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#22662266false22661403398SUCCESS1794561945465http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2266/orin/orin-build-ros2.jenkinsfile6f35b41a6c4a5d2fc60ff7c010d6c61cf1630e901794556032000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autonote_out: ros2的new_detection_highway，编译完成后，自动删除五个缓存目录。 2026-11-13 07:47:12 +00006f35b41a6c4a5d2fc60ff7c010d6c61cf1630e90note_out: ros2的new_detection_highway，编译完成后，自动删除五个缓存目录。editorin/orin-build-ros2.jenkinsfilegitcloud_msgs/msg/CraneInfo.msgdd73136ac0f5231c59fbbf14d542629f58b7311a1794560540000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态 2026-11-13 17:02:20 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移除西联入充电位末端虚拟拉直约束editdata/ssep/forward_ec.cppreplayer/scene_data/compact_geometry_codec.cppreplayer/scene_data/remaining_plan_proto_codec.cppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cpptasks/plan/keb_path_optimize_task.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/data_structures/path.hreplayer/scene_data/compact_custom_field_proto_codec.cpphmi/draw/draw_keb_debug.hppproto/replay_v15.protohmi/draw/keb_heading_deviation.hpphmi/draw/draw_keb_debug.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/data_structures/path.ccreplayer/scene_data/generated/compact_scene_descriptor.pbproto/pnc_scene/compact_geometry.protoTesting/ssep_beta_display_test.cppreplayer/scene_data/compact_numeric_policy.yamldata/plan/keb_visualize_data.hpptasks/plan/keb_utils.cppssep/data_structures/type_definition.hssep/data_structures/type_definition.ccreplayer/scene_data/compact_numeric_leaf_contract.csvtasks/plan/keb_utils.hppreplayer/scene_data/plan_frame_full_mapping.yamlssep/ssep_planner.ccTesting/CMakeLists.txtreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/keb_heading_deviation_test.cppced99ddbe1d177169c84560e9b26a6c34272d61d1794550965000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 显示扣除 beta 后的 KEB 路径朝向偏差 沿 SSEP 输出、末端拉直分支和普通 KEB 结果复用链路传递优化器 beta， 界面按 XY 切线扣除 beta 后比较车身朝向，未知 beta 明确显示不可用。 补齐新旧数据读写与清理逻辑，并修正普通 KEB Full 编码入口。 验证：41 项相关测试通过，生成及 Proto 兼容性检查通过； 使用 Icecream 多服务器 72 槽位构建 pnc_node 成功。 2026-11-13 14:22:45 +0800ced99ddbe1d177169c84560e9b26a6c34272d61dfix: 显示扣除 beta 后的 KEB 路径朝向偏差editreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/ssep_planner.ccedithmi/draw/keb_heading_deviation.hppeditreplayer/scene_data/compact_geometry_codec.cppeditreplayer/scene_data/compact_numeric_policy.yamleditproto/replay_v15.protoeditTesting/CMakeLists.txtedittasks/plan/keb_utils.cppedittasks/plan/keb_path_optimize_task.cppeditssep/data_structures/type_definition.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/pnc_scene/compact_geometry.protoeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbaddTesting/ssep_beta_display_test.cppedithmi/draw/draw_keb_debug.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditproto/plan_data.protoeditssep/data_structures/path.heditTesting/keb_heading_deviation_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdata/plan/keb_visualize_data.hppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/data_structures/type_definition.hedithmi/draw/draw_keb_debug.cppeditssep/data_structures/path.cceditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppedittasks/plan/keb_utils.hppTesting/routing_map_guard_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/app/fsm/motion_fsm/motion_fsm.hppdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppdata/app/fsm/motion_fsm/motion_fsm.cpp3c809d36897943d57259d44ceaf62899ae87e17d1794553934000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复远程步进后的停车与启动切换 新任务路由成功后解除远程停车，并保留车辆故障及目的地检查。 跨步进保留 NN/EE 人工停车，确保制动优先于 SS 和自动恢复。 补充并发指令、故障禁用及状态切换回归，更新头文件审计指纹。 2026-11-13 15:12:14 +08003c809d36897943d57259d44ceaf62899ae87e17dfix: 修复远程步进后的停车与启动切换editdata/app/fsm/motion_fsm/motion_fsm.cppeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/routing_map_guard_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.hppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cppfac9b6334f4e56f61342d447162fc769eb250d6a1794557200000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按首车道接续关系避免误触发开放空间 首段接收时核对自车在首车道有效长度内的投影、实际左右边界与可接续方向。已在首车道上时沿路规划，不因自由行驶区覆盖车道而触发 OPENSPACE。 未满足车道接续条件时保留原有自由区接路逻辑，支持从车道之间穿过 OPENSPACE 接入首车道；后续路由段处理保持不变。 增加区域内沿路、边界内外、端点外和横向朝向回归。合并验证 157 项回归通过，西联 9 月 26 日原始接收帧正常接收任务且未进入 OPENSPACE；未验证完整轨迹或车辆闭环。 2026-11-13 16:06:40 +0800fac9b6334f4e56f61342d447162fc769eb250d6afix: 按首车道接续关系避免误触发开放空间editTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/map/pnc_map/routing_extension/routing_data.cppreplayer/scene_data/generated/state_schema_inputs.jsonTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp8e73b636f313fd38dd2c85d6ff2d9f824c2e84e81794557209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复预倒车路由衔接误触发开放空间 双向 IMV 的预倒车点匹配两段任务边界、地图端点间距不超过 1 厘米且无显式开放空间要求时，反向航向误差容差限定放宽至 6 度。其余连接保留原有门槛。 统一方向计算、段间建区与场景入口的任务依据，覆盖接收帧任务切换及边界回归，同步生成索引摘要。 合并验证 157 项回归通过，11 月 13 日原始数据 5 帧均判为换向且未进入 OPENSPACE。侧向 DP 无可行过渡仍存在，未验证完整轨迹或车辆闭环。 2026-11-13 16:06:49 +08008e73b636f313fd38dd2c85d6ff2d9f824c2e84e8fix: 修复预倒车路由衔接误触发开放空间editdata/map/pnc_map/routing_extension/routing_data.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_transition.hppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/map/pnc_map/routing_extension/routing_data.hppreplayer/algorithm_replay/profile_collectors.cppTesting/reference_line_replan_test.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hpp55d6ab120a9111e25478ec4dcd63966c97519b801794559185000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免沿既有选线跨弯道时误触发重搜索 按车道序列核对当前与历史选线，在同一任务、规划器及有效历史搜索下， 识别前进或倒车经过后续弯道的正常进展，避免误触发 CUR_BEND_CHANGE。 旧路径终点必须覆盖已核对的后续车道并满足宽度和方向约束，兼容出口 起点 s=0；路线变化、路径覆盖不足及其他重搜索条件保持原有处理。 补充跨场景、索引重排、倒车、换线及路径覆盖边界测试，并增加回放 重搜索状态采集，支持逐帧验证现场误触发问题。 验证：相关测试 611 项通过、133 项跳过；现场连续三帧决策回放 9 项断言通过（以录制成功搜索为种子，不包含 SSEP 重算或车辆闭环）。 2026-11-13 16:39:45 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#22642264false22641402237SUCCESS1794496762667http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2264/src/org/devops/push.groovy4b3ff96be12dab845412c7efd57a1713e5af13d11794482897000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-11-12 11:28:17 +00004b3ff96be12dab845412c7efd57a1713e5af13d1Update push.groovyeditsrc/org/devops/push.groovysrc/org/devops/push.groovyce743cd5400a2b1d6d0061310cb713c96ccf7d091794483477000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy 2026-11-12 11:37:57 +0000ce743cd5400a2b1d6d0061310cb713c96ccf7d09Update push.groovyeditsrc/org/devops/push.groovygitorin-cleanup.jenkinsfileeccb4ccd2c4816cc379dcd96718d965c51d1f2eb1794477864000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-cleanup.jenkinsfile 2026-11-12 10:04:24 +0000eccb4ccd2c4816cc379dcd96718d965c51d1f2ebUpdate orin-cleanup.jenkinsfileeditorin-cleanup.jenkinsfilegitalgorithm/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/imv_wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditTesting/wbca_smooth_continuity_test.cppCMakeLists.txtdata/ssep/trailer_parking_safety.cppTesting/trailer_parking_safety_test.