dfb3b69d43Update module-ros2-pncreplayer.jenkinsfileeditmodule-ros2-pncreplayer.jenkinsfile
git- align_msgs/msg/TargetCarStatus.msg3606f1d8f20b9800a8a39b7e36bb6f56a02aa9981782443152000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加车型匹配bool字段
2026-06-26 11:05:52 +08003606f1d8f20b9800a8a39b7e36bb6f56a02aa998添加车型匹配bool字段editalign_msgs/msg/TargetCarStatus.msg
- cloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferResult.msgcloud_msgs/msg/RecordTransferCmd.msg081732b3a2bf52031b464edecac6bffbe87d2cf81785409314000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic
2026-07-30 19:01:54 +0800081732b3a2bf52031b464edecac6bffbe87d2cf8feat_out:增加全量上传topiceditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/RecordTransferResult.msgaddcloud_msgs/msg/RecordTransferCmd.msg
- tos_msgs/CMakeLists.txttos_msgs/msg/PncConfiguration.msgtos_msgs/msg/AccessLine.msg9883b8e30f68386d2c45c5d424f7d5c0d859fc231787896471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
2026-08-28 13:54:31 +08009883b8e30f68386d2c45c5d424f7d5c0d859fc23tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/CMakeLists.txtaddtos_msgs/msg/AccessLine.msgedittos_msgs/msg/PncConfiguration.msg
- tos_msgs/msg/AccessLine.msg5ed395184976ac2e53d71877213b95b907e55a891787896498000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard
2026-08-28 13:54:58 +08005ed395184976ac2e53d71877213b95b907e55a89tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msg
- tos_msgs/msg/PncConfiguration.msgtos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msga6cc2eba4e6500eb50f7c134c69130ed5961609d1788166534000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
2026-08-31 16:55:34 +0800a6cc2eba4e6500eb50f7c134c69130ed5961609dtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义addtos_msgs/msg/AccessLine.msgedittos_msgs/msg/PncConfiguration.msgedittos_msgs/CMakeLists.txt
- tos_msgs/msg/AccessLine.msg2d6540ee99dacd1ead24c835cb63c9282bc40ec71788166541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard
2026-08-31 16:55:41 +08002d6540ee99dacd1ead24c835cb63c9282bc40ec7tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msg
- tos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateState.msg961a6d64a8736eaf6ecd094f6274d2bec9fceadb1790434192000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 增加设备/目标类型 17 油缸升降（嘉兴）
东方特钢举升/下降与状态反馈由类型 7（翻斗）改为 17。
2026-09-26 22:49:52 +0800961a6d64a8736eaf6ecd094f6274d2bec9fceadbfeat: 增加设备/目标类型 17 油缸升降（嘉兴）edittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateState.msg
- cloud_msgs/msg/CraneInfo.msg0a86996bd8e8ce67c530651964a740867ad582481791466791000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-08 21:39:51 +08000a86996bd8e8ce67c530651964a740867ad58248feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
- tmp/aha/dconf/user45405ae4f7f78b275cc6e9dd8f36cc2a220f9e371791859124000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:删除tmp
2026-10-13 10:38:44 +080045405ae4f7f78b275cc6e9dd8f36cc2a220f9e37feat_out:删除tmpdeletetmp/aha/dconf/user
- tos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateState.msgperipheral_msgs/msg/PeripheralOperateStates.msgf2db9ca6e50dcfa9b6176395bc96b1f60d894f941792064171000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加定日镜消息
2026-10-15 19:36:11 +0800f2db9ca6e50dcfa9b6176395bc96b1f60d894f94feat_out:增加定日镜消息edittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateStates.msgeditperipheral_msgs/msg/PeripheralOperateState.msg
- peripheral_msgs/package.xmlperipheral_msgs/CMakeLists.txtperipheral_msgs/msg/PeripheralOperateStates.msgad3e734633c8736db7b6aa8494edd34f5a1b80d21792465697000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加错误码数组
2026-10-20 11:08:17 +0800ad3e734633c8736db7b6aa8494edd34f5a1b80d2feat_out:增加错误码数组editperipheral_msgs/msg/PeripheralOperateStates.msgeditperipheral_msgs/package.xmleditperipheral_msgs/CMakeLists.txt
git- src/RMInterpreter/ros_mqtt_bridge.cpp83b36a2806bc6618308da7136111f4128d8694e31789106500000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加消息/localization/init下发
2026-09-11 14:01:40 +080083b36a2806bc6618308da7136111f4128d8694e3feat_out:增加消息/localization/init下发editsrc/RMInterpreter/ros_mqtt_bridge.cpp
git- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longctrl_data.hppbf96652e6ddeb92d404e67071c28025e66cd64fe1765269703000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 弯道起步优化，刹车优化
2025-12-09 16:41:43 +0800bf96652e6ddeb92d404e67071c28025e66cd64fefix: 弯道起步优化，刹车优化editalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- algorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp9cdc4fa6de4adf4b5154b965dafa1be4b6df91721788915814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：横向控制器使用的速度不低于1m/s
2026-09-09 09:03:34 +08009cdc4fa6de4adf4b5154b965dafa1be4b6df9172feat：横向控制器使用的速度不低于1m/seditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cpp
- math/identification/vehicle_mass_estimator.hppnode/process/prepare/prepare_attr.cppdata/config/cfg_mass_estimation.cppmath/identification/vehicle_mass_estimator.cpptest/CMakeLists.txtdata/config/cfg_mass_estimation.hpptest/vehicle_mass_estimator_test.cppcdde01e8e3aff7d4803ce1bba676768e50bdb0041789695681000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 质量估计弱激励响应处理
2026-09-18 09:41:21 +0800cdde01e8e3aff7d4803ce1bba676768e50bdb004feat: 质量估计弱激励响应处理editmath/identification/vehicle_mass_estimator.hppeditdata/config/cfg_mass_estimation.cppedittest/CMakeLists.txteditnode/process/prepare/prepare_attr.cppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_mass_estimation.hppaddtest/vehicle_mass_estimator_test.cpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.cppdata/lon_dynamics_csv_logger.hpp15c6c71fe0d140a1ad7a5d357824184417f910801789703468000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加观测量
2026-09-18 11:51:08 +080015c6c71fe0d140a1ad7a5d357824184417f91080feat: 增加观测量editdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cpp82f68ceb272468329c17854a44837c820da672941789988972000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参考速度为0时要BRAKE
2026-09-21 19:09:32 +080082f68ceb272468329c17854a44837c820da67294feat: 参考速度为0时要BRAKEeditalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- algorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppa7e1dffcbd66d0c7191929dedb4751fd6118fad51790674414000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): reset trailer estimators on errors above 30 degrees
2026-09-29 17:33:34 +0800a7e1dffcbd66d0c7191929dedb4751fd6118fad5fix(control): reset trailer estimators on errors above 30 degreeseditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditalgorithm/ctrl/observer/trailer_angle_smith_predictor.cpp
- test/mpc_error_status_test.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/plan/plan_data.cppdata/plan/plan_data.hpptest/CMakeLists.txt484ea8e4d0e3304a86da8b7a8bee684c9b82c5db1790742949000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: enable MPC deviation checks for lock-station region status
2026-09-30 12:35:49 +0800484ea8e4d0e3304a86da8b7a8bee684c9b82c5dbfeat: enable MPC deviation checks for lock-station region statuseditdata/plan/plan_enum_definition.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddtest/mpc_error_status_test.cppeditdata/plan/plan_data.cppedittest/CMakeLists.txt
- data/ctrl_frame.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_active_set_solver.cppdata/ctrl/lateral_ctrl_debug_data.cppa896084a9b5c43cb85071fa0933fb996793cfe531791521209000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: csv增加记录横向mpc的原始输出
2026-10-09 12:46:49 +0800a896084a9b5c43cb85071fa0933fb996793cfe53feat: csv增加记录横向mpc的原始输出editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_active_set_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditdata/ctrl/lateral_ctrl_debug_data.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cpp
- data/config/cfg_mpc_qp.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_mpc_qp.hpp9fc27e542796ba6e8bb00ea76d0874f8d160c6c21791896403000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoMake reversing MPC reference speed floor configurable
2026-10-13 21:00:03 +08009fc27e542796ba6e8bb00ea76d0874f8d160c6c2Make reversing MPC reference speed floor configurableeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_mpc_qp.cppeditdata/config/cfg_mpc_qp.hpp
- test/mpc_error_status_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp4b83e84b746c50126b03b772ce1600cdc1994ffc1791947306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoDisable straight-lane deviation rejection for reversing truck MPC
2026-10-14 11:08:26 +08004b83e84b746c50126b03b772ce1600cdc1994ffcDisable straight-lane deviation rejection for reversing truck MPCedittest/mpc_error_status_test.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
- algorithm/ctrl/lat_controller/augment_mpc.cppb4ea6fa09b224e773dcfc467e97eb628c94571961792487885000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update the mpc_straight_lane_deviation condition
2026-10-20 17:18:05 +0800b4ea6fa09b224e773dcfc467e97eb628c9457196fix: update the mpc_straight_lane_deviation conditioneditalgorithm/ctrl/lat_controller/augment_mpc.cpp
- common/log/crash_handler.cpptest/crash_handler_probe.cppcommon/log/crash_handler.hppdocs/crash_capture.mdcommon/CMakeLists.txtnode/main.cppCMakeLists.txttest/CMakeLists.txttest/run_crash_capture_test.pyscripts/export_crash_symbols.py4bb128edc0c422dda621201847540efb597d6d6b1792500402000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: crash工具
2026-10-20 20:46:42 +08004bb128edc0c422dda621201847540efb597d6d6bfeat: crash工具editCMakeLists.txteditnode/main.cppeditcommon/CMakeLists.txtaddcommon/log/crash_handler.hppadddocs/crash_capture.mdaddtest/run_crash_capture_test.pyedittest/CMakeLists.txtaddtest/crash_handler_probe.cppaddcommon/log/crash_handler.cppaddscripts/export_crash_symbols.py
- algorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppnode/process/prepare/prepare_attr.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_error.hpp74f3b8e6e2b47d25d03482a3035f3a4a43f1c9181792743677000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化防滑基准油门并增加异常阻力停车告警
2026-10-23 16:21:17 +080074f3b8e6e2b47d25d03482a3035f3a4a43f1c918feat: 优化防滑基准油门并增加异常阻力停车告警editdata/config/cfg_error.cppedittest/accel_to_pedal_converter_test.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditnode/sink/ros_sink_record_trigger.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_error.hppeditdata/config/cfg_proc_longctrl.hppeditcommon/util/error_code_data.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_attr.hppeditcommon/util/error_code_data.cppeditmath/identification/vehicle_mass_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cpp
git- routing/strategy/a_star_strategy.cc931556249d5cc77c2eb839b60ec9e48c8a71977a1789552319000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: s弯也当成右转处理
2026-09-16 17:51:59 +0800931556249d5cc77c2eb839b60ec9e48c8a71977afeat_out: s弯也当成右转处理editrouting/strategy/a_star_strategy.cc
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2026-10-10 07:52:51 +00008b7e2f95cb37e60a28d093aa85013674a61607f1Update repoinfoRos2.groovyeditsrc/org/orin/repoinfoRos2.groovy
- src/org/orin/orinRos2Choice.groovy83c7888b62a3d211aaa04c5de5dc85e20d671cb11791618831000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2Choice.groovy
2026-10-10 07:53:51 +000083c7888b62a3d211aaa04c5de5dc85e20d671cb1Update orinRos2Choice.groovyeditsrc/org/orin/orinRos2Choice.groovy
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2026-10-10 07:54:26 +0000d16591b9f16df612261e558ec322337c54378788Update orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovy
- src/org/devops/vehicleInfo.groovy9e8b1ada2d4312e1fd4ac07ddb1f27a03d1ef1d31791889078000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy
2026-10-13 10:57:58 +00009e8b1ada2d4312e1fd4ac07ddb1f27a03d1ef1d3Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
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2026-10-14 11:17:24 +00006ec4c73f16769d31c660c5020d0f9d715ab0b1b7Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
git- params/yantai-gunzhuang-submodule.jenkinsfilefed3c34683fe62747977ee93d8c1b1c55f2fce181791889016000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yantai-gunzhuang-submodule.jenkinsfile
2026-10-13 10:56:56 +0000fed3c34683fe62747977ee93d8c1b1c55f2fce18Update yantai-gunzhuang-submodule.jenkinsfileeditparams/yantai-gunzhuang-submodule.jenkinsfile
- python-scripts.jenkinsfile1437c1ddbc36ae53b976183a9a8d0ee9fb5cd70f1791889439000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile
2026-10-13 11:03:59 +00001437c1ddbc36ae53b976183a9a8d0ee9fb5cd70fUpdate python-scripts.jenkinsfileeditpython-scripts.jenkinsfile
- params/yantai-gunzhuang-submodule.jenkinsfile4202040955aa5e4974abbb7b5f5b4dd5a0b7a9eb1791976542000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yantai-gunzhuang-submodule.jenkinsfile
2026-10-14 11:15:42 +00004202040955aa5e4974abbb7b5f5b4dd5a0b7a9ebUpdate yantai-gunzhuang-submodule.jenkinsfileeditparams/yantai-gunzhuang-submodule.jenkinsfile
- module-ros2.jenkinsfileacac218eaabc3be514fc740bc55d76eb81b11fbb1791977448000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-10-14 11:30:48 +0000acac218eaabc3be514fc740bc55d76eb81b11fbbUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
git- tos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateState.msg2f6af7ef91754d052dc194b765487f18c7fd84621790236846000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 增加设备/目标类型 17 油缸升降（嘉兴）
东方特钢举升/下降与状态反馈由类型 7（翻斗）改为 17。
2026-09-24 16:00:46 +08002f6af7ef91754d052dc194b765487f18c7fd8462feat: 增加设备/目标类型 17 油缸升降（嘉兴）edittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateState.msg
- peripheral_msgs/msg/PeripheralOperateStates.msg7f4b8f4561ac47d3e3c3ca87346955ff5c8b2ad11790238758000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat(peripheral_msgs): add PD_TYPE_7 for tipper feedback
Merge PD_TYPE_7=7 (翻斗反馈) into rc_dev_jiaxingdongfangtegang so
xugong operate_status can build against this msgs branch.
