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Changes

Summary

  1. fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。 (details)
  2. fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 (details)
  3. feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 (details)
  4. feat: PJPO 增加软曲率约束并优化起点处理 (details)
  5. feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理 (details)
  6. feat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 (details)
  7. feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 (details)
  8. feat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 (details)
  9. feat: 变道 OGM 碰撞检测点 HMI 标红可视化 (details)
  10. feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值 (details)
  11. feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 (details)
Commit 4087e2163c2b30f8fb152efde2d0612718dbb0dc by tangwenqing
fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit f7249bacf26ce9e5f0c547161e6b20c21212f097 by tangwenqing
fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题

The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
Commit a792e8252fb9ffb453c1c3472598c59b44671b51 by wuyanjun110
feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示
The file was modifieddata/plan/cloud_trajectory.hpp
Commit b7dbb9a609c445bef1a6e6740c93f76b85c4565b by wuyanjun110
feat: PJPO 增加软曲率约束并优化起点处理

- piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退
- pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激
- 补充 pjpo 曲率约束相关测试
- 清理 PJPO 调试 trace 日志
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.hpp
The file was modifiedalgorithm/plan/pjpo.hpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedTesting/pjpo_case_test.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
Commit 965d7b2a75bafa32202b4c386c097d9f3dd662f8 by wuyanjun110
feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 89119eedda78c243c52dcf28b819bcaf596d458a by wuyanjun110
feat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit 93918e80527f8f7b718da6994ce59587e4087a24 by wuyanjun110
feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理
The file was modifieddata/plan/start_point_data.cpp
Commit 2881e36fca41bd9ae4d967d26eddb4d6117dd43d by wuyanjun110
feat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合

- CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate
  (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判
- 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定
- 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit df8ea0ed18c380880597450188436adbaf42b3e6 by wuyanjun110
feat: 变道 OGM 碰撞检测点 HMI 标红可视化

CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化),
DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。
upper/underlying 两层都判断, 下层碰撞时短路跳过上层。
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedhmi/draw/draw_area.hpp
The file was modifieddata/plan/switch_data.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedhmi/draw/draw_area.cpp
Commit 8acf76576fdb77b153e5472b588d07b769012797 by wuyanjun110
feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值

新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项,
锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0;
修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 93284b6b898f83da2fb2d3be5561dc8d2826f770 by wuyanjun110
feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedtasks/plan/pjpo_task.hpp
The file was modifieddata/plan/smooth_data.cpp