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 frameeditdata/ssep/trailer_parking_safety.cppeditCMakeLists.txtaddTesting/trailer_parking_safety_test.cppTesting/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.cppreplayer/replayer_data_process/replayer_data_process.cppdata/lattice/trajectory1d_generator.cppTesting/longitudinal_curve_validation_test.cppdata/lattice/fsm_safety_brake.hppreplayer/replayer_data_process/replayer_data_process.hppTesting/jerk_limited_stop_test.cppdata/lattice/condition_sampler.cppTesting/routing_map_guard_test.cppdata/plan/start_point_data.cppTesting/scene_replay_foundation_test.cppdata/lattice/trajectory_evaluator.cppreplayer/replayer_data_process/replayer_computation_policy.hpptasks/plan/lattice_task.cpp83e73599fba8e70f760bfac62546a4fc59310c2e1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复起步加速度与制动恢复轨迹连续性 按舒适加速度限制巡航候选内部峰值，补充低速负加速度释放后恢复的 jerk 曲线，并防止浮点残差产生极短分段。 缓刹保持规划拼接状态并按帧间隔推进，连续回放通过生产历史匹配重建起点；记录安全接管、低速归零与兜底调整原因。 验证：联合变更的 220 项纵向及回放测试通过，补充换向和撤销搜索等待 19 项通过；201 帧 CPU 开环连续纵向回放通过，pnc_node 分布式编译通过。 2026-11-12 16:50:50 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修复起步加速度与制动恢复轨迹连续性editTesting/jerk_limited_stop_test.cppeditTesting/scene_replay_foundation_test.cppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/fsm_safety_brake.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/start_point_data.cppeditdata/lattice/trajectory_evaluator.cppedittasks/plan/lattice_task.cppeditdata/lattice/condition_sampler.cppeditreplayer/replayer_data_process/replayer_data_process.hppeditTesting/longitudinal_curve_validation_test.cppeditTesting/routing_map_guard_test.cppeditreplayer/replayer_data_process/replayer_computation_policy.hppdocs/pnc_algorithm_replay_plan.htmlTesting/pnc_case_cli_test.cppTesting/compact_scene_service_handler_test.cppTesting/scene_replay_foundation_test.cppdocs/pnc_algorithm_replay/usage.mdreplayer/scene_data/compact_scene_archive_codec.hppTesting/analysis_server_app_test.cppTesting/compact_replay_session_test.cppreplayer/scene_data/compact_scene_archive_codec.cpptools/pnc_proto_bag_to_scene/main.cppTesting/case_orchestrator_test.cppb3fdf582355c413a6b38c8b8265891a712d21f0b1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 逐帧保存回放归档的动态状态 默认每块保存一帧 Bootstrap，拒绝新的多帧有损写入；继续兼容历史多帧归档读取，文档说明旧文件缺失状态必须从原 bag 重建。 更新归档及服务测试，补充历史布局读取回归。原 bag 默认转换后 201 帧共 9 项 FSM 状态逐项与原始快照一致。 2026-11-12 16:50:50 +0800b3fdf582355c413a6b38c8b8265891a712d21f0bfix: 逐帧保存回放归档的动态状态editTesting/compact_scene_service_handler_test.cppeditdocs/pnc_algorithm_replay_plan.htmleditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/compact_scene_archive_codec.hppedittools/pnc_proto_bag_to_scene/main.cppeditTesting/case_orchestrator_test.cppeditTesting/compact_replay_session_test.cppeditTesting/scene_replay_foundation_test.cppeditTesting/pnc_case_cli_test.cppeditdocs/pnc_algorithm_replay/usage.mdeditTesting/analysis_server_app_test.cppTesting/experiment_session_test.cppdocs/pnc_algorithm_replay/usage.mdreplayer/algorithm_replay/experiment_session.cppfd04b7994fcb8f94be0a86a14e90f1e8cc9067f91794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 连续回放前拒绝重复与倒退时间戳 在执行任何规划任务之前检查整窗源时间和规划时间，明确拒绝重复、逆序及混合缺失时钟；保留原始索引、Recorded 展示和单帧执行能力，不自动删除重复记录。 验证异常输入不调用 runner，真实重复时间戳场景执行任务数为零。 2026-11-12 16:50:50 +0800fd04b7994fcb8f94be0a86a14e90f1e8cc9067f9fix: 连续回放前拒绝重复与倒退时间戳editTesting/experiment_session_test.cppeditdocs/pnc_algorithm_replay/usage.mdeditreplayer/algorithm_replay/experiment_session.cppreplayer/algorithm_replay/profile_collectors.cppTesting/profile_collectors_test.cppreplayer/algorithm_replay/assertions/longitudinal_trajectory.yamld1e335d4c8e5b01c977047a62a036cefdd3438551794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 使用本次规划起点校验纵向连续性 用本次有效起点和实际继承拼接点替代录制结果对照，速度与加速度连续性容差收紧到 1e-5；缺失值及未诊断调整失败。 为合法安全接管、低速归零和制动兜底保留显式诊断，增加全轨迹加速度与 jerk 观测以及误报漏报回归测试。 验证：相关测试通过，201 帧 CPU 连续纵向回放的严格连续性检查全部通过。 2026-11-12 16:50:50 +0800d1e335d4c8e5b01c977047a62a036cefdd343855fix: 使用本次规划起点校验纵向连续性editTesting/profile_collectors_test.cppeditreplayer/algorithm_replay/assertions/longitudinal_trajectory.yamleditreplayer/algorithm_replay/profile_collectors.cppreplayer/scene_data/generated/boost_nested_serialization_audit.yamltools/pnc_proto_mapper/test_draft_persistence_policy.pyreplayer/scene_data/generated/boost_nested_omitted_leaves.csvtools/pnc_proto_mapper/draft_persistence_policy.pyreplayer/scene_data/plan_frame_persistence_policy.yamldocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdreplayer/scene_data/generated/boost_nested_leaf_matrix.csvreplayer/scene_data/generated/boost_compact_persistence_diff.yaml29f929a6a3cc23e148f64a4499f2cb7d83b57cf31794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 同步旧耗时字段废弃后的持久化审计 审计分类遵守 Full mapping 的 schema_exclude，将 plan_thread_time_s_ 识别为 Deprecated 并保留 Compact ID 54，避免误判为 Full-only。 保留已有配置输入的审查状态，登记替代耗时观测字段的 RecordedDebug 合同，重新生成顶层策略、递归叶子证据与持久化目录。 验证：check-legacy-persistence、check-generated、check-proto-breaking 全部通过；11 项耗时采集及 Full/Compact/Candidate 编解码测试通过。 2026-11-12 16:50:50 +080029f929a6a3cc23e148f64a4499f2cb7d83b57cf3fix: 同步旧耗时字段废弃后的持久化审计editreplayer/scene_data/generated/boost_nested_leaf_matrix.csveditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/scene_data/generated/boost_compact_persistence_diff.yamledittools/pnc_proto_mapper/test_draft_persistence_policy.pyeditreplayer/scene_data/generated/boost_nested_omitted_leaves.csveditreplayer/scene_data/generated/boost_nested_serialization_audit.yamleditreplayer/scene_data/plan_frame_persistence_policy.yamledittools/pnc_proto_mapper/draft_persistence_policy.pyssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/scenarios/truck_general_planner.hssep/scenarios/truck_multi_seg_general_planner.hssep/scenarios/junction_exit_validation.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/junction_adjustment_policy.hssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.cce272fef1a3cdf5b3b606b354810d82419ba992911794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 向旧分支移植普通路口多段搜索约束 移植 feat_daxie_proto 的 7f5875a5c，适配旧 SsepPlanner 和 SsepInput 接口。 接入路口授权、剩余换向预算、当前方向、曲率比例及出口直尾约束， 保持录制车辆模型不变，并验收真实发布路径的几何与完整车体碰撞。 补齐实时 KEB 真实执行终点的曲率验收，保留旧优化器的修复方式。 验证：SSEP 搜索、活动倒车重搜、换向预算及 KEB 边界共 43 项测试通过。 2026-11-12 16:50:50 +0800e272fef1a3cdf5b3b606b354810d82419ba99291feat: 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向旧分支接入路口多段执行与连续搜索 移植 feat_daxie_proto 的 671c960a5 和 7a69f0b36，保留旧分支输入输出接口。 按具体路口及入口出口授权多段搜索，绑定任务与累计换向进度， 接入分段引导、真实换向点停车、方向锁和连续路口交接。 适配旧帧环境尚未挂接时的请求身份检查，避免正常换向误触发重搜。 同步配置与跨帧状态的 Full/Compact/Candidate 合同、生成物和往返测试。 保留旧分支停车及起步直行状态；新增执行、配置、限速和 SS 连续帧回归。 依赖新版场景 wire 的可选录制诊断未迁入，未改变旧场景格式。 验证：pnc_node 分布式编译通过；共 2442 项测试通过、147 项跳过。 Proto scaffold/generate/check-generated/check-proto-breaking 通过。 2026-11-12 16:50:50 +0800bde026cc22e18860dd4b85208734faee049970fefeat: 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路口单段优化失败后继续搜索多段路径 保留前进候选的正常优先级；当其优化失败且剩余预算允许两次换向时，在原截止时间内重新搜索含倒车段的候选。修复阶段复用多段泊车的精细运动学和动态约束权重，保持原有几何、全车碰撞和出口验收标准，并保留粗搜索路径用于诊断。 加入 2026-11-11 11:04:13 原始失败场景回归，覆盖 0、1、2 次换向预算。原场景 CPU 回放成功，72 项相关测试通过，pnc_node 编译通过。 2026-11-12 16:50:50 +0800ed430823843bbe0ed1063760c87500fd6450e470fix: 路口单段优化失败后继续搜索多段路径addssep/test/fixtures/junction_uturn_20261111_110413.pbeditssep/scenarios/truck_multi_seg_general_planner.heditssep/test/CMakeLists.txtaddssep/test/junction_multi_segment_replay_test.ccTesting/search_reference_prefix_test.cppdata/ssep/ssep_ec.cpp073972bbfed010c3237a9f0b44660c5b89e447801794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐路口搜索主帧参数避免成功后无路径停车 在正式请求配置入口复用 ConfigureSsepInputParams，让主帧和异步搜索线程使用一致的车辆模型。