2026-09-24 16:32:38 +08007f4b8f4561ac47d3e3c3ca87346955ff5c8b2ad1feat(peripheral_msgs): add PD_TYPE_7 for tipper feedbackeditperipheral_msgs/msg/PeripheralOperateStates.msg
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Xugong tipper feedback reuses PD_TYPE_3; no need for PD_TYPE_7 here.
2026-09-24 16:34:24 +0800eb7174c7617f4250b0c9e32690d5bc175616e585revert(peripheral_msgs): drop PD_TYPE_7 on Jiaxing brancheditperipheral_msgs/msg/PeripheralOperateStates.msg
- cloud_msgs/msg/CraneInfo.msgf81898909167f9f8c7dee4f7367c611c2268d1381792121529000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-16 11:32:09 +0800f81898909167f9f8c7dee4f7367c611c2268d138feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
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2026-09-14 07:00:29 +000048eba45519ea7e0326636725382be6d63d75cd3aUpdate orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
- src/org/orin/orin32Choice.groovy531ad57fecb9ef544174761319409d5c3c8af6a01789369288000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin32Choice.groovy
2026-09-14 07:01:28 +0000531ad57fecb9ef544174761319409d5c3c8af6a0Update orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovy
- src/org/orin/orin64Choice.groovy613d1d81771608d50474508cd622effce43c1a851789369316000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin64Choice.groovy
2026-09-14 07:01:56 +0000613d1d81771608d50474508cd622effce43c1a85Update orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovy
- src/org/orin/orinModule32Choice.groovyb064c4f670202affeb61a8991a21b532054728f11789369346000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule32Choice.groovy
2026-09-14 07:02:26 +0000b064c4f670202affeb61a8991a21b532054728f1Update orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovy
- src/org/orin/orinModule64Choice.groovya7d6b7923e29be843b014a98f3f902edd1ae8ffd1789369367000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule64Choice.groovy
2026-09-14 07:02:47 +0000a7d6b7923e29be843b014a98f3f902edd1ae8ffdUpdate orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovy
- src/org/orin/orin32Choice.groovyffedc2b307b92e8e8ffcbdecdc53ba37f8ff52551789371189000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin32Choice.groovy
2026-09-14 07:33:09 +0000ffedc2b307b92e8e8ffcbdecdc53ba37f8ff5255Update orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovy
- src/org/orin/orin64Choice.groovy2fda69754243513563a0f55aacdcd2659b16bcc71789371241000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin64Choice.groovy
2026-09-14 07:34:01 +00002fda69754243513563a0f55aacdcd2659b16bcc7Update orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovy
- src/org/orin/orinModule32Choice.groovyf09b5f2b5ddb902173eae811db638c3c9275f5c91789371259000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule32Choice.groovy
2026-09-14 07:34:19 +0000f09b5f2b5ddb902173eae811db638c3c9275f5c9Update orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovy
- src/org/orin/orinModule64Choice.groovyb49f59235345c771b17cc7d5a37dbdec2d22fdfc1789371270000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule64Choice.groovy
2026-09-14 07:34:30 +0000b49f59235345c771b17cc7d5a37dbdec2d22fdfcUpdate orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovy
- src/org/devops/vehicleInfo.groovyd4dd3a924d94505235fcef2d80ed2cc7f982a6871789896188000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy
2026-09-20 09:23:08 +0000d4dd3a924d94505235fcef2d80ed2cc7f982a687Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
- src/org/devops/gitlab.groovy8cdeb70fa303ec98780e7003bc7df29c6afa71571790155070000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate gitlab.groovy
2026-09-23 09:17:50 +00008cdeb70fa303ec98780e7003bc7df29c6afa7157Update gitlab.groovyeditsrc/org/devops/gitlab.groovy
- src/org/orin/repoinfoRos2.groovy299f4a1da14488e245511feafa2e9e7fe6b4d39c1790216116000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate repoinfoRos2.groovy
2026-09-24 02:15:16 +0000299f4a1da14488e245511feafa2e9e7fe6b4d39cUpdate repoinfoRos2.groovyeditsrc/org/orin/repoinfoRos2.groovy
- src/org/orin/orinRos2Choice.groovy7c8ef19b25de560705ce7ade95fdb663757f84861790216187000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2Choice.groovy
2026-09-24 02:16:27 +00007c8ef19b25de560705ce7ade95fdb663757f8486Update orinRos2Choice.groovyeditsrc/org/orin/orinRos2Choice.groovy
- src/org/orin/orinRos2ModuleChoice.groovyf09c021a81971db2896460d64812c58df83cfd1d1790216246000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2ModuleChoice.groovy
2026-09-24 02:17:26 +0000f09c021a81971db2896460d64812c58df83cfd1dUpdate orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovy
- src/org/orin/orinBuild.groovy1ac25fc70c733a4f875503e4020e050ee11ae2861790577794000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinBuild.groovy
2026-09-28 06:43:14 +00001ac25fc70c733a4f875503e4020e050ee11ae286Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
- src/org/orin/orinBuild.groovya2450de5463404adb431da22040e1268ca55f3421790578841000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinBuild.groovy
2026-09-28 07:00:41 +0000a2450de5463404adb431da22040e1268ca55f342Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
- src/org/orin/orinBuild.groovy318bb29b0e2e2657aa5a1e34351af984256196661790648429000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinBuild.groovy
2026-09-29 02:20:29 +0000318bb29b0e2e2657aa5a1e34351af98425619666Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
- src/org/orin/orinBuild.groovyfdec94c27b315bbf30b3ceaaca6996a6b994bd241790650223000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinBuild.groovy
2026-09-29 02:50:23 +0000fdec94c27b315bbf30b3ceaaca6996a6b994bd24Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
- src/org/orin/orinBuild.groovyace93c5f054bd4cdb84fc3599b1d2404865d29231790650516000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinBuild.groovy
2026-09-29 02:55:16 +0000ace93c5f054bd4cdb84fc3599b1d2404865d2923Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
- src/org/orin/orinBuild.groovyad388410157fa83ebf64ed28b030927f2518ea821790651157000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinBuild.groovy
2026-09-29 03:05:57 +0000ad388410157fa83ebf64ed28b030927f2518ea82Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
git- params/weifang-container-submodule.jenkinsfile466d56c7b8c8b0688b99c852e61782b8467414a91789369123000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate weifang-container-submodule.jenkinsfile
2026-09-14 06:58:43 +0000466d56c7b8c8b0688b99c852e61782b8467414a9Update weifang-container-submodule.jenkinsfileeditparams/weifang-container-submodule.jenkinsfile
- hdmap/hdmap-cloud.jenkinsfile5f43e2b2a83c70c16452947285d9ee572643527f1789369407000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hdmap-cloud.jenkinsfile
2026-09-14 07:03:27 +00005f43e2b2a83c70c16452947285d9ee572643527fUpdate hdmap-cloud.jenkinsfileedithdmap/hdmap-cloud.jenkinsfile
- hardware/mizar.jenkinsfile46210422334c3d9d732b99c955b65d7f7359cda91789369471000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile
2026-09-14 07:04:31 +000046210422334c3d9d732b99c955b65d7f7359cda9Update mizar.jenkinsfileedithardware/mizar.jenkinsfile
- hardware/polaris.jenkinsfile17672c76ec46ff530f2fefae8ba5b8a336deefca1789369494000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile
2026-09-14 07:04:54 +000017672c76ec46ff530f2fefae8ba5b8a336deefcaUpdate polaris.jenkinsfileedithardware/polaris.jenkinsfile
- hardware/tc397_ota.jenkinsfile1ee6a9e9a4d70e4a359694ced3ca12052d79bfab1789369521000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile
2026-09-14 07:05:21 +00001ee6a9e9a4d70e4a359694ced3ca12052d79bfabUpdate tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfile
- hdmap/map-png.jenkinsfileea0a0b77e818ff2b53049bcce5a0a984c0cb7f551789558366000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile
2026-09-16 11:32:46 +0000ea0a0b77e818ff2b53049bcce5a0a984c0cb7f55Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
- params/weifang-container-submodule.jenkinsfile6381cfbaca31fc7204f0794624cf55007466aa7c1789624999000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate weifang-container-submodule.jenkinsfile
2026-09-17 06:03:19 +00006381cfbaca31fc7204f0794624cf55007466aa7cUpdate weifang-container-submodule.jenkinsfileeditparams/weifang-container-submodule.jenkinsfile
- params/weifang-container-submodule.jenkinsfile91fddd46a29d99aae885e58d65bb4d961812c28d1789702201000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate weifang-container-submodule.jenkinsfile
2026-09-18 03:30:01 +000091fddd46a29d99aae885e58d65bb4d961812c28dUpdate weifang-container-submodule.jenkinsfileeditparams/weifang-container-submodule.jenkinsfile
- params/hainan-yangpu-submodule.jenkinsfilede2d8324abffc45252e0ae0b843f47b66b44be781789895948000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-09-20 09:19:08 +0000de2d8324abffc45252e0ae0b843f47b66b44be78Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
- params/hainan-yangpu-submodule.jenkinsfile627c09e458776a1b23504161b6f770f41d07a1ff1789956537000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-09-21 02:08:57 +0000627c09e458776a1b23504161b6f770f41d07a1ffUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
- module-ros2.jenkinsfile34d00e1014a05557efcbb53b727a3aa139076db11790154630000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-23 09:10:30 +000034d00e1014a05557efcbb53b727a3aa139076db1Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfile71f1726cb54cfd84d079881a60b60319b35534641790156736000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-23 09:45:36 +000071f1726cb54cfd84d079881a60b60319b3553464Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- orin/orin-ros1-cross.jenkinsfile263ab0f4178f76b308cabe4f5f6a126e442c83f01790230955000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file
2026-09-24 06:22:35 +0000263ab0f4178f76b308cabe4f5f6a126e442c83f0Add new fileaddorin/orin-ros1-cross.jenkinsfile
- orin/orin-ros1-cross.jenkinsfile27aca61a22cf3891ae6758351145d6fbdc9d57ae1790245718000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-ros1-cross.jenkinsfile
2026-09-24 10:28:38 +000027aca61a22cf3891ae6758351145d6fbdc9d57aeUpdate orin-ros1-cross.jenkinsfileeditorin/orin-ros1-cross.jenkinsfile
- orin/orin-ros1-cross.jenkinsfile392cab94ba74e0eb095fadaae7790ddecff778381790246643000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-ros1-cross.jenkinsfile
2026-09-24 10:44:03 +0000392cab94ba74e0eb095fadaae7790ddecff77838Update orin-ros1-cross.jenkinsfileeditorin/orin-ros1-cross.jenkinsfile
- orin/orin-ros1-cross.jenkinsfileab0addfebacb1fd256702aba6b15722f9c4f43501790246967000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-ros1-cross.jenkinsfile
2026-09-24 10:49:27 +0000ab0addfebacb1fd256702aba6b15722f9c4f4350Update orin-ros1-cross.jenkinsfileeditorin/orin-ros1-cross.jenkinsfile
- orin/orin-ros1-cross.jenkinsfile6d72a2e4dfe7ff8bcccf97ac251c83ee8dfe75191790247100000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-ros1-cross.jenkinsfile
2026-09-24 10:51:40 +00006d72a2e4dfe7ff8bcccf97ac251c83ee8dfe7519Update orin-ros1-cross.jenkinsfileeditorin/orin-ros1-cross.jenkinsfile
- module-ros2.jenkinsfile1c3baaa120296d1ebb025662a4341bed1270806b1790580199000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 07:23:19 +00001c3baaa120296d1ebb025662a4341bed1270806bUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfile10c391a1b686e5b2ada1dbf43f1453acba0113ac1790580232000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 07:23:52 +000010c391a1b686e5b2ada1dbf43f1453acba0113acUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfilef1a40abe825d795c13de58ea3192a7131f1251091790581382000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 07:43:02 +0000f1a40abe825d795c13de58ea3192a7131f125109Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfile33a01a8377ea3e184ee49aadc4b6880f5d9c10ee1790581661000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 07:47:41 +000033a01a8377ea3e184ee49aadc4b6880f5d9c10eeUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfileee0e39d1ec5209db872bf5d1da1ed8403fe9e6671790581688000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 07:48:08 +0000ee0e39d1ec5209db872bf5d1da1ed8403fe9e667Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfilea8307dc7c0c05d8222191dffd96bed99f7c6a88f1790583426000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 08:17:06 +0000a8307dc7c0c05d8222191dffd96bed99f7c6a88fUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfile24f9c3d3844facdc7af96e1893122383611c270d1790584275000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-28 08:31:15 +000024f9c3d3844facdc7af96e1893122383611c270dUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
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2026-09-08 10:10:28 +000079f807f1729ec623e6c3397d78b35fef7f82839eUpdate orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovy
