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2026-08-28 06:40:50 +000094901fb1d1c52266f678fadef5a5ff897412b2b0Update orinBuild.groovyeditsrc/org/orin/orinBuild.groovy
git- data/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题
2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cpp
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2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cpp
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2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cpp
- CMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑
2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txt
- data/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params
2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/wbca/wbca_data.hppedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.cppeditdata/config/cfg_lat_plan.hppedit.clangd
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2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.cpp
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2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cppeditdata/config/cfg_hmi.cpp
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2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/decide/decide_reaction.hppeditdata/ssep/forward_ec.cppedit.gitignoreedittasks/deciders/search_decider/forward_search_decider.cppeditCMakeLists.txt
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2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cpp
- data/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params.
2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cpp
- data/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue.
2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cpp
- plan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue.
2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cpp
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2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.cpp
- data/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection
2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cpp
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2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.editdata/plan/start_point_data.cppeditdata/vehicle/vehicle_state.cppedittasks/deciders/long_decider/constrain_decider.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hpp
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2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cpp
- data/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug.
2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cpp
- data/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos
2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cpp
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2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cpp
- ssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题
2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
- ssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/planner_utils.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑
2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。
2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.cc
- data/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing
2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cpp
- data/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation.
2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cpp
- plan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times.
2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hpp
- ssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离
2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_accurate_reversing_planner.cc
- plan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug
2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cpp
- ssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task
2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/common/utils/path_utils.cceditssep/ssep_planner.cceditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug
2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.cc
- plan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0
2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cpp
- thirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version.
2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hpp
- data/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer.
2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/data_structures/state_match_condition.hssep/offboard/ssep_planner_wrapper.ccssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep
2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/protos/scene.protoaddssep/data_structures/state_match_condition.haddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/offboard/servers/CMakeLists.txtaddssep/data_structures/path_repository_manager.ccaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/offboard/ssep_planner_wrapper.ccaddssep/protos/operation_mode.protoeditssep/ssep_planner.haddssep/offboard/servers/path_repository_vis_html_template.cceditssep/ssep_planner.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/common/utils/map_element_utils.hppaddssep/offboard/servers/path_repository_vis_html_template.haddssep/offboard/servers/path_repository_vis_server.ccaddssep/protos/state_match_condition.protoeditssep/CMakeLists.txtaddssep/data_structures/path_repository_manager.heditssep/offboard/scene_replay/CMakeLists.txtaddssep/data_structures/state_match_condition.ccaddssep/protos/path_repository.protoeditssep/scenarios/truck_general_planner.h
- ssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/protos/path_repository.protossep/maps/ogm_builder.ccssep/protos/ogm.protossep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task
2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/protos/path_repository.protoeditssep/maps/ogm.cceditssep/ssep_planner.cceditssep/data_structures/path_repository_manager.heditssep/data_structures/path_repository_manager.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/maps/ogm_builder.cceditssep/offboard/servers/path_repository_vis_html_template.ccaddssep/protos/ogm.protoeditssep/maps/ogm.heditssep/CMakeLists.txteditssep/data_structures/path_utils.h
- data/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppsource/ros_source_offset.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2
2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditsource/ros_source_offset.cppeditplan/prepare/prepare_offset.cpp
- data/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus
2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatusadddata/vehicle/deviation_status.hppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.hppadddata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/plan_frame.cppeditdata/plan_frame.hpp
- data/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan.
2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hpp
- data/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align
2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppedittasks/deciders/other_decider/replan_decider.cpp
- data/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align.
2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditplan/prepare/prepare_offset.cppeditdata/ssep/forward_ec.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/related_offset.cppedithmi/draw/draw_ego.cpp
- data/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading
2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times
2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cpp
- data/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset
2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/plan_frame.cpp
- data/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn
2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cpp
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率
2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.cc
- data/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error.
2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cpp
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率
2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
- ssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题
2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.cc
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/ssep/forward_ec.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance
2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/config/cfg_env_const.cppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hpp
- ssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题
2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
- ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
- ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题
2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.h
- plan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station
2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hpp
- data/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception.