避免主帧默认零轴距、零转角使执行曲率上限为零，导致三段搜索成功后入口引导线被拒绝。 新增真实请求配置、三段划分及第一段 GuideLine::Process 回归，并检查重复配置不会重复应用曲率比例。771 项相关测试通过、133 项按条件跳过，pnc_node 编译通过。现场 bag 配对成功搜索记录的 9 帧路径消费对照全部恢复有效引导线和规划路径；未覆盖完整 FSM、纵向和车辆闭环。 2026-11-12 16:50:50 +0800073972bbfed010c3237a9f0b44660c5b89e44780fix: 补齐路口搜索主帧参数避免成功后无路径停车editTesting/search_reference_prefix_test.cppeditdata/ssep/ssep_ec.cppTesting/step_align_distance_source_test.cppplan/prepare/prepare_status.cpp6b82dc6ed53a127728ebdf16d4c91cdbe6de305e1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 路口多段调整自动启用原地转向 按当前任务绑定的路口调整状态启用原地转向，重规划期间保持，任务退出、失效或取消后自动清除。沿用现有转向到位起步检查，并保留 IMV 排除及全局开关行为。 验证：pnc_node 和 foundation 测试目标编译通过；原地转向与准备阶段 17 个测试通过。 2026-11-12 16:50:50 +08006b82dc6ed53a127728ebdf16d4c91cdbe6de305efix: 路口多段调整自动启用原地转向editTesting/step_align_distance_source_test.cppeditplan/prepare/prepare_status.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/replayer_data_process/replayer_data_process.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/map/reference/reference_road_section.cpptools/pnc_proto_mapper/draft_persistence_policy.pyreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/compact_inherited_container_contracts.yamlreplayer/scene_data/compact_numeric_policy.yamlreplayer/replayer_data_process/replayer_data_process.hppreplayer/scene_data/generated/boost_compact_persistence_diff.yamldocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/compact_driving_corridor_restore_test.cppreplayer/scene_data/plan_frame_persistence_policy.yamlreplayer/scene_data/plan_frame_full_mapping.yamldocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protoreplayer/scene_data/remaining_plan_proto_codec.hpp3e3c889fbffec28a735ce579187543950aff279e1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐新快照备用参考线重建数据 将备用本地地图索引和状态纳入 Compact ReplayInput，更新字段合同及生成物。 回放使用同帧路由位姿和精确地图重建几何，绕过在线降频门控； 参考线匹配缺失时恢复匹配，失败返回诊断，避免路口构建断言。 不为旧 bag 补造缺失索引。 增加 Full/Recorded/Candidate 往返、索引越界与新 writer 完整恢复测试。 真实地图集成测试通过独立子进程隔离全局 HDMap/ROS 状态， 并使用专用成功退出码防止异常退出被误判为通过。 验证：分布式编译、生成物及 Proto breaking 检查通过； 启用集成测试后 580 项通过、13 项跳过，失败输入正确返回失败。 2026-11-12 16:50:50 +08003e3c889fbffec28a735ce579187543950aff279efix: 补齐新快照备用参考线重建数据editTesting/compact_driving_corridor_restore_test.cppeditreplayer/scene_data/plan_frame_persistence_policy.yamleditreplayer/scene_data/compact_inherited_container_contracts.yamleditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/boost_compact_persistence_diff.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/replayer_data_process/replayer_data_process.cppeditreplayer/replayer_data_process/replayer_data_process.hppeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/remaining_plan_proto_codec.hppeditdata/map/reference/reference_road_section.cppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditreplayer/scene_data/plan_frame_field_roles.csvedittools/pnc_proto_mapper/draft_persistence_policy.pyreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/ssep/ssep_util.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/boundary/driving_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppTesting/roadside_contour_test.cppreplayer/scene_data/generated/container_schema_inputs.jsontasks/deciders/other_decider/replan_decider.hppTesting/ssep_path_corridor_test.cppplan/prepare/prepare_ogm.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlhmi/draw/draw_perception.cppdata/ssep/forward_ec.cppdata/obstacle/ogm.hppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamlTesting/keb_gate_filter_test.cppplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppdata/obstacle/ogm.cppreplayer/scene_data/generated/state_schema_inputs.jsonef98592a203ae633ad1ed6057e6bcc5c728622d31794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 115 防护点云并分离搜索与碰撞建图 新增默认关闭的 115 点云碰撞开关，关闭时保留搜索和侧避约束， 显示固定使用特殊点云颜色，并补齐 Full/Compact 配置编解码。 搜索按需从冻结采样点独立建图，散料出场保留原始点云入口； 精细采样按用途去重，避免普通障碍被其他类型挤掉，并保留既有搜索类型过滤。 挡停重搜使用聚类多边形距离及包围框筛选，正确处理相交和包含。 验证：93 项相关测试通过，主程序编译通过；独立暂存源码的生成物、 协议兼容检查及混合文件语法检查通过。 2026-11-12 16:50:51 +0800ef98592a203ae633ad1ed6057e6bcc5c728622d3feat: 支持 115 防护点云并分离搜索与碰撞建图edittasks/plan/keb_utils.cppeditdata/config/cfg_func_sw.hppeditproto/config.protoeditdata/ssep/ssep_util.cppeditreplayer/scene_data/config_proto_codec.cppeditplan/prepare/prepare_ogm.cppeditTesting/scene_replay_foundation_test.cppeditdata/boundary/driving_corridor_test.cppeditdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/deciders/other_decider/replan_decider.cppeditplan/prepare/prepare_ogm.hppeditreplayer/scene_data/generated/state_schema_inputs.jsonedittasks/deciders/other_decider/replan_decider.hppeditTesting/ssep_path_corridor_test.cppeditdata/obstacle/ogm.cppeditdata/ssep/forward_ec.cppeditTesting/keb_gate_filter_test.cppeditTesting/roadside_contour_test.cppeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/generated/container_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamledithmi/draw/draw_perception.cppssep/scenarios/truck_multi_seg_general_planner.h66023da3b9c53d541aafa5c44b5ee9d33e51bdb91794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复路口多段候选优化失败后提前结束搜索 将优化和最终可行性验收纳入终点候选回调，拒绝候选后保留搜索队列继续尝试；仅缓存并返回完整验收通过的路径，每次规划清空候选状态。 路口调整搜索保留 5% 曲率余量，最终曲率与碰撞验收保持原约束。现场 2026_11_11_22_11_43 场景 CPU 回放两次通过，输出前进、倒车、前进三段路径；验证短预算超时不输出路径。 2026-11-12 16:50:51 +080066023da3b9c53d541aafa5c44b5ee9d33e51bdb9fix: 修复路口多段候选优化失败后提前结束搜索editssep/scenarios/truck_multi_seg_general_planner.hssep/test/scene_replay_obstacle_inputs_test.ccssep/ssep_planner.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.cc4524402866e000a52fb266bce9cd66e8f68e2e951794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 路口多段搜索统一应用地图可行驶包络 junction_request 多段搜索在障碍层和约束层均保留地图 contour， 关闭起终点通道替代，避免搜索与最终碰撞验收使用不同可行驶区域。 同步在线和录制场景回放入口，保持非路口场景原有配置。 验证：分布式构建 ssep_planner_test；SceneReplayObstacleInputsTest 9/9 通过。 2026-11-12 16:50:51 +08004524402866e000a52fb266bce9cd66e8f68e2e95fix: 路口多段搜索统一应用地图可行驶包络editssep/ssep_planner.cceditssep/test/scene_replay_obstacle_inputs_test.cceditssep/maps/ogm_config_utils.heditssep/maps/ogm_config_utils.ccTesting/out_yard_bag_regression_test.cpptasks/deciders/long_decider/constrain_decider.cppTesting/bulk_speed_limit_test.cppdocs/bulk_open_space_speed_limit.md16417fbd8fdd981245cfd775e2094320a0fab51f1794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按有限路径与车身交集判断区域限速 用有限路径带与配置多边形的真实交集替代全局 SL 顶点极值， 避免远处及侧方长区域错误产生 0.8 m/s 限速；保留 10 m 预瞄、 凹区域分离区间、转角连接及车辆完全离区后的释放逻辑。 挂车尾部按挂接点尺寸计算，补充实车铰接轮廓和倒车模式检查。 验证：bulk_speed_limit_test 65/65 通过；21:32 bag 开环回放 111 帧， 原本误限速的 5 帧均未再生成 configured_rectangle_0。 2026-11-12 16:50:51 +080016417fbd8fdd981245cfd775e2094320a0fab51ffix: 按有限路径与车身交集判断区域限速editTesting/bulk_speed_limit_test.cppeditTesting/out_yard_bag_regression_test.cppeditdocs/bulk_open_space_speed_limit.mdedittasks/deciders/long_decider/constrain_decider.cppdata/plan/ssep_data.cppdocs/ssep/junction_adjustment.mddata/constrain/long_target.cppdata/map/pnc_map/routing_extension/routing_data.cppscenarios/task_condition_evaluator.hppTesting/long_target_activation_test.cppdata/ssep/ssep_scenario_config_loader.cppdata/vehicle/vehicle_destination.