- src/org/orin/orin64Choice.groovy736807efa0e68889d2794a13f08b7d8f9340c38b1788862245000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin64Choice.groovy
2026-09-08 10:10:45 +0000736807efa0e68889d2794a13f08b7d8f9340c38bUpdate orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovy
- src/org/orin/orinModule32Choice.groovy3ed4a87e0aeef37d0f59c7770937ffdfa558f07a1788862266000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule32Choice.groovy
2026-09-08 10:11:06 +00003ed4a87e0aeef37d0f59c7770937ffdfa558f07aUpdate orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovy
- src/org/orin/orinModule64Choice.groovy937a5638177939dca6f8e9427239d3bd1cbb542a1788862286000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule64Choice.groovy
2026-09-08 10:11:26 +0000937a5638177939dca6f8e9427239d3bd1cbb542aUpdate orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovy
- src/org/orin/repoinfo.groovyc22c06915dac6b1faed0975019b355262a9b5dd21788923442000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate repoinfo.groovy
2026-09-09 03:10:42 +0000c22c06915dac6b1faed0975019b355262a9b5dd2Update repoinfo.groovyeditsrc/org/orin/repoinfo.groovy
- src/org/orin/orin32Choice.groovya0a85cd03b4a1da275b54c834652131274bf5a461788923940000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin32Choice.groovy
2026-09-09 03:19:00 +0000a0a85cd03b4a1da275b54c834652131274bf5a46Update orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovy
- src/org/orin/orin64Choice.groovy28bec222825c09c18be946936ffea179d9e44af11788924029000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin64Choice.groovy
2026-09-09 03:20:29 +000028bec222825c09c18be946936ffea179d9e44af1Update orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovy
- src/org/orin/orinModule32Choice.groovy087d6b9919fc0132969bf7d8c7d337421257ce0d1788924324000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule32Choice.groovy
2026-09-09 03:25:24 +0000087d6b9919fc0132969bf7d8c7d337421257ce0dUpdate orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovy
- src/org/orin/orinModule64Choice.groovy2395f677689651ff08c5d92fb481fa8d477f94eb1788924380000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule64Choice.groovy
2026-09-09 03:26:20 +00002395f677689651ff08c5d92fb481fa8d477f94ebUpdate orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovy
- src/org/orin/repoinfoRos2.groovy54e28952f71b9d1ad5306ba1313dd21644c99e2b1788925106000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate repoinfoRos2.groovy
2026-09-09 03:38:26 +000054e28952f71b9d1ad5306ba1313dd21644c99e2bUpdate repoinfoRos2.groovyeditsrc/org/orin/repoinfoRos2.groovy
- src/org/orin/orinRos2Choice.groovy516a3fa1c8ae11dafc3f32b5af0122208d8434951788925229000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2Choice.groovy
2026-09-09 03:40:29 +0000516a3fa1c8ae11dafc3f32b5af0122208d843495Update orinRos2Choice.groovyeditsrc/org/orin/orinRos2Choice.groovy
- src/org/orin/orinRos2ModuleChoice.groovy11ed2ee5a9d2c55a8850aee967e71310836e93e61788925310000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2ModuleChoice.groovy
2026-09-09 03:41:50 +000011ed2ee5a9d2c55a8850aee967e71310836e93e6Update orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovy
git- params/hangzhou-xiasha-submodule.jenkinsfile3ae46184796885dc985c98d396d5c27427e778291788850214000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile
2026-09-08 06:50:14 +00003ae46184796885dc985c98d396d5c27427e77829Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfile
- params/wuhan-zhongtielianji-submodule.jenkinsfile4a980212c5e7e8095bbc978b5574ca1c04e646fa1788860246000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate wuhan-zhongtielianji-submodule.jenkinsfile
2026-09-08 09:37:26 +00004a980212c5e7e8095bbc978b5574ca1c04e646faUpdate wuhan-zhongtielianji-submodule.jenkinsfileeditparams/wuhan-zhongtielianji-submodule.jenkinsfile
- hdmap/map-png.jenkinsfile7d37fd5915161361d9049489ef033b71804ce4ea1788860834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile
2026-09-08 09:47:14 +00007d37fd5915161361d9049489ef033b71804ce4eaUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfile
- hardware/mizar.jenkinsfile6379485af18b5e6d37f19ae9bd2c486b7ff9380d1788860911000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile
2026-09-08 09:48:31 +00006379485af18b5e6d37f19ae9bd2c486b7ff9380dUpdate mizar.jenkinsfileedithardware/mizar.jenkinsfile
- hardware/polaris.jenkinsfile1565c36c0fa4de7378b90cf8fa740b358bf159251788860963000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile
2026-09-08 09:49:23 +00001565c36c0fa4de7378b90cf8fa740b358bf15925Update polaris.jenkinsfileedithardware/polaris.jenkinsfile
- hardware/tc397_ota.jenkinsfile3c9b36765621d8186ebaf18d8d8bb55ba60c20401788861010000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile
2026-09-08 09:50:10 +00003c9b36765621d8186ebaf18d8d8bb55ba60c2040Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfile
- python-scripts.jenkinsfilec8c69fad6896c13f224d614fd4526cc9e1bf92b11788861087000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile
2026-09-08 09:51:27 +0000c8c69fad6896c13f224d614fd4526cc9e1bf92b1Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfile
- system-libraries.jenkinsfile1d793807e734fe12a0d901d14b202aa94570a3a21788861197000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile
2026-09-08 09:53:17 +00001d793807e734fe12a0d901d14b202aa94570a3a2Update system-libraries.jenkinsfileeditsystem-libraries.jenkinsfile
git- data/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题
2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cpp
- sink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cpp
- data/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0
2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cpp
- data/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑
2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cpp
- CMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑
2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txt
- data/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params
2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/wbca/wbca_data.hpp
- data/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug
2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cpp
- data/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer.
2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cpp
- data/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD
2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/ssep/forward_ec.cppedit.gitignoreeditCMakeLists.txteditdata/decide/decide_reaction.hppedittasks/deciders/search_decider/forward_search_decider.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck.
2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cpp
- data/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params.
2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cpp
- data/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue.
2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cpp
- plan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue.
2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse.
2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hpp
- data/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection
2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cpp
- data/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching.
2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.edittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hppeditdata/plan/start_point_data.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/vehicle/vehicle_state.cpp
- tasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status.
2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cpp
- data/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug.
2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cpp
- data/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos
2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cpp
- data/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑
2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cpp
- ssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题
2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.h
- ssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑
2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.cc
- ssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。
2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.cc
- data/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing
2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cpp
- data/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation.
2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cpp
- plan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times.
2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cpp
- ssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离
2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- plan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug
2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cpp
- ssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task
2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.h
- ssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug
2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.cc
- plan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0
2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cpp
- thirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version.
2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hpp
- data/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer.
2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep
2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/scene.protoaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoeditssep/CMakeLists.txteditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.h
- ssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/protos/ogm.protossep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task
2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm.cceditssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.haddssep/protos/ogm.protoeditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/data_structures/path_utils.h
- data/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppsource/ros_source_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2
2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editsource/ros_source_offset.cppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cpp
- data/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus
2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/config/cfg_env_const.cppadddata/vehicle/deviation_status.cppeditdata/plan_frame.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/plan_frame.hpp
- data/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan.
2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hpp
- data/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align
2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cpp
- data/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align.
2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/vehicle/related_offset.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditdata/decide/decide_reaction.cppedithmi/draw/draw_ego.cppeditdata/ssep/forward_ec.cpp
- data/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading
2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times
2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hpp
- data/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset
2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cpp
- data/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn
2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cpp
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率
2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- data/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error.
2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cpp
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率
2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.cc
- ssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题
2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.cc
- data/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance
2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cpp
- ssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题
2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
- ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
- ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题
2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.h
- plan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station
2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hpp
- data/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception.
