Started by user wuyanjunwuyanjunwuyanjunReplayed 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git- ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/straddle_carrier_general_planner.h21a1df2d731e984cb4d3fd10e4b367b5433adc371779159745000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞
2026-05-19 11:02:25 +080021a1df2d731e984cb4d3fd10e4b367b5433adc37fix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞editssep/scenarios/straddle_carrier_general_planner.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
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2026-05-20 10:52:18 +0800d18a7474fa7354e2aa5f5fbf9d696bbc071de17dfeat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。editssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.heditssep/keb_optimizer/keb_problem.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/keb_optimizer/cost_features/disk_collision_cost.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/cost_features/path_length_cost.heditssep/scenarios/tractor_trailer_enter_yard_planner.hedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
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2026-05-20 14:01:24 +0800d189bbc6258b48ba139a99f51101e0cd19269dc3chore: SSEP: 跨运车自转逻辑改进editssep/scenarios/straddle_carrier_pick_vehicle_planner.h
- data/vehicle/lock_station_data.cppdata/ssep/open_space_ec.cppdata/ssep/base_stop_line_filter.cppdata/ssep/open_space_ec.hppdata/ssep/base_stop_line_filter.hpp7168dbfa30ffd93062b1608f08d636e57a33d4dd1779286028000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能
2026-05-20 22:07:08 +08007168dbfa30ffd93062b1608f08d636e57a33d4ddfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能editdata/ssep/base_stop_line_filter.cppeditdata/ssep/open_space_ec.cppeditdata/vehicle/lock_station_data.cppeditdata/ssep/base_stop_line_filter.hppeditdata/ssep/open_space_ec.hpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppdata/ssep/field_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/config/cfg_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/task_condition_evaluator.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppscenarios/scenario_interface.hppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cpphmi/draw/draw_path_boundary.cppconfig/config_truck/scenario.yamldata/boundary/road_boundary.cppscenarios/stage.hpptasks/other_tasks/stitch_path_data_to_path.cppf5eba086e38f878a9c59460cd274ccfac0bbba6e1779286185000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
2026-05-20 22:09:45 +0800f5eba086e38f878a9c59460cd274ccfac0bbba6e引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度editscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/scenario_interface.hppeditscenarios/scenario.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditdata/ssep/field_junction_ec.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppaddscenarios/task_condition_evaluator.hppaddscenarios/task_condition_evaluator.cppeditscenarios/stage.hppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditconfig/config_truck/scenario.yamledithmi/draw/draw_path_boundary.cppeditdata/ssep/out_yard_junction_ec.cppeditscenarios/stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditdata/boundary/road_boundary.cppedittasks/other_tasks/stitch_path_data_to_path.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppdata/config/cfg_func_sw.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppdata/config/cfg_func_sw.cppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/config/cfg_stage.hpphmi/widget/diagnose.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/stage.hppa2fe19adfd84af23f521e6790146fca98c816aaa1779362941000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
2026-05-21 19:29:01 +0800a2fe19adfd84af23f521e6790146fca98c816aaa重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能editscenarios/task_condition_evaluator.hppeditdata/config/cfg_env_const.cppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_env_const.hppedithmi/widget/diagnose.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppeditdata/config/cfg_func_sw.hppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditdata/config/cfg_func_sw.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_extraction.cpp31e09a791978ac342db474d9da6246ce4678fe461779362988000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
2026-05-21 19:29:48 +080031e09a791978ac342db474d9da6246ce4678fe46feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值edittasks/plan/keb_lane_follow_path_task.cppeditreplayer/replayer_data_process/replayer_data_extraction.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_enter_yard_planner.h6e58a963e9a696edda1a1fbc57114f301c2d47fc1779363081000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 支持上下码头面同时进堆场
2026-05-21 19:31:21 +08006e58a963e9a696edda1a1fbc57114f301c2d47fcfeat: SSEP: 支持上下码头面同时进堆场editssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_enter_yard_planner.h
- ssep/keb_optimizer/rigid_truck_keb_optimizer.cc5c66484117e480a1bf37b534af153741f51029101779363797000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 调整运动学可行性检查的最大归一化位置和朝向误差
2026-05-21 19:43:17 +08005c66484117e480a1bf37b534af153741f5102910feat: 调整运动学可行性检查的最大归一化位置和朝向误差editssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc0dbf3b3c0dd814f60915d79a4e08490a137974c41779369955000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复集卡多段倒车搜索失败的问题