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/routing_transition_test.cppreplayer/scene_data/compact_custom_field_proto_codec.cppdata/constrain/speed_hard_constrain.cppdata/plan/ssep_task_context.cppproto/decision.protodata/ssep/ssep_ec.cppTesting/ssep_path_corridor_test.cppplan/prepare/module.cppTesting/reverse_pickup_stage_selector_test.cppreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/pnc_scene/compact_replay_input.protodata/ssep/segment_speed_policy.cppdata/ssep/location_condition.hppTesting/reference_line_replan_test.cppreplayer/scene_data/config_proto_codec.cppdata/config/cfg_stage.cpptasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/compact_numeric_policy.yamldata/map/pnc_map/pnc_map.cpptasks/plan/keb_utils.cppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/other/segment_speed_task_start.cppdata/ssep/ssep_scenario_config.cppreplayer/scene_data/plan_frame_persistence_policy.yamldata/constrain/longitude_constrain.hppreplayer/scene_data/compact_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/lattice/trajectory1d_generator.cppdata/plan/ssep_data.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/constrain/longitude_constrain.cpptasks/plan/keb_path_optimize_task.cpptasks/other_tasks/junction_adjustment_execution.hppTesting/bulk_speed_limit_test.cppscenarios/task_condition_evaluator.cppTesting/cfg_scenarios_proto_codec_test.cppTesting/search_decider_lifecycle_test.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpptasks/deciders/other_decider/replan_decider.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cpptasks/other_tasks/stitch_path_data_to_path.cppdocs/ssep/segment_speed_rules.mddata/ssep/segment_speed_policy.hppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/longitude_constrain_proto_codec.cpptasks/deciders/long_decider/constrain_decider.hppdata/map/pnc_map/pnc_map.hppTesting/keb_gate_filter_test.cppdata/ssep/location_condition.cppdata/map/pnc_map/road_segments.cppdata/config/cfg_stage.hppscenarios/stage.cppTesting/parking_pass_progress_test.cppreplayer/scene_data/config_proto_codec.hppdata/other/segment_speed_task_start.hppreplayer/scene_data/generated/state_schema_inputs.jsonreplayer/scene_data/plan_frame_field_roles.csvTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/ssep_scenario_config.hpp948b9e07ac3393ebc488772bee0e8e878ef711741794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善路口多段执行和场景化分段限速 首尾前进段按配置选择横向规划器，中间调整段使用 SSEP；补齐 TaskConditionType、换向重搜等待、执行路径算距、出口路由匹配、 路口入口回视范围及同任务同段缓存归属，避免切段后无路径或状态反复切换。 复用 SSEP 触发规则配置 BULK_IN、BULK_OUT 和路口调整限速，支持 路口/转向列表、起终点位置及 lane/yard 条件；新任务路由成功后 冻结起点。支持 approach/departure 自定义距离分档及有限生效区间， 补齐离区后正常巡航提速候选，同时保持独立安全约束和首点 v/a 连续。 终端停车模式继续沿用保守的停车候选，不额外引入离区提速。 同步 Full/Compact 字段、数值精度策略、缺字段兼容和配置文档。 验证：生成与协议兼容性检查通过，pnc_node 分布式构建成功； 相关主体回归 1369 项通过、15 项可选测试跳过，另补 KEB 459 项通过、重搜 601 项通过（133 项可选测试跳过）。 2026-11-12 16:50:51 +0800948b9e07ac3393ebc488772bee0e8e878ef71174feat: 完善路口多段执行和场景化分段限速editdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdocs/ssep/junction_adjustment.mdeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamledittasks/other_tasks/junction_adjustment_execution.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/plan_frame_persistence_policy.yamleditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/long_target_activation_test.cppeditdata/constrain/longitude_constrain.hppeditdata/lattice/trajectory1d_generator.cppeditdata/plan/ssep_data.hppeditdata/ssep/ssep_ec.cppeditTesting/bulk_speed_limit_test.cppeditTesting/ssep_path_corridor_test.cppeditTesting/reference_line_replan_test.cppeditreplayer/scene_data/compact_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/search_decider_lifecycle_test.cppeditdata/map/pnc_map/pnc_map.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/ssep_scenario_config.hppeditdata/map/pnc_map/routing_extension/routing_data.hppeditplan/prepare/module.cppedittasks/deciders/long_decider/constrain_decider.hppedittasks/plan/keb_utils.cppeditTesting/reverse_pickup_stage_selector_test.cppeditTesting/cfg_scenarios_proto_codec_test.cppadddata/ssep/segment_speed_policy.cppeditproto/plan_data.protoeditdata/ssep/location_condition.hppeditproto/config.protoedittasks/deciders/other_decider/replan_decider.cppeditdata/constrain/longitude_constrain.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/config_proto_codec.hppeditdata/ssep/ssep_scenario_config_loader.cppeditTesting/parking_pass_progress_test.cppeditreplayer/scene_data/longitude_constrain_proto_codec.cppeditscenarios/stage.cppeditdata/plan/ssep_data.cppeditscenarios/task_condition_evaluator.cppeditdata/ssep/ssep_scenario_config.cppeditdata/constrain/long_target.cppeditdata/constrain/speed_hard_constrain.cppedittasks/other_tasks/stitch_path_data_to_path.cppedittasks/plan/keb_path_optimize_task.cppeditTesting/routing_transition_test.cppadddata/other/segment_speed_task_start.hppeditreplayer/scene_data/cfg_scenarios_proto_codec.cppeditreplayer/scene_data/compact_numeric_policy.yamleditscenarios/task_condition_evaluator.hppeditTesting/keb_gate_filter_test.cppadddata/other/segment_speed_task_start.cppeditdata/ssep/location_condition.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditdata/plan/ssep_task_context.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/road_segments.cppadddocs/ssep/segment_speed_rules.mdeditproto/pnc_scene/compact_replay_input.protoadddata/ssep/segment_speed_policy.hppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/vehicle/vehicle_destination.cppeditproto/decision.protoeditdata/map/pnc_map/routing_extension/routing_data.cppeditreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/live_compact_context_codec.hppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoTesting/pnc_case_cli_test.cppreplayer/scene_data/compact_scene_archive_codec.hppreplayer/scene_data/live_compact_context_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_scene_archive_codec.cppreplayer/scene_data/generated/config_schema_inputs.jsondocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppTesting/analysis_server_app_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbf2874b799504d9359cf96f89db1ceacc624374441794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容变基合并后的配置开关编号 保留已录制的点云碰撞开关字段 252，将上游倒车对准受阻开关调整到 253，重新生成配置合同和描述符。 Live 解码按已知旧版本迁移，Archive 按原始描述符迁移，均在原始完整性校验后执行，避免重编码数据再次迁移。补充双分支 true/false、输入保持、Recorded/Candidate 和异常合同测试，并修复 Protobuf 3.9 精确消息长度的解析边界。 旧上游读端不能解释新录制的字段含义，使用匹配的新回放 backend；具体兼容范围记录在字段合同文档。 2026-11-12 16:50:51 +0800f2874b799504d9359cf96f89db1ceacc62437444fix: 兼容变基合并后的配置开关编号editreplayer/scene_data/compact_scene_archive_codec.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/pnc_case_cli_test.cppeditproto/config.protoeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/analysis_server_app_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/live_compact_context_codec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/live_compact_context_codec.hppeditTesting/scene_replay_foundation_test.cppTesting/out_yard_bag_regression_test.cppdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cppdata/other/flow_control.cppf6c749067063f69e8d87fc980c073f7fd92f93081794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免普通路口多段路径误判为进出库 普通路口调整的新 SSEP 包络不再根据任务遗留途经点标记为进出库用途。 对当前任务绑定有效的普通路口调整优先排除进出库判定，兼容旧录制中的错误包络，避免 routing 使用远处旧出库途经点而更新失败。 补充旧包络、重搜、取消与换任务、新接收任务的边界测试，以及现场 bag 的独立帧路由回归。 现场 14 帧均成功匹配出口 1087_0_0；明确记录 MOTION_DISABLE 快照缺少参考线导致的下游 RDP 限制，不宣称恢复行驶。 