2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.editdata/vehicle/vehicle_state.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.hpp
- data/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align
2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cpp
- ssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep
2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/truck_general_planner.heditssep/maps/ogm.heditssep/protos/ogm.protoeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/scenarios/tractor_trailer_short_distance_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/data_structures/path.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/protos/ssep_scenario_type.protoeditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/params.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/ssep_planner.heditssep/data_structures/path.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/scene_frame_visualization.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dynamic_constraint.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/param_loader/param.h
- data/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer
2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_traileredittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hpp
- data/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug
2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cpp
- scenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state.
2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位
2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- hmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时
2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.hppedithmi/widget/brake_chart.cppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/widget/perf_cost_detail.cpp
- data/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type
2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题
2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2
2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/protos/ssep_scenario_type.protoeditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cpp
- data/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题
2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率
2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug
2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cpp
- ssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep
2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/maps/ogm.haddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/maps/ogm_builder.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/polyline.cc
- data/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance
2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cpp
- tasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug
2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cpp
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹
2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束
2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑
2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error
2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- math/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型
2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpp
- tasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态
- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_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/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks
任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/stage.hppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cpp
- data/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索
ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cpp
- data/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger
2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hpp
- data/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation
2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpp
- tasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position.
2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限
2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line
2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cpp
- plan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state
2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cpp
- data/config/cfg_func_sw.hpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening
2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/indexed_priority_queue.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍
2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/dubins_kernel.cuhaddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/gpu/collision/collision_checker.cuheditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题
2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数
2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search
2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cpp
- data/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/plan/reversing_truck_path_task.cpptasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory
2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/plan/reversing_truck_path_task.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/other/flow_control.cppedittasks/deciders/long_decider/constrain_decider.cpp
- data/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束
2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cpp
- data/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放
在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。
2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.cppeditdata/constrain/constrain_data.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/plan_frame.hppeditdata/constrain/constrain_data.hppeditdata/config/cfg_long_plan.hppeditdata/constrain/long_target.cpp
- Testing/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景
增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。
2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpp
- hmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断
在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。
2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cpp
- ssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建
适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。
2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.cc
- ssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial.
2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/search-engines.html
- data/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定
指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。
新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。
2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hpp
- data/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束
WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。
2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cpp
- ssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器
2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器addssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
- plan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层
HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。
规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。
2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cppedithmi/common/pnc_graphics_view.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppedithmi/common/drag_image.hppedithmi/widget/pnc_mat.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/forward_ec.cppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cpp
- common/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示
为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。
2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpp
- hmi/widget/map.hpphmi/widget/map.cpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度
HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。
2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.hppedithmi/widget/map.cpp
- ssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定
使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。
2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cceditssep/test/CMakeLists.txt
- ssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial
2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.html
- data/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定
指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。
新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。
2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppeditdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cpp
- data/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束
WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。
2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cpp
- plan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层
HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。
规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。
2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppedithmi/widget/pnc_mat_shared.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_hmi_virtual_obs.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cpp
- Testing/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出
重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。
2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditTesting/ssep_path_corridor_test.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
- scenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别
以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。
2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cpp
- scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段
移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。
2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断
新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。
补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。
2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断edithmi/widget/diagnose.cppeditdata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.hppeditdata/config/cfg_hmi.cppeditscenarios/scenario.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.hppedithmi/widget/pnc_mat_shared.cppaddhmi/draw/draw_keb_debug.hppedithmi/draw/draw_all.cppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditdata/plan_frame.cppedittasks/plan/keb_utils.hpp
- tasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值
2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cpp
- data/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应
取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。
让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。
2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/config/cfg_lat_decide.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditconfig/config_imv/plan.yamladddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/trajectory_cost.cppeditCMakeLists.txteditdata/obstacle/decision/obstacle_decision.hpp
- replayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断
记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。
2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cpp
- docs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案
规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。
2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.html
- data/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划
默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。
保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。
2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- data/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级
已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。
同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。
2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cpp
- plan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测
通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。
将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。
2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppeditcommon/util/hdmap_wrapper.hppeditcommon/util/hdmap_wrapper.cppeditplan/prepare/prepare_ogm.hpp
- tasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值
2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpp
- tasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理
将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。
同步更新类型说明，保持注释与处理逻辑一致。
2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用
成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。
同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。
2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cpp
- data/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展
叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。
2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cpp
- Testing/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常
合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。
恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。
2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cpp
- data/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续
- standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数
- 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期
- 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界
- 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形
2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppeditdata/plan/switch_data.cppedittasks/plan/pjpo_task.cppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cpp
- math/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性
- 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置
- 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算
- 普通路径规划继续沿用历史默认设置
2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cpp
- data/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围
- 非货叉部件障碍物的前后扩展距离由5米调整为3米
- 货叉头尾部件继续保持2米扩展距离
2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cpp
- ssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换
2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/protos/path.protoeditcommon/log/log_config.cppeditcommon/log/log_config.hppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/data_structures/path.ccedittasks/plan/keb_utils.cppeditdata/plan/start_point_data.hppeditproto/keb_scene.proto
- data/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关
新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。
2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cpp
- data/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车
基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。
新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。
2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yaml
- ssep/data_structures/ssep_input.hppdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放
在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。
统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。
2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hppeditssep/offboard/ssep_planner_wrapper.cc
- ssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化
增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。
完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。
2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.cc
- ssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力
修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。
为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。
2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_enter_station_planner.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/scenarios/scenario_planner_factory.h
- ssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判
为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。
保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。
2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.h
- data/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器
新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。
2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cpp
- ssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集
新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。
回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。
2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/imv_multisegment_manifest.tsv
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染
首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。
贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。
2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hpp
- data/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车
接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。
2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_safe_const.hppeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppeditconfig/config_imv/plan.yamladddata/other/flow_control_test.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditdata/map/pnc_map/path_overlap.hppeditdata/other/flow_control.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/other/flow_control.cpp
- data/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云
依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。
2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editconfig/config_imv/plan.yamleditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control_test.cpp
- hmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写
沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。
2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hpp
- data/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持
新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。
2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cpp
- data/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败
当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。
2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效
倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。
2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持
新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。
调整进出场景的起终点直线延伸距离，以适配现场作业空间。
2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_ec.cpp
- hmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车
绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。
2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cpp
- ssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断
场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。
网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。
2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/scenarios/imv_general_planner.heditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/protos/scene.protoeditssep/scenarios/scenario_planner_interface.h
- ssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/README.mdssep/test/local_regression/imv_general_keb_manifest.tsvssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配
按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。
补充正向、倒车斜行单测及两个现场场景的正式回归清单。
2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/scenarios/imv_general_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/imv_general_keb_manifest.tsv
- tasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围
仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。
2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cpp
- data/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离
将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。
2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cpp
- data/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机
新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。
关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。
2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hpp
- Testing/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护
在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。
2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cpp
- ssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划
新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。
2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/stitching_replanner.heditssep/protos/scene.proto
- data/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.cppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性
集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。
输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。
人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。
2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/ssep/ssep_ec.cppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/ssep_task.cppeditscenarios/task_condition_evaluator.cppeditdata/plan/guide_line.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.hppeditdata/ssep/ssep_common.hppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/plan/ssep_data.hppeditplan/prepare/prepare_status.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/keb_path_optimize_task.cpp
- hmi/widget/diagnose.cppreplayer/replayer_data_process/replayer_data_extraction.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记
HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。
2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记edithmi/widget/diagnose.cppeditreplayer/replayer_data_process/replayer_data_extraction.cpp
- Testing/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃
在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。
将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。
2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cpp
- data/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查
缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。
同时整理相关日志语句格式。
2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cpp
- data/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护
建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。
变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。
增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。
2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/plan/switch_data.cppeditdata/constrain/temporary_stop_data.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/disable_stop_range.cppeditCMakeLists.txtadddata/obstacle/cluster_lane_change_safety.cpp
- data/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接
使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。
2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_safe_const.cppeditdata/config/cfg_lat_decide.cppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditconfig/config_truck/plan.yamleditconfig/config_car/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/cluster_lane_change_safety_test.cpp
- data/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶
等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。
2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hpp
- data/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护
仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。
2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cpp
- data/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线
将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。
避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。
2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/seaside_junction_ec.cpp
- data/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppssep/scenarios/scenario_planner_factory.hssep/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.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling
2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingeditdata/ssep/forward_ec.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/config/cfg_env_const.cppeditdata/plan_frame.hppadddata/ssep/trailer_parking_safety.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppadddata/ssep/trailer_parking_safety.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hpp
- tasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划
将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。
完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。
2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditdata/config/cfg_lat_plan.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.cpp
- hmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化
在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。
同时修复 Foxglove Python proto 的生成目录层级。
2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化editoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppedithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/keb_to_mcap.py
- offboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集
新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。
加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。
2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsveditoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
- offboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明
补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。
2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.md
- data/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety
2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppedittasks/deciders/long_decider/constrain_decider.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cpp
- plan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge
2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cpp
- plan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs
2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logsedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cpp
- ssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints
2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cc
- tasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt
2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cpp
- ssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量
增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。
开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。
2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/keb_problem.h
- data/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略
允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。
车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。
2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/plan/ssep_data.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_util.hpp
- Testing/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续
将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。
2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- offboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库
在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。
避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。
2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.py
- offboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protooffboard/keb_vis_server/foxglove/README.md8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系
新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。
统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。
2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系addoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.md
- Testing/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃
重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。
对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。
2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cpp
- submodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule
2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_proto
- data/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖
闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。
控制区外继续沿用原有聚类障碍延长跟车距离逻辑。
2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cpp
- Testing/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.cppCMakeLists.txtdata/map/reference/reference_segment.cpp4e7b81408898d6cc6db49aa507c81919b00f6b791788628802000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止重规划期间历史参考线逐帧缩短
重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，
避免反复裁剪历史结果造成入堆场无剩余轨迹停车。
提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。
新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，
候选参考线投影有效后才写回。
新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待
和失败、替换失败回退、成功接替及正常恢复。
验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建
pnc_node、pnc_replayer 成功。
2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短editCMakeLists.txtaddTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/map/reference/reference_segment.cpp
- Testing/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.hppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界
统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。
仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。
2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppeditdata/vehicle/vehicle_destination.hppeditTesting/routing_map_guard_test.cpp
- data/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索
移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。
2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cpp
- data/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差
将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。
2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cpp
- Testing/ssep_path_corridor_test.cppdata/plan/ssep_data.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿
将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。
2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cpp
- data/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份
新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。
2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editssep/scenarios/imv_general_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.h
- Testing/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文
依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。
2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cpp
- ssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向
禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。
2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.h
- ssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归
收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。
2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/bulkout_initial_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.py
- data/ssep/forward_ec.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云
从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。
2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cpp
- Testing/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_general_planner.hssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cppa5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置
复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。
2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置editTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditCMakeLists.txtaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_multi_segment_parking_planner.haddssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.hppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditdata/ssep/ssep_ec.cppeditssep/scenarios/imv_enter_station_planner.h
- ssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验
默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。
2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_replay_input.pyeditssep/offboard/ssep_input_provider.heditssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.py
- algorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes
Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask.
Add snapshot-derived continuity regressions and remove temporary diagnostics.