2026-05-21 21:25:55 +08000dbf3b3c0dd814f60915d79a4e08490a137974c4fix: SSEP: 修复集卡多段倒车搜索失败的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/ssep/field_junction_ec.cpphmi/draw/draw_map.cpp01953a89de69f4ce40476214765121973d3f0c6f1779370829000http://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
2026-05-21 21:40:29 +080001953a89de69f4ce40476214765121973d3f0c6ffeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cpp
- data/constrain/block_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hpp5c305ed4092e332ef41c2415f0d0c90174ff8ba41779447494000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加bulk in 堆场前临时停车功能
2026-05-22 18:58:14 +08005c305ed4092e332ef41c2415f0d0c90174ff8ba4feat: 添加bulk in 堆场前临时停车功能editdata/constrain/disable_stop_range.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cpp
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/scenarios/straddle_carrier_general_planner.hb256d63212ae082f14354d1d39518463c61aa4d91779691206000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。
2026-05-25 14:40:06 +0800b256d63212ae082f14354d1d39518463c61aa4d9fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。editssep/scenarios/straddle_carrier_general_planner.heditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
- tasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccoffboard/keb_path_opt_cli/keb_path_opt_cli.ccalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.cc4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b1779712780000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程
2026-05-25 20:39:40 +08004bf5c8270da914d3b1f5904f5e1bb979afa6cc7bchore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程editoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/offboard/ssep_planner_wrapper.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem.hedittasks/plan/keb_lane_follow_path_task.cpp
- data/obstacle/block.hppdata/map/reference/reference_segment.hppdata/common/path_point.hppdata/map/pnc_map/pnc_map_path.cppcommon/util/hdmap_namespace.hppdata/common/trajectory.hppdata/common/trajectory_point.hppdata/dp_poly_path/comparable_cost.hppCMakeLists.txt1b988671fa14d46390c7e72167264eb91bb59f151779715566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: clang18 编译优化
2026-05-25 21:26:06 +08001b988671fa14d46390c7e72167264eb91bb59f15feat: clang18 编译优化editCMakeLists.txteditdata/common/trajectory.hppeditdata/map/reference/reference_segment.hppeditcommon/util/hdmap_namespace.hppeditdata/common/path_point.hppeditdata/common/trajectory_point.hppeditdata/dp_poly_path/comparable_cost.hppeditdata/map/pnc_map/pnc_map_path.cppeditdata/obstacle/block.hpp
- tasks/deciders/long_decider/constrain_decider.cppdca6c98db33487af01a20e3a8e337741b290e6b01779760410000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:崩溃防护，guide line 有效，但speedlimits为空
2026-05-26 09:53:30 +0800dca6c98db33487af01a20e3a8e337741b290e6b0fix:崩溃防护，guide line 有效，但speedlimits为空edittasks/deciders/long_decider/constrain_decider.cpp
- algorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.cc48d96b1fa2212d2e673a86427ae8c99c58fb86da1779767596000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复终点附近轨迹会有碰撞的问题
2026-05-26 11:53:16 +080048d96b1fa2212d2e673a86427ae8c99c58fb86dafix: Keb: 修复终点附近轨迹会有碰撞的问题editalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cc
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccbba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f51779772306000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: fix crashing issue
2026-05-26 13:11:46 +0800bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5fix: SSEP: fix crashing issueeditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
- offboard/keb_path_opt_cli/keb_simulator.cc0703acd58c84b4ace9abf4350bd6604c0e1b1cb71779772399000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-sim: 适配终点选取逻辑
2026-05-26 13:13:19 +08000703acd58c84b4ace9abf4350bd6604c0e1b1cb7chore: Keb-sim: 适配终点选取逻辑editoffboard/keb_path_opt_cli/keb_simulator.cc
- data/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cppscenarios/task_condition_evaluator.cpp7877eff32392d61b24edcfd041e1ccc07f59101e1779777295000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:动态上下码头面 直接进堆场场景的优化
2026-05-26 14:34:55 +08007877eff32392d61b24edcfd041e1ccc07f59101efeat:动态上下码头面 直接进堆场场景的优化editdata/map/pnc_map/routing_extension/routing_data.cppeditscenarios/task_condition_evaluator.cppeditdata/ssep/open_space_ec.cpp
- sink/ros_sink_cloud_trajectory.cppd62544f9ee0f56a94a4c24195b03574a26b77cf11779781414000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加云端轨迹 挂转角的赋值
2026-05-26 15:43:34 +0800d62544f9ee0f56a94a4c24195b03574a26b77cf1feat:添加云端轨迹 挂转角的赋值editsink/ros_sink_cloud_trajectory.cpp
- tasks/deciders/long_decider/constrain_decider.cppf4c924bed3396eccd1d67360cab3d176a01671901779781847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:堆场前停车，停车原因赋值错误的bug
2026-05-26 15:50:47 +0800f4c924bed3396eccd1d67360cab3d176a0167190fix:堆场前停车，停车原因赋值错误的bugedittasks/deciders/long_decider/constrain_decider.cpp
- data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp20fe40a09dfcc324d0d105ec3b5feb1f890499021779782439000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场前停车，motion状态机错误的bug
2026-05-26 16:00:39 +080020fe40a09dfcc324d0d105ec3b5feb1f89049902fix:进堆场前停车，motion状态机错误的bugeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqinghttp://159.27.114.184:8080/jenkins/user/weilikangweilikang942http://159.27.114.184:8080/jenkins/user/chenran/my-views/view/all/job/module-confname/942/