验证：pnc_node 编译通过；包络测试 280 项、基础测试 594 项通过，16 项可选用例跳过；现场 bag 单独执行通过。 2026-11-12 16:50:51 +0800f6c749067063f69e8d87fc980c073f7fd92f9308fix: 避免普通路口多段路径误判为进出库editTesting/out_yard_bag_regression_test.cppeditdata/plan/ssep_data.cppeditdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppTesting/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cppTesting/straight_yard_stop_bag_test.cppTesting/CMakeLists.txtc255e0eaf81ae9ff4e8db38a01950c05d23584151794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 直行禁停开关覆盖穿堆场场景 移除直行过滤条件中对穿堆场的排除，使前后车道均属于堆场的直行连接也受 use_func_straight_out_yard_park 控制，修复路口 1016 在开关关闭后仍触发弯道禁停的问题。 保留入场、出场总开关及转弯、未知方向的原有行为。 扩展入场、出场和穿场单元回归，增加现场 bag 可选验证入口，检查关闭、开启、 再次关闭时的禁停数量，并输出首、中、末帧的实际路口属性与结果。 验证：19 项禁停及启动测试通过；使用录制版本 18a3d5efe 的 encoding 10 解码器、 精确匹配地图和本次生产过滤实现，三个选中帧均由基线 1/1/1 变为 0/1/0。 实包验证范围为独立帧禁停过滤；回放中的横向 DP 报错及完整轨迹不在本次验收范围。 2026-11-12 16:50:51 +0800c255e0eaf81ae9ff4e8db38a01950c05d2358415fix: 直行禁停开关覆盖穿堆场场景editdata/constrain/disable_stop_range.cppaddTesting/straight_yard_stop_bag_test.cppeditTesting/CMakeLists.txteditTesting/disable_stop_regression_test.cppssep/scenarios/truck_multi_segment_parking_planner.hssep/offboard/scene_replay/README.md53b57c871c6ebc304da9194340606d3c304f0a0f1794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免多段泊车调整搜索预算连续减半 外层细网格重试最多预留 2 秒且不超过剩余预算的 25%，为细步长调整保留有效搜索时间。保持原始请求总时限及轨迹硬约束，不引入 GPU 后端或专用搜索策略。 2026-11-12 16:50:51 +080053b57c871c6ebc304da9194340606d3c304f0a0ffix: 避免多段泊车调整搜索预算连续减半editssep/scenarios/truck_multi_segment_parking_planner.heditssep/offboard/scene_replay/README.mdssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/test/truck_bulk_exit_fallback_test.cce65503a044a3fe60b4a64842f3d27cd2c7ccd6c11794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 校验组合采样器子批次数量避免越界 子采样器返回数量与输入不一致时整体返回失败，避免空批次或短批次越界访问。覆盖空批次、数量不足、数量过多以及正常组合和空输入。该修复不依赖 GPU 批量搜索接入。 2026-11-12 16:50:51 +0800e65503a044a3fe60b4a64842f3d27cd2c7ccd6c1fix: 校验组合采样器子批次数量避免越界editssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/test/truck_bulk_exit_fallback_test.cc.vscode/tasks.json7866a325b2af037ba884a988b9722b98a4207bbb1794474125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 停止跟踪本地 VS Code 任务配置 移除误上传的 .vscode/tasks.json，沿用现有 .vscode 忽略规则；本地任务配置继续保留。 2026-11-12 17:02:05 +08007866a325b2af037ba884a988b9722b98a4207bbbchore: 停止跟踪本地 VS Code 任务配置delete.vscode/tasks.jsonTesting/ssep_path_corridor_test.cppTesting/parking_pass_progress_test.cppdata/ssep/forward_ec.cppdata/other/head_straight_progress.cppdata/ssep/ssep_ec.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/other/head_straight_progress.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppssep/data_structures/ssep_input.cc46bac704f8cd8cf0171d5c93fc6cbc299488d3471794483376000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在构造搜索起点时统一 IMV 固定车头航向 固定车头的 IMVGeneral 在实车、历史路径和默认起点构造时写入物理航向， 让环境清障与搜索使用相同姿态，请求封装不再后置修改起点。 提前恢复旧任务直行进度，避免锚点二次旋转；完成后不再继承禁翻头约束。 保持 BulkIn 各规划器原有航向约定，并让 IMVGeneral 录制方向与在线一致。 更新数据头文件审计摘要，不改变 Proto 字段。 验证：clang-format、生成一致性及协议检查通过；在线相关测试 288 项通过。 2026-11-12 19:36:16 +080046bac704f8cd8cf0171d5c93fc6cbc299488d347fix: 在构造搜索起点时统一 IMV 固定车头航向editdata/ssep/forward_ec.cppeditdata/other/head_straight_progress.hppeditdata/ssep/ssep_ec.hppeditdata/other/head_straight_progress.cppeditTesting/ssep_path_corridor_test.cppeditdata/ssep/ssep_ec.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/forward_ec.hppeditssep/data_structures/ssep_input.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/offboard/scene_replay/replay_scene_frame_cli.ccssep/offboard/ssep_planner_wrapper.ccssep/test/scene_replay_obstacle_inputs_test.cc1ceb4157158a2040e9552bd48a44e63f0a0441401794483383000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留 IMV 回放起始方向并显式兼容旧录制 旧反向作业录制在构建环境前恢复物理航向，同步转换前进和后退标记， 输出快照记录实际使用的搜索输入，不再无条件清空初始方向。 仅通过 legacy_imv_unspecified_start_direction 命令行开关忽略旧 writer 的占位方向，默认保留录制约束。新增六种姿态与方向组合的回放回归测试。 验证：相关搜索及回放测试 28 项通过；保留快照的 CPU 回放通过对应验收。 原始现场路径当前不可用，本轮使用保留快照；未测试 GPU、未部署。 2026-11-12 19:36:23 +08001ceb4157158a2040e9552bd48a44e63f0a044140fix: 保留 IMV 回放起始方向并显式兼容旧录制editssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/offboard/ssep_planner_wrapper.cceditssep/test/scene_replay_obstacle_inputs_test.ccTesting/routing_map_guard_test.cppdata/app/fsm/motion_fsm/motion_fsm.cppTesting/compact_driving_corridor_restore_test.cppdata/constrain/long_target.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/lattice/obstacle_stop_terminal.hppTesting/long_target_activation_test.cpp331691139fc69741811f352d04198b64a277c6341794489666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧障碍停车末端范围并同步状态机完成判定 将障碍停车末端收敛范围收紧为 0.10 米，范围外保留真实停车目标。 FSM 使用有效终点和当前同一约束判断完成及保持，核对任务、方向和路径段，保留安全接管优先级。 补充末端接近、状态生命周期及现场 bag 拒绝提前完成的回归测试。 2026-11-12 21:21:06 +0800331691139fc69741811f352d04198b64a277c634fix: 收紧障碍停车末端范围并同步状态机完成判定editdata/constrain/long_target.cppeditTesting/compact_driving_corridor_restore_test.cppadddata/lattice/obstacle_stop_terminal.hppeditTesting/long_target_activation_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cppeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonalgorithm/plan/lattice.cppdata/plan/start_point_data.cppTesting/scene_replay_foundation_test.cpp9d562c88066bcb33d0f9ea2a2695777f8bdf7a431794489666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持低速恢复规划的纵向拼接连续性 有效且可匹配的历史轨迹在低速及停稳反馈下继续提供纵向起点，保留历史失效和换向等回退。 拒绝首点速度或加速度不一致的历史停车曲线续接，由统一起点重建候选。 覆盖反馈抖动、跨模式继承、无历史回退及零速历史保持。 2026-11-12 21:21:06 +08009d562c88066bcb33d0f9ea2a2695777f8bdf7a43fix: 保持低速恢复规划的纵向拼接连续性editdata/plan/start_point_data.cppeditTesting/scene_replay_foundation_test.cppeditalgorithm/plan/lattice.cppreplayer/algorithm_replay/profile_collectors.cppTesting/profile_collectors_test.cpp21f6d73c20382ecf76f6273eb1ad68c260f79ff61794489666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 校准纵向回放连续性检查并记录轨迹峰值速度 正常规划按实际统一拼接点检查首点，不再由停稳反馈推断输出必须为零。 采集全部轨迹采样点的速度峰值并拒绝非有限值，补充相应回归测试。 验证：600 条现场快照分 5 窗口连续回放通过；366 项测试通过，1 项可选地图测试跳过。 2026-11-12 21:21:06 +080021f6d73c20382ecf76f6273eb1ad68c260f79ff6fix: 校准纵向回放连续性检查并记录轨迹峰值速度editreplayer/algorithm_replay/profile_collectors.cppeditTesting/profile_collectors_test.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hfb48ad35966a05b5ad61c4b95054c8c648f3c88e1794494136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持拖挂停车零拉直距离并保持终点位姿 严格解析非负尾段距离，保留小于搜索步长的显式值；零距离禁用反向直线预采样和额外软拉直约束。 每次重建优化问题后固定停车终点位置、车头与挂车朝向，覆盖普通及分阶段优化回归。 2026-11-12 22:35:36 +0800fb48ad35966a05b5ad61c4b95054c8c648f3c88efix: 支持拖挂停车零拉直距离并保持终点位姿editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_single_segment_parking_planner.hdata/ssep/trailer_parking_safety.cppTesting/trailer_parking_safety_test.cppTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/forward_ec.cpp03a1a021aaac284062277fafbf4d62f9e5b4dab41794494151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定动态拉直场景并优先使用显式距离 按实际 planner、车型及触发条件重新选取首条规则，清理跨请求残留；显式尾段优先，仅拖挂多段停车按开关启用动态计算。 动态距离含余量限制为 20 米并保持非有限输入防御；非法开关告警后按 false 处理，不中断环境构建。 验证：配置生命周期 184 项、拖挂安全 9 项测试通过。 2026-11-12 22:35:51 +080003a1a021aaac284062277fafbf4d62f9e5b4dab4fix: 限定动态拉直场景并优先使用显式距离editdata/ssep/trailer_parking_safety.cppeditTesting/trailer_parking_safety_test.