2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditCMakeLists.txtaddTesting/fixtures/wbca_smooth_20260907.hppeditalgorithm/wbca/imv_wbca_manager.hppedittasks/plan/path_optimization_task.hppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppaddTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1129.hpp
- tasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线
锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。
普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。
退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。
保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。
验证：参考线与重规划状态回归，以及纵向停车和连续性回归。
2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线edittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.hppedittasks/other_tasks/create_reference_line.cppeditTesting/reference_line_replan_test.cppeditdata/plan/ssep_data.cpp
- tasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/README.mdoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围
预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。
检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。
按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。
添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。
验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。
2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/keb_path_opt_cli/local_regression/README.mdeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddTesting/keb_fixed_tail_test.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtedittasks/plan/keb_utils_core.hppedittasks/plan/keb_utils_core.cppeditoffboard/keb_path_opt_cli/README.mdedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.cc
- ssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例
登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。
明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。
记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。
验证：四个原始文件校验一致，两份场景均可解析。
2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例editssep/test/local_regression/README.mdaddssep/test/local_regression/imv_out_yard_pending_cases.json
- data/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_static.hppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向
将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。
双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。
补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。
为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。
2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppeditdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hpp
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化
端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。
上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。
新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。
2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cpp
- data/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置
依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，
沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。
将津西接入 WHBULK 同类前进通道、参考线、途经点采样及
终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。
验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠；
git diff --check 及工程 task 的 pnc_node 编译通过。
2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cpp
- Testing/ssep_path_corridor_test.cppssep/scenarios/imv_extra_params_compat.hssep/ssep_planner.ccssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容
删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中
振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。
缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。
同步删除旧开关测试并更新参数配置说明，保留通用参数校验。
2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editssep/test/local_regression/README.mdeditdata/ssep/forward_ec.cppdeletessep/scenarios/imv_extra_params_compat.heditTesting/ssep_path_corridor_test.cppeditssep/ssep_planner.cc
- data/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级
在公共场景匹配入口和 Reset 中清理旧 planner 与参数，
避免未匹配、空配置和重复请求携带上次动态拉直参数。
以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；
保留 CAR 换向、低贝位和远程引导等运行时切换。
输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML
且停止无效拉直计算。快照版本升级并兼容旧版读取。
新增覆盖九类搜索的 47 项回归和逐场景检查文档。
验证：47 项测试、pnc_node 编译及 git diff --check 通过。
2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/plan/ssep_data.hppeditCMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.hppeditdata/config/cfg_static.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/into_yard_junction_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/open_space_ec.cppeditdata/ssep/forward_ec.cpp
- tasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理
将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。
拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。
检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。
2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cpp
- Testing/ssep_path_corridor_test.cpptasks/plan/keb_utils.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续
NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。
首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。
远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。
补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。
验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。
已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。
2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cpp
git- data/config/cfg_static.hppdata/config/cfg_static.cppREADME.mdsink/ros_sink_trailer_posture.cpp8182b6262c9ba15d0577b73b4c99b6bcf8b7bdea1787817180000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: add trailer bias simulator.
2026-08-27 15:53:00 +08008182b6262c9ba15d0577b73b4c99b6bcf8b7bdeafeat: add trailer bias simulator.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditREADME.mdeditsink/ros_sink_trailer_posture.cpp
git- algorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候， 控制切换到 N档
2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候， 控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cpp
- node/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller.
2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取
2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波
2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editdata/ctrl_frame.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表
2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cpp
- data/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle.
2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cpp
- algorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary.
2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cpp
- node/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare.
2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cpp
- algorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary.
2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cpp
- node/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位
2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度
2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset
2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表
2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。
2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_parallel.hpp
- node/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新
2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppeditdata/plan/plan_data.cpp
- node/sink/ros_sink_command.cppdata/plan/plan_data.hppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy
2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hpp
- algorithm/ctrl/lon_controller/acc_augment_mpc.cpp68142a159c826f1d73d252d37154be809fad66e41756869651000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: mpc status bug.
2025-09-03 11:20:51 +080068142a159c826f1d73d252d37154be809fad66e4fix: mpc status bug.editalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题
2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限
2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理
2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
- data/plan/plan_data.hppdata/plan/plan_data.cppalgorithm/ctrl/lat_controller/augment_mpc.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering.
2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.hpp
- node/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug.
2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cpp
- node/sink/ros_sink_ctrl_debug.cppnode/CMakeLists.txtdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamlpackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppnode/logic.hppdata/ctrl_frame.hppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamldata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能
2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能addalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadddata/ctrl/observer_debug_data.cppeditpackage.xmleditnode/logic.cppeditnode/logic.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.hppeditnode/process/proc/proc_lateral_controller.cppadddata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/sink/ros_sink_command.cppeditCMakeLists.txtaddalgorithm/ctrl/observer/steering_offset_observer.hppadddata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_ctrl_debug.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamladddata/config/cfg_steering_offset_observer.hppeditnode/CMakeLists.txt
- data/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式
2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/logic.cpp
- data/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue
2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cpp
- data/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue
2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cpp
- node/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿
2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cpp
- data/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进
2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题
2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hpp
- data/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0
2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longitude_ctrl_debug_data.cppdata/ctrl/longctrl_data.hpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复
2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longctrl_data.hpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复
2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- CMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle.
2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editCMakeLists.txteditnode/sink/ros_sink_command.cpp
- algorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档
2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复
2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- node/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离
2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_parking_distance.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车
2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车adddata/config/cfg_lon_dynamic_mpc.cppaddmath/identification/parking_distance_estimator.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/vehicle_attr.hppaddmath/filter/lowpass_filter.hppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppadddata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_traj.cppeditdata/vehicle/vehicle_state.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl/observer_debug_data.cppaddmath/filter/lowpass_filter.cppeditmath/util/algebra.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.hppadddata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppadddata/config/cfg_parking_distance.hppeditdata/ctrl/vehicle_attr.cppeditdata/config/cfg_static.cppaddmath/identification/vehicle_mass_estimator.hpp
- node/source/module.cppdata/config/cfg_topic.hppdata/config/cfg_static.hppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status.
2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editnode/source/module.cppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppeditdata/config/cfg_static.cppaddnode/source/ros_source_pnc_status.cppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_static.hpp
- data/ctrl/observer_debug_data.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化
2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editnode/process/prepare/prepare_attr.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/logic.cpp
- math/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化
2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_static.cppeditmath/identification/vehicle_mass_estimator.hpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化
2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_creep.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_parking_distance.cppdata/config/cfg_steering_offset_observer.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight
2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_creep.hppeditconfig/config_car/ctrl.yaml
- data/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化
2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cpp
- data/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug
2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cpp
- data/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain
2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复
2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
- data/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能
2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cpp
- .gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化
2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppedit.gitignoreeditdata/config/cfg_creep.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略
2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化
2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hpp
- data/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改
2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cpp
- CMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang.
2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能
2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化
2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- algorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题
2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddocs/task_plan.mddata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS
2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSadddocs/task_plan.mdeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdeditdata/ctrl/longctrl_data.cppadddocs/findings.md
- algorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改
2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cpp
- data/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃
2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.cppeditdata/ctrl/creep_data.hppeditconfig/config_truck/ctrl.yaml
- algorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录
2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
- data/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录
2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdocs/progress.mdeditnode/logic.cppeditAGENTS.mdeditdata/ctrl_frame.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl_frame.cppeditdocs/findings.mdeditdocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cpp
- data/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速
2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数
2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录
2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护
2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/ctrl/creep_data.hpp
- data/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能
2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能addalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppaddalgorithm/util/quintic_step_trajectory.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题
2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
- data/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口
2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yaml
- algorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppdata/vehicle/vehicle_chassis.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/proc/module.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppAGENTS.mdnode/process/proc/proc_parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构
2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditdata/vehicle/vehicle_chassis.cppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppeditnode/process/prepare/prepare_attr.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/module.cppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditnode/process/prepare/prepare_attr.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditnode/process/proc/proc_parallel_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_mass_estimation.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_static.hppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/vehicle/vehicle_state.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/vehicle/vehicle_chassis.hpp
- data/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数
2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cpp
- node/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command
2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cpp
- algorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue
2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cpp
- common/other/version.hppCMakeLists.txtnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version
2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditcommon/other/version.hppeditnode/main.cppeditCMakeLists.txt
- data/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection
2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cpp
- data/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录
2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editdata/ctrl_frame.cppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignore
- data/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化
2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/vehicle/vehicle_state.cpp
- .gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory
2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignore
- data/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率
2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/progress.mdeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdeletedocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.cpp
- data/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug
2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txt
- algorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法
2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cpp
- algorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug
2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
- algorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志
2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/sink/ros_sink_ctrl_debug.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.cpp
- algorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿
2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hpp
- node/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志
2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cpp
- data/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率
2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_imv/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hpp
- data/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数
2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cpp
- algorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车
2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车deletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_mass_estimation.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_mass_estimation.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_attr.cpp
- data/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug
2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cpp
- algorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化
2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
- data/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志
2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cpp
- algorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本
2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
- algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改
2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditdata/config/cfg_steering_offset_observer.cpp
- data/ctrl_frame.cppdata/config/cfg_creep.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log
2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_attr.cpp
- algorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理
2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editconfig/config_car/ctrl.yamleditnode/logic.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamleditdata/config/cfg_safe_const.hppdeletedata/config/cfg_pid.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppadddata/common/pid_coef.hppeditnode/process/proc/proc_lateral_controller.cppdeletedata/config/cfg_pid.hppeditdata/ctrl_frame.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cpp
- scripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp.gitignorescripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本
2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdedit.gitignoreaddscripts/test_lon_delay_identify.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddscripts/lon_delay_identify.py
- algorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug
2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
- data/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器
2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车
2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppnode/process/proc/proc_longtiude_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构
2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editdata/config/cfg_parallel.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_static.hppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_static.cppeditdata/ctrl/longctrl_data.hppeditdata/ctrl/creep_data.hppadddocs/truck_creep_upgrade_cleanup.mdeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cpp
- data/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关
2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_dynamic.hppconfig/config_car/ctrl.yamlnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构
2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddnode/process/proc/proc_move_step_controller.hppeditdata/config/cfg_creep.cppadddocs/task_plan.mdaddnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditCMakeLists.txteditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditconfig/config_imv/ctrl.yamleditnode/process/proc/module.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/cfg_creep_config_test.cppaddtest/imv_speed_pid_test.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_dynamic.hppadddocs/progress.mdaddtest/ros_test_main.cppaddtest/cfg_lon_config_test.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_dynamic.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditconfig/config_truck/ctrl.yamldeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppadddocs/findings.mdaddtest/CMakeLists.txt
- test/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppconfig/config_imv/vehicle_config.yamltest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppnode/sink/ros_sink_command.cppdocs/review_sc_migration_20250716.mdtest/sc_sink_command_test.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtdata/config/cfg_static.cppconfig/config_car/vehicle_config.yamlalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/cfg_lon_config_test.cpptest/ros_test_main.cppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpptest/sc_align_controller_test.cppconfig/config_sc/ctrl.yamlnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配
2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editdata/vehicle/vehicle_state.cppaddtest/imv_lon_emergency_brake_test.cppeditdata/config/cfg_proc_longctrl.cppaddtest/sc_sink_command_test.cppeditdata/vehicle/vehicle_config.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppaddtest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditconfig/config_imv/vehicle_config.yamladdtest/sc_runtime_adaptation_test.cppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddtest/sc_move_step_mode_test.cppedittest/CMakeLists.txteditdata/config/cfg_creep.cppeditconfig/config_car/vehicle_config.yamladddocs/review_lon_refactor_20260414.mdeditnode/sink/ros_sink_command.cppaddtest/sc_creep_config_test.cppaddalgorithm/ctrl/lon_controller/sc_align_utils.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppeditdata/vehicle/vehicle_config.hppedittest/cfg_creep_config_test.cppaddtest/sc_vehicle_config_test.cppeditconfig/config_truck/vehicle_config.yamleditnode/sink/ros_sink_command.hppaddconfig/config_sc/vehicle_config.yamladdtest/sc_proc_routing_test.cppedittest/cfg_lon_config_test.cppedittest/ros_test_main.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/sc_proc_move_step_controller_test.cpptest/CMakeLists.txtnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成
2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_move_step_controller.hppeditdocs/findings.mdeditdocs/progress.mdeditdocs/task_plan.mdaddtest/sc_proc_move_step_controller_test.cppedittest/CMakeLists.txtadd"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"
- algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddocs/lon_delay_identify_usage.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc
2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddeletedocs/truck_creep_upgrade_cleanup.mddeletedocs/review_lon_refactor_20260414.mddeletedocs/task_plan.mddelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppdeletedocs/progress.mddeletedocs/review_sc_migration_20250716.mdeditdata/ctrl/longctrl_data.hppdeletedocs/lon_delay_identify_usage.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppdeletedocs/findings.mdeditdata/config/cfg_lon_dynamic_mpc.cpp
- test/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构
2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构editnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_controller_routing.hppdeletetest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppdeletetest/sc_runtime_adaptation_test.cppdeletetest/imv_align_mode_guard_test.cppdeletetest/sc_proc_move_step_controller_test.cppdeletetest/sc_vehicle_config_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/vehicle_attr.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppdeletetest/sc_proc_routing_test.cppedittest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletetest/cfg_creep_config_test.cppdeletetest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppeditnode/process/prepare/prepare_creep.cppdeletetest/imv_speed_pid_test.cppeditdata/config/cfg_lon_dynamic_mpc.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/prepare/prepare_creep.hppaddalgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletetest/sc_move_step_mode_test.cppaddtest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/imv_lon_emergency_brake_test.cpp
- data/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法
Co-authored-by: Copilot <copilot@github.com>
2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppaddscripts/lon_dynamics_bin_to_csv.pyadddata/lon_dynamics_binary_logger.cppadddata/lon_dynamics_binary_logger.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppeditCMakeLists.txtaddtest/lon_dynamics_binary_log_test.cpp
- .gitignorealgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppdocs/findings.mdscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空
Co-authored-by: Copilot <copilot@github.com>
2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/ctrl_frame.cppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddtest/accel_to_pedal_converter_test.cppedit.gitignoreeditdata/lon_dynamics_binary_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppedittest/lon_dynamics_binary_log_test.cppadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/lon_dynamics_binary_logger.hppadddocs/findings.mdeditscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppedittest/CMakeLists.txt
- config/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数
2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.cppeditscripts/lon_dynamics_bin_to_csv.pyeditdata/config/cfg_mass_estimation.cppeditconfig/config_car/ctrl.yamleditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.cpp
- test/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化 反向作业对准适配
Co-authored-by: Copilot <copilot@github.com>
2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化 反向作业对准适配editdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppedittest/accel_to_pedal_converter_test.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_mass_estimation.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppalgorithm/ctrl/parallel_controller/fpid_controller.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_parallel.cppalgorithm/ctrl/parallel_controller/fpid_controller.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制
Co-authored-by: Copilot <copilot@github.com>
2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制edittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_sc/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_parallel.hpp
- algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log
Co-authored-by: Copilot <copilot@github.com>
2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv
Co-authored-by: Copilot <copilot@github.com>
2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletescripts/lon_dynamics_bin_to_csv.pyeditdata/ctrl_frame.cppdeletedata/lon_dynamics_binary_logger.hppadddata/lon_dynamics_csv_logger.hppadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppaddtest/lon_dynamics_csv_log_test.cppdeletedata/lon_dynamics_binary_logger.cppeditCMakeLists.txtedittest/CMakeLists.txt
- data/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化
2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cpp
- common/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppcommon/log/log_config.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpptest/CMakeLists.txt7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题 辅助起步问题 非线性通用性问题
2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题 辅助起步问题 非线性通用性问题editcommon/log/log_config.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/log/log_config.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
- common/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改
2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditnode/main.cppeditcommon/log/log_config.cpp
- data/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/observer/trailer_angle_observer.cppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/observer/trailer_angle_observer.hpptest/controller_minimal_red_test.cppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化
2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_mpc_qp.hppeditdata/plan/plan_data.hppeditdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_chassis.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/ctrl/lateral_cmd.hppeditdata/config/cfg_mpc_qp.cppeditdata/plan/plan_data.cppedittest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hpp
- data/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数
2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hpp
- algorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构 对准超调认为完成增加距离阈值 增加参数强制将俯仰角设成0
2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构 对准超调认为完成增加距离阈值 增加参数强制将俯仰角设成0editdata/vehicle/vehicle_state.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.hppdeletealgorithm/util/quintic_step_trajectory.hppdeletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助
2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppedittest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.hpp
- data/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步
2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.cpp
- data/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度
2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hpp
- data/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端
2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cpp
- algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain
2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hpp
- data/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量
2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- algorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车
2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cpp
- algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改
2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
- node/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC
2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cpp
- algorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化
2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditdata/config/cfg_creep.cpp
- data/vehicle/vehicle_state.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测
2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cpp
- algorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车
2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
- algorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正
2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
- data/lon_dynamics_csv_logger.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测
2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cpp
- algorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制
2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
- node/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化
2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cpp
- algorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppcommon/CMakeLists.txtdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构 纵向mpc增加热启动关闭polish
2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构 纵向mpc增加热启动关闭polishdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddcommon/log/async_log_writer.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddcommon/log/async_log_writer.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/config/cfg_proc_longctrl.cppaddcommon/log/log_channel.cppeditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppaddcommon/log/spsc_ring_buffer.hppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditcommon/CMakeLists.txtaddcommon/log/log_channel.hppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddata/config/cfg_log.hppeditdata/lon_dynamics_csv_logger.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_longtiude_controller.cppeditnode/logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/ctrl/observer_debug_data.cppadddata/config/cfg_log.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hpp
- algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值
2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
- data/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改
2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editcommon/log/log_channel.hppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditnode/logic.cppeditcommon/log/async_log_writer.hppedittest/CMakeLists.txt
- data/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割
2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志
2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cpp
- data/config/cfg_log.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整
2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/logic.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.hpp
- math/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险
2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cpp
- algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑
2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cpp
- algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束
2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- test/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路
2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hpp
- data/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本
2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志
2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cpp
- algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复
2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hpp
- data/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真
2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- algorithm/ctrl/lon_controller/truck_tracking_common_logic.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器
2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/source/ros_source_remote_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/source/ros_source_parallel_cmd.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99
2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
- algorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理
2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
- algorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化