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/forward_ec.cppssep/scenarios/two_stage_planner_composer.hssep/test/imv_turnaround_reference_test.ccssep/test/imv_parking_history_test.ccssep/scenarios/imv_general_planner.hssep/scenarios/imv_search_extra_params.hssep/data_structures/imv_terminal_straight.hssep/scenarios/scenario_planner_factory.hssep/scenarios/scenario_planner_interface.hssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/test/head_straight_distance_test.ccdocs/ssep_scenario_config_lifecycle.md4b9e03128b8d4259d43cc72eb65425a014b26c8f1794494165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 让 IMV 拉直距离贯穿搜索优化和输出验收 General 和多段停车读取显式尾段，已进入直线时仅补剩余距离，阻止未验收历史路径绕过约束。 途经点不重复施加终点尾段；输出沿用 planner 实际约束，保留精确入口并校验几何与曲率；起终重合时仍完成待执行途经点。 同步拉直配置语义文档，相关 IMV 与拖挂规划回归共 65 项通过。 2026-11-12 22:36:05 +08004b9e03128b8d4259d43cc72eb65425a014b26c8ffix: 让 IMV 拉直距离贯穿搜索优化和输出验收editssep/scenarios/scenario_planner_factory.heditssep/ssep_planner.cceditssep/scenarios/two_stage_planner_composer.heditssep/scenarios/imv_general_planner.heditssep/test/imv_turnaround_reference_test.cceditssep/scenarios/scenario_planner_interface.heditssep/data_structures/imv_terminal_straight.heditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_search_extra_params.heditssep/test/imv_parking_history_test.cceditssep/test/head_straight_distance_test.cceditdocs/ssep_scenario_config_lifecycle.mdgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenran2265http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2265/2263http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2263/Started by upstream project "orin-module-slave32" build number 5,6285628orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_yantaigunzhuangpncBranchfeat_sc_mpchdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#22632263false22631401680SUCCESS1794475299641http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2263/tasks/deciders/long_decider/constrain_decider.cppdata/app/cmd/cmd_dead_lock_force_park.cppdata/app/cmd/cmd_dead_lock.cppce187d7e7fac65d6d14bf02e7dc3cc3297137bd31794469360000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: DeadLock新的停止点在1m以内车辆不启动 2026-11-12 15:42:40 +0800ce187d7e7fac65d6d14bf02e7dc3cc3297137bd3feat: DeadLock新的停止点在1m以内车辆不启动editdata/app/cmd/cmd_dead_lock_force_park.cppeditdata/app/cmd/cmd_dead_lock.cppedittasks/deciders/long_decider/constrain_decider.cpptasks/deciders/long_decider/constrain_decider.cppcccbe7a1d3b143e58d348e50b327d24ed71ef9f31794469360000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: DeadLock 使用历史纵向约束判断近距离停车锁存状态 2026-11-12 15:42:40 +0800cccbe7a1d3b143e58d348e50b327d24ed71ef9f3fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态edittasks/deciders/long_decider/constrain_decider.cppTesting/sc_rotation_test_state.hppsink/ros_sink_ctrl_reference.cppdata/plan/ssep_data.cppTesting/sc_turn_in_place_mode_test.cppdata/vehicle/sc_turn_in_place_mode.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppTesting/sc_rotation_publish_replay.cppdata/vehicle/sc_turn_in_place_mode.hppTesting/sc_rotation_entry_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppba2ad480e207e2b87af4d2ebfddddbac6a54147f1794473810000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: require confirmed stop before SC rotation Route pending turns through MOVE_NSTOP and MOTION_STOP before entering MOVE_PREPARE. Remove rotation recovery shortcuts and gate published rotation activation to preparation. Advance the outgoing SSEP segment during a confirmed stop, including start rotations propagated from an end-point request. Add FSM, publication, and handoff regression coverage. 2026-11-12 16:56:50 +0800ba2ad480e207e2b87af4d2ebfddddbac6a54147ffix: require confirmed stop before SC rotationeditTesting/sc_turn_in_place_mode_test.cppeditdata/vehicle/sc_turn_in_place_mode.cppeditTesting/sc_rotation_entry_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditTesting/sc_rotation_publish_replay.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppaddTesting/sc_rotation_test_state.hppeditsink/ros_sink_ctrl_reference.cppeditdata/plan/ssep_data.cppgithttp://159.27.114.184:8080/jenkins/user/chenranchenran2264http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2264/2262http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2262/Started by upstream project "orin-module-slave32" build number 5,6225622orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_wuhanzhongtielianjipncBranchfeat_daxie_protohdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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by upstream project "orin-module-slave32" build number 5,6145614orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_wuhanzhongtielianjipncBranchfeat_daxie_protohdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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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editdata/plan/ssep_task_context.hppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditproto/pnc_scene/compact_replay_input.protoeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/plan/ssep_task_context.cppeditdata/plan/ssep_data.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdocs/ssep_search_lifecycle.mdeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditTesting/parking_pass_progress_test.cppadddata/other/head_straight_progress.cppeditreplayer/scene_data/plan_frame_field_roles.csveditplan/prepare/prepare_state.cppeditproto/plan_data.protoeditdata/plan/ssep_data.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/full_proto_custom_encoder.cppeditdata/ssep/ssep_ec.cppadddata/other/task_progress.hppadddata/other/head_straight_progress.hppeditreplayer/scene_data/compact_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/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.ccdata/ssep/forward_ec.cppTesting/parking_pass_progress_test.cpp60c1d9379949c885c603ce98f0325c0acc2407011794203208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留牵引车重规划时未完成的任务途经点 牵引车多段泊车拉直重规划复用任务途经点构造，避免以终点延伸的合成点覆盖尚未完成的任务点。保留任务点完成后及未配置任务点时的显式拉直行为。 增加威海现场坐标回归，覆盖重复重规划和任务点生命周期。分布式编译通过，相关 224 项测试全部通过；尚未验证完整泊车搜索。 2026-11-09 13:46:48 +080060c1d9379949c885c603ce98f0325c0acc240701fix: 保留牵引车重规划时未完成的任务途经点editdata/ssep/forward_ec.cppeditTesting/parking_pass_progress_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/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/predict_path.cppdata/plan/start_point_data.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/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editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditalgorithm/decision/semantic_set_transformation_2.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan/predict_path.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/config/cfg_dynamic.cppeditdata/plan/start_point_data.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/dp_poly_path/dp_road_graph.cppeditdata/plan_frame.cppeditproto/config.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_dynamic.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/compact_numeric_policy.yamlTesting/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cpp62885152c75772075c26f3f7e9f4e2c21b3670ae1794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 复用直行出堆场开关控制入堆场弯道禁停 直行入堆场与出堆场共用 use_func_straight_out_yard_park 参数，保留各自总开关及转弯、穿堆场策略。 扩展回归覆盖入场、出场、穿场、转弯及开关恢复；修改已在 feat_daxie_proto 完成分布式编译，17 项禁停相关测试通过。 