2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
- algorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix： 不在emergency stop过程中重置
2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix： 不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化
2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/config/cfg_creep.cppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cpp
- algorithm/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editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.cppadddocs/startup_traction_control_review.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/accel_to_pedal_converter_test.cpp
- node/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/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cpp
- data/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.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/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editalgorithm/ctrl/observer/steering_offset_observer.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_steering_offset_observer.cppadd"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/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditnode/process/proc/module.cpp
- data/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/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.cpp
- data/ctrl_frame.cppnode/process/proc/proc_lateral_controller.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editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hpp
- data/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.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"algorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/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.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/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"editnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.cppdelete"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/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditconfig/config_imv/ctrl.yaml
- algorithm/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.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/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editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_status.hppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditconfig/config_imv/ctrl.yamleditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_status.cppeditdata/lon_dynamics_csv_logger.hppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.cpp
- node/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.cpp
- algorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppAGENTS.md5bed5c5fd899dc198092199398963c346265518b1781242754000http://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editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditAGENTS.md
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/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editdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cpp
- data/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.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.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editnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_static.cppaddmath/identification/lateral_kinematics_estimator.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cpp
- algorithm/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/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
- algorithm/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.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.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.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditmath/identification/lateral_kinematics_estimator.cpp
- algorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppCLAUDE.mdalgorithm/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/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cpp
- node/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editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cpp
- data/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.cpp
- node/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.cpp
- data/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppconfig/config_truck/ctrl.yamldata/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editconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditconfig/config_truck/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/vehicle/vehicle_state.hpp
- test/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.cpp
- data/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.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.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.hppeditdata/ctrl/longctrl_data.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_proc_longctrl.hpp
- algorithm/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.cpp
- data/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/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cpp
- algorithm/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.cpp
- algorithm/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.cpp
- data/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editdata/ctrl/longctrl_data.hppeditcommon/util/error_code_data.hppeditcommon/util/error_code_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_error.hppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.cpp
- data/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.cpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_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editdata/ctrl/velocity_cmd.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/velocity_cmd.cppeditdata/lon_dynamics_csv_logger.hpp
- algorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.hppdata/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editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hpp
- data/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_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editdata/vehicle/vehicle_command.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.cppeditnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cpp
- algorithm/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.cpp
- data/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.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editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cpp
- data/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation
2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.cpp
- algorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正
2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
- data/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/prepare/prepare_traj.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation
2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cpp
- algorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp1scripts/trailer_angle_compensation_identify.pyconfig/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller
2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadd1editconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditdata/config/cfg_mpc_qp.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppaddtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditconfig/config_car/ctrl.yaml
- config/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification
2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationaddscripts/steering_delay_identify.pyeditconfig/config_truck/ctrl.yaml
- scripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data
2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
- algorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton
2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitoneditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppedit.gitignoreeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
- algorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat： 起步积分与弯道积分合并 增加横向日志观测值便于AI分析横向动力特性
2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat： 起步积分与弯道积分合并 增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppadddata/ctrl/lat_mpc_debug_snapshot.hpp
- test/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立
2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cpp
- data/config/cfg_mpc_qp.cppdata/config/cfg_mpc_qp.hppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug
2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/config/cfg_mpc_qp.hppeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cpp
- algorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/sink/ros_sink_command.hppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppdata/ctrl_frame.cppdata/plan/plan_data.cppnode/process/proc/proc_move_step_controller.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能
2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_creep.cppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppeditdata/plan/plan_data.cppeditdata/config/cfg_creep.hppedittest/controller_minimal_red_test.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/sink/ros_sink_command.cpp
- algorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量
2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
- data/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppscripts/trailer_angle_estimator_offline_test.pydata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_mpc_qp.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf
2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppeditnode/logic.cppeditdata/config/cfg_mpc_qp.hppaddscripts/trailer_angle_estimator_offline_test.pyadddata/config/cfg_estimator.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditdata/vehicle/trailer_state.cppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppeditnode/process/prepare/prepare_state.hppeditdata/config/cfg_mpc_qp.cppaddscripts/trailer_wheelbase_estimate.pyadddata/config/cfg_estimator.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/trailer_state.hppeditscripts/record_reversing_tuning.shdeletealgorithm/ctrl/observer/trailer_angle_observer.cppaddscripts/trailer_wheelbase_raw_fit.py
- node/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止
2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cpp
- node/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护
2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cpp
- node/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改
2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cpp
- data/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagscripts/steer_rate_identify.pyalgorithm/ctrl/lon_controller/reversing_speed_governor.hppalgorithm/ctrl/lon_controller/reversing_speed_governor.cppscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor
2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoreditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/vehicle/trailer_state.hppaddscripts/steer_rate_identify.pyaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditnode/process/prepare/prepare_state.cppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditscripts/record_reversing_tuning.sheditdata/ctrl/longctrl_data.hppeditdata/config/cfg_estimator.cpp
- config/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config
2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yaml
- scripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script
2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.py
- scripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files
2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bag
- algorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver
2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solvereditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyedit.gitignore
- data/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化 对准起步辅助优化 横向零偏故障码常态化开启
2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化 对准起步辅助优化 横向零偏故障码常态化开启editdata/ctrl/longctrl_data.cppeditcommon/util/error_code_data.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
- algorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator
2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.hppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/process/prepare/prepare_traj.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
- algorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message
2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditscripts/record_reversing_tuning_auto.pyeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
- node/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config
2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.cpp
- algorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug
2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
- config/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params
2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hpp
- algorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s
2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
- algorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt
2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
- data/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警 单边停车质量补偿
2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警 单边停车质量补偿editdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditnode/process/proc/proc_lateral_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径 扩充到openspace场景 扩充到SC车型
2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径 扩充到openspace场景 扩充到SC车型editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/config/cfg_proc_longctrl.hpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hppdata/lon_dynamics_csv_logger.cpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定 增加每个轮子角度的观测
2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定 增加每个轮子角度的观测editdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.hppeditdata/lon_dynamics_csv_logger.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl_frame.cpp
- data/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理
2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/observer_debug_data.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cpp
- data/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录
2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cpp
- node/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑
2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cpp
- data/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_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整 纵向MPC制动保护增加积分项 横向运动日志记录增强
2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整 纵向MPC制动保护增加积分项 横向运动日志记录增强editdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txtdeletetest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_state.hpp
- node/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug
2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug
2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化
2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
- algorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc
2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_mpc_qp.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
- data/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误
2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/vehicle/vehicle_state.hpp
- data/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误
2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/vehicle/vehicle_state.cpp
- algorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction
2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directionaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppedittest/CMakeLists.txt
- algorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout
2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/augment_mpc.hpp
- algorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppalgorithm/ctrl/lat_controller/augment_mpc.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout
2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropoutedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hpp
- data/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化
2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- algorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整
2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cpp
- data/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间
2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/lateral_ctrl_debug_data.cpp
- algorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器
2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hpp
- data/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分
2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cpp
- data/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位
2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hpp
- algorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车
2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化
2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- data/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护
2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_move_step_controller.cppeditAGENTS.mdeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- data/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭
2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cpp
- algorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2
2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2edittest/CMakeLists.txteditconfig/config_truck/ctrl.yamleditdata/config/cfg_log.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_log.hppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.cppaddtest/forward_trailer_bias_estimator_test.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/logic.cppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
- algorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation
2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditnode/process/proc/proc_lateral_controller.cpp
- algorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车
2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 堆高机和步进提前停车editdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_attr.cpp
- algorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppscripts/analyze_bias_stop_exclusion.pynode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppscripts/plot_last_bias_estimator_boxes.pyb713440355124783638400636683659be57d55f11788490627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat(control): filter pre-stop trailer bias samples
2026-09-04 10:57:07 +0800b713440355124783638400636683659be57d55f1feat(control): filter pre-stop trailer bias sampleseditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditdata/config/cfg_estimator.cppaddscripts/analyze_bias_stop_exclusion.pyedittest/forward_trailer_bias_estimator_test.cppaddscripts/plot_last_bias_estimator_boxes.pyeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditnode/process/proc/proc_lateral_controller.cpp
git- routing/strategy/a_star_strategy.ccbb419ede324082a557d67c8c27000dfd052410ad1782789051000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofix_out: 修复起点计算cost的时候算取的是全部车道线
2026-06-30 11:10:51 +0800bb419ede324082a557d67c8c27000dfd052410adfix_out: 修复起点计算cost的时候算取的是全部车道线editrouting/strategy/a_star_strategy.cc
- routing/strategy/a_star_strategy.ccrouting/parser/param_parser.ccinterface/public_map.hrouting/parser/param_parser.hae22c131b126b7f27307e3bd9f9f2671da5ceae41786599979000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加特殊区域
2026-08-13 13:46:19 +0800ae22c131b126b7f27307e3bd9f9f2671da5ceae4feat_out: 增加特殊区域editrouting/strategy/a_star_strategy.cceditrouting/parser/param_parser.cceditinterface/public_map.heditrouting/parser/param_parser.h
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git- guardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txtcbe2305d5c6c686eaa127b2cc0d59df5b5bca47d1782370275000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义
2026-06-25 14:51:15 +0800cbe2305d5c6c686eaa127b2cc0d59df5b5bca47dfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txt
- cloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferResult.msgcloud_msgs/msg/RecordTransferCmd.msg303eb68645d43fc7e1695415feada4be3a0feb4b1785917135000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic
2026-08-05 16:05:35 +0800303eb68645d43fc7e1695415feada4be3a0feb4bfeat_out:增加全量上传topicaddcloud_msgs/msg/RecordTransferResult.msgaddcloud_msgs/msg/RecordTransferCmd.msgeditcloud_msgs/CMakeLists.txt
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2026-08-25 06:35:50 +00006176e1c08f2ef7f649d991af3dd4e46449ed4ea6Update repoinfoRos2.groovyeditsrc/org/orin/repoinfoRos2.groovy
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2026-08-25 06:42:27 +00000e90c732effd6804b9089931984634ec3c93b725Update orinRos2Choice.groovyeditsrc/org/orin/orinRos2Choice.groovy
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2026-08-25 06:42:42 +0000e7d91b50a49fb9660927c8a8141e2b22db1b363bUpdate orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovy
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2026-08-25 09:13:30 +0000c575b15a1eab9bcd536e53b8ad25010fa428f01cUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
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2026-08-28 02:58:56 +0000cd2a4c7ba266bd00ecf6131bdee846aacb24ffb1Update orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovy
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2026-08-28 02:59:37 +000023b8f770f2406e884a9fa107a5bbb995b8f2cf25Update orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovy
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2026-08-28 02:59:59 +0000570bce3110a7810e0e904c90f60d9decdbe91ec6Update orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovy
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2026-08-28 03:00:15 +0000b7b1835be684a5385f7472121461eade8092b218Update orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovy
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2026-08-28 06:40:50 +000094901fb1d1c52266f678fadef5a5ff897412b2b0Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
git- params/hangzhou-xiasha-submodule.jenkinsfileparams/jili-xiasha-submodule.jenkinsfile0b2ca116160ad4844e7d56a0b0498b2c372b195c1787648910000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jili-xiasha-submodule.jenkinsfile
2026-08-25 09:08:30 +00000b2ca116160ad4844e7d56a0b0498b2c372b195cUpdate jili-xiasha-submodule.jenkinsfileaddparams/hangzhou-xiasha-submodule.jenkinsfiledeleteparams/jili-xiasha-submodule.jenkinsfile
- params/hangzhou-xiasha-submodule.jenkinsfile5b2dc1fe505ca2644924e4b4870033bd68e459b01787649356000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile
2026-08-25 09:15:56 +00005b2dc1fe505ca2644924e4b4870033bd68e459b0Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfile
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2026-08-25 09:18:47 +00001dd8657cccae3ac4fd74bfd5bf352f2c289c63e6Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfile
- params/hangzhou-xiasha-submodule.jenkinsfilec139f8cd28125dfe6ca12522fbf56fa2372356051787649725000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile
2026-08-25 09:22:05 +0000c139f8cd28125dfe6ca12522fbf56fa237235605Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfile
git- peripheral_msgs/msg/PeripheralOperateStates.msgbd4531ee12d21ff202fbf4e7bacaa08e5eb98b0b1786103564000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加反馈pd类型
2026-08-07 19:52:44 +0800bd4531ee12d21ff202fbf4e7bacaa08e5eb98b0bfeat_out:增加反馈pd类型editperipheral_msgs/msg/PeripheralOperateStates.msg
- peripheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msgcf8ef577bbb6bbf96346211bd8eb73585760ad5a1786103693000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:反馈字段完善
2026-08-07 19:54:53 +0800cf8ef577bbb6bbf96346211bd8eb73585760ad5afeat_out:反馈字段完善editcloud_msgs/msg/LedMsg.msgeditperipheral_msgs/msg/PeripheralOperateState.msg
- tos_msgs/msg/PeripheralCmd.msg5052114869f5d8c0300c8a9a408ae1dc1ec79def1786362035000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:字段修改
2026-08-10 19:40:35 +08005052114869f5d8c0300c8a9a408ae1dc1ec79deffeat_out:字段修改edittos_msgs/msg/PeripheralCmd.msg
- tos_msgs/msg/PeripheralCmd.msgadeecd3038f4c7414651bda89bcee43953e37fe91786432692000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加6档反馈
2026-08-11 15:18:12 +0800adeecd3038f4c7414651bda89bcee43953e37fe9feat_out:增加6档反馈edittos_msgs/msg/PeripheralCmd.msg
- tos_msgs/CMakeLists.txttos_msgs/msg/PncConfiguration.msgtos_msgs/msg/AccessLine.msg81d4f7a849ff697cc58957c3d6260c82de350c2e1786606338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
2026-08-13 15:32:18 +080081d4f7a849ff697cc58957c3d6260c82de350c2etos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/CMakeLists.txtedittos_msgs/msg/PncConfiguration.msgaddtos_msgs/msg/AccessLine.msg
- tos_msgs/msg/AccessLine.msgce4f0766aace66814f2a5f8025e07a3715a56c541786606344000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard
2026-08-13 15:32:24 +0800ce4f0766aace66814f2a5f8025e07a3715a56c54tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msg
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#10011001false10011265389SUCCESS1787538862385http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1001/- sink/ros_sink_chassis.cppsink/ros_sink_msf_loc.cppdata/vehicle/vehicle_pose.cpptest/vehicle_chassis_longitudinal_test.cppsink/ros_sink_loc.cppsource/ros_source_command.cppsource/ros_source_init.hppdata/vehicle/vehicle_chassis.cppe91ca38801659601e2ca7caa1b2a8ddc6a14f0fc1787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复IMV速度模式底盘无响应
补齐 vehicle_type=1 的指令解析、速度控制、位姿计算及反馈发布链路。\n保留 vehicle_type=11 的油门动力模式，并增加类型1目标轮速响应回归测试。
2026-08-24 10:31:20 +0800e91ca38801659601e2ca7caa1b2a8ddc6a14f0fcfix: 修复IMV速度模式底盘无响应editdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_pose.cppeditsink/ros_sink_msf_loc.cppeditsource/ros_source_command.cppedittest/vehicle_chassis_longitudinal_test.cppeditsink/ros_sink_chassis.cppeditsource/ros_source_init.hppeditsink/ros_sink_loc.cpp
- data/config/cfg_static.cppa16d605e76eeaba149a55f3754ed214cf4852f241787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正最大转向角参数读取
改为读取统一的 max_steer_angle 角度参数，并在加载时转换为弧度，避免旧参数键导致配置不生效。
2026-08-24 10:31:20 +0800a16d605e76eeaba149a55f3754ed214cf4852f24fix: 修正最大转向角参数读取editdata/config/cfg_static.cpp
- hmi/widget/manual_panel.cpphmi/node_hmi.hppnode/logic.cpphmi/widget/manual_panel.hppnode/main.cppnode/logic.hpphmi/node_hmi.cpp7e3a9e2ccfe88ae5c93100c56427733674ff77381787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 优化HMI帧刷新与方向盘渲染
将高频信号推送改为 HMI 定时拉取线程安全的最新帧，避免 Qt 事件队列积压。缓存方向盘缩放图并仅在转角变化时重新渲染，降低界面刷新开销。
2026-08-24 10:31:20 +08007e3a9e2ccfe88ae5c93100c56427733674ff7738perf: 优化HMI帧刷新与方向盘渲染edithmi/node_hmi.hppeditnode/logic.cppedithmi/widget/manual_panel.cppedithmi/node_hmi.cppeditnode/main.cppedithmi/widget/manual_panel.hppeditnode/logic.hpp
- data/config/cfg_static.cpp0176e7dcb282d482f8ca5ce2df5e497e399b70a91787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 关闭挂车姿态默认延迟
将挂车姿态延迟和抖动参数的默认值恢复为 0，避免未显式配置时引入额外的姿态发布时间偏移。
2026-08-24 10:31:20 +08000176e7dcb282d482f8ca5ce2df5e497e399b70a9fix: 关闭挂车姿态默认延迟editdata/config/cfg_static.cpp
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#10011001false10011265389SUCCESS1787538862385http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1001/- sink/ros_sink_chassis.cppsink/ros_sink_msf_loc.cppdata/vehicle/vehicle_pose.cpptest/vehicle_chassis_longitudinal_test.cppsink/ros_sink_loc.cppsource/ros_source_command.cppsource/ros_source_init.hppdata/vehicle/vehicle_chassis.cppe91ca38801659601e2ca7caa1b2a8ddc6a14f0fc1787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复IMV速度模式底盘无响应
补齐 vehicle_type=1 的指令解析、速度控制、位姿计算及反馈发布链路。\n保留 vehicle_type=11 的油门动力模式，并增加类型1目标轮速响应回归测试。
2026-08-24 10:31:20 +0800e91ca38801659601e2ca7caa1b2a8ddc6a14f0fcfix: 修复IMV速度模式底盘无响应editdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_pose.cppeditsink/ros_sink_msf_loc.cppeditsource/ros_source_command.cppedittest/vehicle_chassis_longitudinal_test.cppeditsink/ros_sink_chassis.cppeditsource/ros_source_init.hppeditsink/ros_sink_loc.cpp
- data/config/cfg_static.cppa16d605e76eeaba149a55f3754ed214cf4852f241787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正最大转向角参数读取
改为读取统一的 max_steer_angle 角度参数，并在加载时转换为弧度，避免旧参数键导致配置不生效。
2026-08-24 10:31:20 +0800a16d605e76eeaba149a55f3754ed214cf4852f24fix: 修正最大转向角参数读取editdata/config/cfg_static.cpp
- hmi/widget/manual_panel.cpphmi/node_hmi.hppnode/logic.cpphmi/widget/manual_panel.hppnode/main.cppnode/logic.hpphmi/node_hmi.cpp7e3a9e2ccfe88ae5c93100c56427733674ff77381787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 优化HMI帧刷新与方向盘渲染
将高频信号推送改为 HMI 定时拉取线程安全的最新帧，避免 Qt 事件队列积压。缓存方向盘缩放图并仅在转角变化时重新渲染，降低界面刷新开销。
2026-08-24 10:31:20 +08007e3a9e2ccfe88ae5c93100c56427733674ff7738perf: 优化HMI帧刷新与方向盘渲染edithmi/node_hmi.hppeditnode/logic.cppedithmi/widget/manual_panel.cppedithmi/node_hmi.cppeditnode/main.cppedithmi/widget/manual_panel.hppeditnode/logic.hpp
- data/config/cfg_static.cpp0176e7dcb282d482f8ca5ce2df5e497e399b70a91787538680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 关闭挂车姿态默认延迟
将挂车姿态延迟和抖动参数的默认值恢复为 0，避免未显式配置时引入额外的姿态发布时间偏移。
2026-08-24 10:31:20 +08000176e7dcb282d482f8ca5ce2df5e497e399b70a9fix: 关闭挂车姿态默认延迟editdata/config/cfg_static.cpp
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徐工自卸上报翻斗状态时使用类型 7。
2026-09-24 14:14:21 +0800b763fc42d7fa1daaf72244aa4d3ab44cf2add1a7feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈editperipheral_msgs/msg/PeripheralOperateStates.msg
- cloud_msgs/msg/CraneInfo.msg1b306566b5e66a524235d5f2635d6ef234fcc6a81791621071000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-10 16:31:11 +08001b306566b5e66a524235d5f2635d6ef234fcc6a8feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
- cloud_msgs/msg/CraneInfo.msg27402f14260ed710f3f7ea37c0667ed4d344f3e11792251883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-17 23:44:43 +080027402f14260ed710f3f7ea37c0667ed4d344f3e1feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
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2026-10-30 17:12:28 +0800253235ff229b66e4c17c269624b8ccc7ce218785feat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msg
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徐工自卸上报翻斗状态时使用类型 7。
2026-09-24 14:14:21 +0800b763fc42d7fa1daaf72244aa4d3ab44cf2add1a7feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈editperipheral_msgs/msg/PeripheralOperateStates.msg
- cloud_msgs/msg/CraneInfo.msg1b306566b5e66a524235d5f2635d6ef234fcc6a81791621071000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-10 16:31:11 +08001b306566b5e66a524235d5f2635d6ef234fcc6a8feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
- cloud_msgs/msg/CraneInfo.msg27402f14260ed710f3f7ea37c0667ed4d344f3e11792251883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-17 23:44:43 +080027402f14260ed710f3f7ea37c0667ed4d344f3e1feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
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2026-10-30 17:12:28 +0800253235ff229b66e4c17c269624b8ccc7ce218785feat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msg
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徐工自卸上报翻斗状态时使用类型 7。
2026-09-24 14:14:21 +0800b763fc42d7fa1daaf72244aa4d3ab44cf2add1a7feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈editperipheral_msgs/msg/PeripheralOperateStates.msg
- cloud_msgs/msg/CraneInfo.msg1b306566b5e66a524235d5f2635d6ef234fcc6a81791621071000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-10 16:31:11 +08001b306566b5e66a524235d5f2635d6ef234fcc6a8feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
- cloud_msgs/msg/CraneInfo.msg27402f14260ed710f3f7ea37c0667ed4d344f3e11792251883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-17 23:44:43 +080027402f14260ed710f3f7ea37c0667ed4d344f3e1feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
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2026-10-30 17:12:28 +0800253235ff229b66e4c17c269624b8ccc7ce218785feat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msg
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徐工自卸上报翻斗状态时使用类型 7。
2026-09-24 14:14:21 +0800b763fc42d7fa1daaf72244aa4d3ab44cf2add1a7feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈editperipheral_msgs/msg/PeripheralOperateStates.msg
- cloud_msgs/msg/CraneInfo.msg1b306566b5e66a524235d5f2635d6ef234fcc6a81791621071000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-10 16:31:11 +08001b306566b5e66a524235d5f2635d6ef234fcc6a8feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
- cloud_msgs/msg/CraneInfo.msg27402f14260ed710f3f7ea37c0667ed4d344f3e11792251883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态
2026-10-17 23:44:43 +080027402f14260ed710f3f7ea37c0667ed4d344f3e1feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msg
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2026-10-30 17:12:28 +0800253235ff229b66e4c17c269624b8ccc7ce218785feat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msg
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#10291029false10291401228FAILURE1794472904566http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1029/http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuo1030http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1030/1028http://159.27.114.184:8080/jenkins/user/11/my-views/view/all/job/module/1028/1031getBranchsfalsegetBranchsCascadeChoiceParameterallBranchno选中此选项，则参与编译的所有模块都为此分支
默认是no，选中no此选项不会生效，allBranchChoiceParameterDefinitionnorc_devdevmastertest1test2test3deviceChoicefalse选择device_name参数的值，true为"",false为“none”deviceChoiceChoiceParameterDefinitionfalsetruecommitChoicerc_dev⚠更新commit选项commitChoiceChoiceParameterDefinitionrc_devmastertestmsgBrancherror git_urlmsgBranchCascadeChoiceParameterpncBrancherror git_urlpncBranchCascadeChoiceParameterguardianBrancherror git_urlguardianBranchCascadeChoiceParameterhesaiBrancherror git_urlhesaiBranchCascadeChoiceParameterv2Brancherror git_urlv2BranchCascadeChoiceParametermsfLocBrancherror git_urlmsfLocBranchCascadeChoiceParameterlsDetectionBrancherror git_urllsDetectionBranchCascadeChoiceParametercraneDetectionBrancherror git_urlcraneDetectionBranchCascadeChoiceParametersimulatorBrancherror git_urlsimulatorBranchCascadeChoiceParametercraneAlignBrancherror git_urlcraneAlignBranchCascadeChoiceParametercontainerMeasureBrancherror git_urlcontainerMeasureBranchCascadeChoiceParametermsfAssistantBrancherror git_urlmsfAssistantBranchCascadeChoiceParameterchassisBrancherror git_urlchassisBranchCascadeChoiceParametertosVisualizeBrancherror git_urltosVisualizeBranchCascadeChoiceParameterhdmapBrancherror git_urlhdmapBranchCascadeChoiceParametermsgRecorderBrancherror git_urlmsgRecorderBranchCascadeChoiceParameterstaticTransformBrancherror git_urlstaticTransformBranchCascadeChoiceParameterpredictionBrancherror git_urlpredictionBranchCascadeChoiceParametersystemRosBrancherror git_urlsystemRosBranchCascadeChoiceParameterseniorCalibrationBrancherror git_urlseniorCalibrationBranchCascadeChoiceParameterrslidarSDKBrancherror git_urlrslidarSDKBranchCascadeChoiceParameterfmsAgentBrancherror git_urlfmsAgentBranchCascadeChoiceParametermrpt2Brancherror git_urlmrpt2BranchCascadeChoiceParameterperipheralControllerBrancherror git_urlperipheralControllerBranchCascadeChoiceParameterwarningModuleBrancherror git_urlwarningModuleBranchCascadeChoiceParameterlidarCameraFusionBrancherror git_urllidarCameraFusionBranchCascadeChoiceParameterpredictionSceneFetcherBrancherror git_urlpredictionSceneFetcherBranchCascadeChoiceParametersinsCalibrationHmiBrancherror git_urlsinsCalibrationHmiBranchCascadeChoiceParameterrminterpreterBrancherror git_urlrminterpreterBranchCascadeChoiceParametercontrolBrancherror git_urlcontrolBranchCascadeChoiceParameterhdmapCloudBrancherror git_urlhdmapCloudBranchCascadeChoiceParameterlidarManualCalibBrancherror git_urllidarManualCalibBranchCascadeChoiceParameternodeManagerBrancherror git_urlnodeManagerBranchCascadeChoiceParameterthirdpartyBrancherror git_urlthirdpartyBranchCascadeChoiceParameternodeManagerHmiBrancherror git_urlnodeManagerHmiBranchCascadeChoiceParameternodeManagerOnlineBrancherror git_urlnodeManagerOnlineBranchCascadeChoiceParameterunifiedSystemMonitorBrancherror git_urlunifiedSystemMonitorBranchCascadeChoiceParameterrosBridgeBrancherror git_urlrosBridgeBranchCascadeChoiceParameterhdcontrolBrancherror git_urlhdcontrolBranchCascadeChoiceParameterversionsObserverBrancherror git_urlversionsObserverBranchCascadeChoiceParametermultiSimulatorBrancherror git_urlmultiSimulatorBranchCascadeChoiceParametercacheBagNodeBrancherror git_urlcacheBagNodeBranchCascadeChoiceParametervirtualLampBrancherror git_urlvirtualLampBranchCascadeChoiceParametertruckUpLiDarCalibToolBrancherror git_urltruckUpLiDarCalibToolBranchCascadeChoiceParameterhdmapInterfaceBrancherror git_urlhdmapInterfaceBranchCascadeChoiceParameterpncSimBrancherror git_urlpncSimBranchCascadeChoiceParametertrafficCtrlBrancherror git_urltrafficCtrlBranchCascadeChoiceParameternotes工控专用（）notesStringParameterDefinitionusersusersStringParameterDefinitionfalsefalse