2026-11-10 11:54:27 +080062885152c75772075c26f3f7e9f4e2c21b3670aefix: 复用直行出堆场开关控制入堆场弯道禁停editTesting/disable_stop_regression_test.cppeditdata/constrain/disable_stop_range.cpptasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cppTesting/bulk_speed_limit_test.cppf86e45c7294f184fa67775f6d80a65bc9771dc451794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐普通路由非末段终点停车防护 普通 routing 在非 bulk in 场景使用当前段终点距离创建停止线，避免同向 分段路由索引未切换时丢失终点停车约束；保留 bulk in、SSEP 和混合 路径的末段判断，并过滤无效终点距离。越过终点后继续保留停车约束。 接收任务时对换向途经点连接同向路由记录错误日志，不改变任务、 操作方向或停车策略。补充录制负距离、连续重规划、真实换向、 bulk in 切换及无效数据回归，并修正双向 IMV 测试的车型子类型配置。 2026-11-10 11:54:27 +0800f86e45c7294f184fa67775f6d80a65bc9771dc45fix: 补齐普通路由非末段终点停车防护editTesting/routing_transition_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/bulk_speed_limit_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cppdata/obstacle/cluster_lane_change_safety_test.cppTesting/compact_driving_corridor_restore_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editdata/obstacle/cluster_motion_tracker.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditTesting/compact_driving_corridor_restore_test.cppssep/test/ssep_planner_test.ccssep/test/forward_clearance_check_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.h4bad66115966ad2e0f52c11bb72fb96e162c05c61794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 减少拖挂多段搜索的重复碰撞验收耗时 为单次静态地图搜索构建碰撞线段空间索引，并按完整边几何缓存 normal 扩展检查结果；缓存有容量上限，超时不缓存，stop 仍独立验收。 窄换向偏好阶段没有有效候选且再次命中同一精确碰撞边时，提前转入 已有任务区域兜底，保留总请求时限、最终碰撞检查和换向区域上限。 增加索引等价性、缓存生命周期、超时及阶段切换测试。 验证：105 项相关单测通过，1 项原有禁用；Orin 两个现场场景共 6 次 实际 GPU 回放成功，独立碰撞检查为零。拖挂回归执行 37 条真实 GPU 测试，9 条原规则失败在修复前同样失败；另有途经点走向不符合业务 要求但被旧规则判过的案例，两版 273 个路径状态完全一致，仍待修复。 2026-11-10 11:54:27 +08004bad66115966ad2e0f52c11bb72fb96e162c05c6fix: 减少拖挂多段搜索的重复碰撞验收耗时editssep/scenarios/forward_clearance_check.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/forward_clearance_check_test.cceditssep/test/ssep_planner_test.ccdata/plan/ssep_data.cppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/plan/ssep_data.hppdata/ssep/parking_task_params.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/plan/ssep_task.cppdata/ssep/ssep_scenario_config_loader.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/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.pbTesting/ssep_scenario_config_lifecycle_test.cppreplayer/scene_data/generated/plan_frame_descriptor.pb9c065453895757fcf39346e2aa6265d24a24ccd11794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 同一停车任务沿用起点规则选定的曲率参数 通过 task_persistent_params 显式选择完整的三项停车曲率参数， 在实际提交搜索后绑定，同任务跨位置、途经点完成和倒车重搜保留。 任务身份或终点变化、取消、结束时清除，仅向停车规划器恢复参数。 补齐跨帧继承、Full/Compact/Candidate 类型化状态与缺字段兼容， 增加配置校验、生命周期及实际任务身份回放测试。 验证：146 项场景配置测试、46 项状态与配置回放测试通过； 生成文件、字段覆盖及 Proto breaking 检查通过。 2026-11-10 11:58:44 +08009c065453895757fcf39346e2aa6265d24a24ccd1feat: 同一停车任务沿用起点规则选定的曲率参数editTesting/scene_replay_foundation_test.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/ssep_scenario_config_loader.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_numeric_policy.yamleditdata/plan/ssep_data.hppeditreplayer/scene_data/plan_frame_full_mapping.yamleditdata/plan/ssep_data.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdata/ssep/ssep_ec.cppeditproto/plan_data.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppadddata/ssep/parking_task_params.hppedittasks/plan/ssep_task.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditplan/prepare/prepare_state.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/other/parking_pass_progress.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/full_proto_custom_encoder.cppTesting/ssep_path_corridor_test.cppdata/ssep/ssep_ec.cpp41636368c43329dddd33897cdeeb1da138d9a5f91794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留 IMV 禁止翻头时的起始操作头身份 IMVGeneral 禁止起点翻头时保留当前操作模式，避免首次同点搜索丢失换向信息。补充首次搜索、换向和停稳重搜的输入及场景导出回归用例，并更新起点偏移任务退出后的预期。 2026-11-10 11:58:44 +080041636368c43329dddd33897cdeeb1da138d9a5f9fix: 保留 IMV 禁止翻头时的起始操作头身份editdata/ssep/ssep_ec.cppeditTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cppscenarios/stage.cppscenarios/scenario.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/stage.cppedithmi/widget/diagnose.cppeditscenarios/scenario.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonscenarios/task_condition_evaluator.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/ssep/ssep_scenario_config_loader.cppscenarios/task_condition_evaluator.cppTesting/cfg_scenarios_proto_codec_test.cppdata/ssep/offline_obstacles_loader.cppssep/scenarios/imv_general_planner.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/other/head_straight_progress.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/test/head_straight_distance_test.ccdata/ssep/ssep_ec.cpptasks/other_tasks/stitch_path_data_to_path.cppTesting/ssep_path_corridor_test.cppTesting/reverse_pickup_stage_selector_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/cfg_scenarios_proto_codec.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/config.protodata/ssep/location_condition.hppreplayer/scene_data/compact_numeric_policy.yamlssep/scenarios/scenario_planner_factory.hdata/config/cfg_stage.cppdata/ssep/location_condition.cpptools/pnc_proto_mapper/test_exact_numeric_codegen.pydata/ssep/offline_obstacles_loader.hppdata/config/cfg_stage.hppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyreplayer/scene_data/generated/plan_frame_descriptor.pbc466a901055983a21871cb475392d8a6ef5147951794295845000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景组合条件与 IMV 出库固定直行 兼容原有 OR 条件列表，增加 all/any、库区位置及 SSEP 首末中段条件，同步 Full/Compact 配置合同。 支持指定分段直接使用 SSEP 路径及 BulkOut 末段选择 KEB；IMV 沿物理车头直行并在重搜时保留剩余距离，两段式搜索不重复施加首段约束。 验证：foundation 541 项、routing 138 项、corridor 237 项通过；SSEP 相关 29 项通过，foundation 13 项可选测试跳过。 2026-11-10 15:30:45 +0800c466a901055983a21871cb475392d8a6ef514795feat: 支持场景组合条件与 IMV 出库固定直行editreplayer/scene_data/compact_numeric_leaf_contract.csveditssep/test/head_straight_distance_test.cceditdata/other/head_straight_progress.cppeditproto/config.protoeditTesting/cfg_scenarios_proto_codec_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/ssep_path_corridor_test.cppeditdata/ssep/offline_obstacles_loader.cppeditreplayer/scene_data/cfg_scenarios_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/scenarios/imv_general_planner.heditTesting/reverse_pickup_stage_selector_test.cppedittools/pnc_proto_mapper/test_exact_numeric_codegen.pyeditdata/config/cfg_stage.hppadddata/ssep/location_condition.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/ssep/offline_obstacles_loader.hppedittasks/other_tasks/stitch_path_data_to_path.cppeditTesting/scene_replay_foundation_test.cppeditdata/ssep/ssep_scenario_config_loader.cppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditscenarios/task_condition_evaluator.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/scenarios/scenario_planner_factory.heditdata/ssep/ssep_ec.cppeditreplayer/scene_data/plan_frame_field_roles.csvadddata/ssep/location_condition.hppeditdata/config/cfg_stage.cppeditTesting/parking_pass_progress_test.cppeditscenarios/task_condition_evaluator.hppdata/boundary/road_boundary.cppdccb10f976ff8a4e11c758ec1d710d0cf8d99b3a1794300031000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换 2026-11-10 16:40:31 +0800dccb10f976ff8a4e11c758ec1d710d0cf8d99b3afix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换editdata/boundary/road_boundary.cppdata/obstacle/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.cppdata/boundary/road_boundary.cpp6c0824c216a0f1640de2398a81eb76966667099b1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄 路径穿过多边形边时，同时过滤两侧连续共线邻边， 避免入口被多个顶点拆段后残留边参与道路边界求交。 复用现有平行及共线判断，支持闭合首尾并跳过零长度边； 遇到转角停止扩展，不改变合并包络生成逻辑。 2026-11-10 17:01:46 +08006c0824c216a0f1640de2398a81eb76966667099bfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄editdata/boundary/road_boundary.cppreplayer/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/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvdata/constrain/block_data.hppproto/decision.protoreplayer/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/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/plan_frame_field_roles.csveditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/constrain/disable_stop_range.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditproto/config.protoeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditproto/decision.protodata/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_test.cppeditdata/obstacle/decision/obstacle_decision.cppdata/plan/ssep_data.cppTesting/ssep_path_curvature_test.cppdata/ssep/ssep_ec.cppdata/ssep/ssep_util.cpp3dcd53eb0eb9d4786209096a235efda466d0dd3b1794319795000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 SSEP 曲率方向与控制转向约定 按路径点序计算左正右负的有符号曲率，消除旧叉积阈值导致的方向反转和采样间距依赖，避免左转路径原地打轮时先向右打。 在倒车分段和挂车参考路径转换处显式转为车头方向曲率，保持与控制原地转向及 MPC 前馈公式一致。重复点返回零曲率，不足五点时清理旧曲率，防止重复计算翻转缓存。 补充魏桥现场样本、左右转、前后换向、不同采样间距、退化点、短路径重复计算及挂车参考方向回归。 验证：clang-format 21.1.8；Icecream 分布式构建成功；pnc_ssep_path_corridor_test 共 244 项通过。 2026-11-10 22:09:55 +08003dcd53eb0eb9d4786209096a235efda466d0dd3bfix: 修正 SSEP 曲率方向与控制转向约定editdata/plan/ssep_data.cppeditTesting/ssep_path_curvature_test.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppTesting/bulk_speed_limit_test.cppTesting/CMakeLists.txttasks/deciders/long_decider/constrain_decider.cpp5d58b8d53e668e7395fb0a3b03e5ed975d12ed951794369300000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复多段路由换向点停车原因冲突 先建立本帧操作头换向停车约束，仅在该约束匹配有效且距离有限时， 抑制普通路由非末段重复的绝对终点停车线，避免 ABSOLUTE_SIGN_STOP 抢占停因后阻止路由释放当前段。保留末段、同向和换向投影失败时的 终点停车防护，并修正操作头数组的边界判断。 新增换向停因及路由释放、模式进入持续退出、无效路由、投影失败恢复 和约束匹配失效的回归；测试只隔离外部地图查询，执行生产约束和停因逻辑。 验证：分布式编译通过，38 项单测通过，clang-format 21 修改范围检查通过。 东方特钢 309 bag 使用精确地图加载成功，但输入恢复报 standby_index_seed_missing，未执行到修复逻辑，现场回放验收尚未完成。 2026-11-11 11:55:00 +08005d58b8d53e668e7395fb0a3b03e5ed975d12ed95fix: 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#22582258false22581398511SUCCESS1794373988213http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2258/Testing/bulk_speed_limit_test.cppTesting/CMakeLists.txttasks/deciders/long_decider/constrain_decider.cpp5d58b8d53e668e7395fb0a3b03e5ed975d12ed951794369300000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复多段路由换向点停车原因冲突 先建立本帧操作头换向停车约束，仅在该约束匹配有效且距离有限时， 抑制普通路由非末段重复的绝对终点停车线，避免 ABSOLUTE_SIGN_STOP 抢占停因后阻止路由释放当前段。保留末段、同向和换向投影失败时的 终点停车防护，并修正操作头数组的边界判断。 新增换向停因及路由释放、模式进入持续退出、无效路由、投影失败恢复 和约束匹配失效的回归；测试只隔离外部地图查询，执行生产约束和停因逻辑。 验证：分布式编译通过，38 项单测通过，clang-format 21 修改范围检查通过。 东方特钢 309 bag 使用精确地图加载成功，但输入恢复报 standby_index_seed_missing，未执行到修复逻辑，现场回放验收尚未完成。 2026-11-11 11:55:00 +08005d58b8d53e668e7395fb0a3b03e5ed975d12ed95fix: 修复多段路由换向点停车原因冲突editTesting/bulk_speed_limit_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/CMakeLists.txtgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun1102259http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2259/2257http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2257/Started by upstream project "orin-module-slave32" build number 5,6005600orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_jiaxingdongfangtegangpncBranchfeat_daxie_proto_oldhdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#22542254false22541397897SUCCESS1794323768183http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2254/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_ec.cppeditdata/plan/ssep_data.cppeditTesting/ssep_path_curvature_test.cppeditdata/ssep/ssep_util.cppgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun1102255http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2255/2253http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2253/Started by upstream project "orin-module-slave32" build number 5,5965596orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_wuhanzhongtielianjipncBranchfeat_daxie_protohdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#22532253false22531397844SUCCESS1794313596928http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2253/Testing/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cpp204d6990eee8ee5e3d01c8f5df736e40501a5a881794217588000http://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。 2026-11-09 17:46:28 +0800204d6990eee8ee5e3d01c8f5df736e40501a5a88fix: 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.cppdata/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/long_decider/constrain_decider.cppTesting/routing_transition_test.cppTesting/bulk_speed_limit_test.cpp1d69052640fd15f311424f3ce043b7dfa61966b31794218926000http://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。 (cherry picked from commit f520feb0c89e7c41663bf421a5031733ef3e128c) 2026-11-09 18:08:46 +08001d69052640fd15f311424f3ce043b7dfa61966b3fix: 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/bulk_speed_limit_test.cppeditTesting/routing_transition_test.cppgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun1102254http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2254/blueStarted by upstream project "orin-module-slave32" build number 5,5965596orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_wuhanzhongtielianjipncBranchfeat_daxie_protohdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#22532253false22531397844SUCCESS1794313596928http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2253/Testing/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cpp204d6990eee8ee5e3d01c8f5df736e40501a5a881794217588000http://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。 2026-11-09 17:46:28 +0800204d6990eee8ee5e3d01c8f5df736e40501a5a88fix: 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.cppdata/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/long_decider/constrain_decider.cppTesting/routing_transition_test.cppTesting/bulk_speed_limit_test.cpp1d69052640fd15f311424f3ce043b7dfa61966b31794218926000http://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。 (cherry picked from commit f520feb0c89e7c41663bf421a5031733ef3e128c) 2026-11-09 18:08:46 +08001d69052640fd15f311424f3ce043b7dfa61966b3fix: 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/bulk_speed_limit_test.cppeditTesting/routing_transition_test.cppgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun1102254http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-pnc_replayer/2254/Build stability: No recent builds failed.icon-health-80plushealth-80plus.png100falsefalseStarted by upstream project "orin-module-slave32" build number 5,6475647orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_weihaipncBranchfeat_daxie_proto_oldhdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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