2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.edittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hpp
- data/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align
2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/config/cfg_env_const.cppeditdata/vehicle/related_offset.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hpp
- ssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/keb_optimizer/imv_keb_optimizer.hssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep
2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccaddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/pose.heditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.haddssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/data_structures/path.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/param_loader/param.heditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/cost_features/ref_line_cost.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/planner_utils.cceditssep/protos/params.protoeditssep/scenarios/planner_utils.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/data_structures/ssep_scenario_type.hppeditssep/common/utils/scene_frame_visualization.cceditssep/data_structures/path.cceditssep/keb_optimizer/keb_utils.heditssep/scenarios/tractor_trailer_general_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/maps/ogm.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/protos/ogm.protoeditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/scenario_planner_factory.haddssep/scenarios/tractor_trailer_short_distance_planner.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/ssep_planner.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.haddssep/offboard/path_drawing_tool/path_drawing_html_template.h
- data/config/cfg_env_const.hppdata/decide/decide_reaction.cppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer
2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_trailereditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cpp
- data/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug
2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cpp
- scenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state.
2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位
2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.h
- hmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/brake_chart.cpphmi/widget/steer_chart.hpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时
2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/diagnose.hppedithmi/common/chart.cppedithmi/widget/command.hppedithmi/widget/brake_chart.cppedithmi/widget/velocity_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/diagnose.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/command.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/steer_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/common/chart.hppedithmi/widget/throttle_chart.hpp
- data/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type
2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题
2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2
2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/planner_utils.cceditssep/data_structures/ssep_scenario_type.hppeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/keb_problem.heditssep/CMakeLists.txt
- data/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cpp
- data/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题
2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率
2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug
2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditdata/common/guide_path.cppeditreplayer/replayer_data_process/replayer_data_process.cpp
- data/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp3c014a88a977f1fa72e9a25de08998423c6d46331780986490000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug
2026-06-09 14:28:10 +08003c014a88a977f1fa72e9a25de08998423c6d4633fix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cpp
- ssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/common/utils/clipper2/src/clipper.engine.cppssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep
2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepeditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.offset.haddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/maps/ogm_config_utils.cceditssep/CMakeLists.txteditssep/keb_optimizer/keb_problem.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/scenarios/truck_multi_segment_parking_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.haddssep/common/utils/clipper2/include/clipper2/clipper.haddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/cost_functions.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/scenarios/tractor_trailer_enter_yard_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/keb_optimizer/imv_keb_optimizer.ccaddssep/keb_optimizer/distance_field_interpolator.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/ssep_planner.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/src/clipper.rectclip.cppeditssep/maps/ogm.haddssep/common/utils/clipper2/include/clipper2/clipper.version.heditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/maps/ogm_builder.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/maps/ogm_builder.cceditssep/data_structures/polyline.ccaddssep/common/utils/clipper2/include/clipper2/clipper.engine.haddssep/common/utils/clipper2/src/clipper.triangulation.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/ssep/forward_ec.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance
2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditdata/ssep/forward_ec.cpp
- tasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug
2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cpp
- algorithm/wbca/CLAUDE.mdalgorithm/wbca/wbca_manager.cppdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.cppalgorithm/wbca/wbca_manager.hppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/path_optimization.hpphmi/draw/draw_wbca_rlt.cppalgorithm/wbca/path_optimization/path_optimization.cppdata/wbca/wbca_data.hppalgorithm/wbca/path_optimization/car_path_optimization.cpp4dcac11418b95fc075568d6f72b6105e1eb818761782204387000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: wbca warm start
2026-06-23 16:46:27 +08004dcac11418b95fc075568d6f72b6105e1eb81876fix: wbca warm starteditalgorithm/wbca/path_optimization/car_path_optimization.cppeditalgorithm/wbca/path_optimization/path_optimization.hppaddalgorithm/wbca/CLAUDE.mdeditalgorithm/wbca/wbca_manager.cppeditdata/wbca/wbca_data.hppeditalgorithm/wbca/path_optimization/path_optimization.cppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppedithmi/draw/draw_wbca_rlt.cppeditalgorithm/wbca/wbca_manager.hppeditdata/wbca/wbca_data.cpp
- data/dp_poly_path/trajectory_cost.hppdata/boundary/driving_corridor.cppdata/dp_poly_path/decision_trace.hppdata/map/reference/reference_road_section.cpphmi/replayer_hmi.hppdata/config/cfg_lat_decide.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/config/cfg_func_sw.hppdata/dp_poly_path/trajectory_cost.cppdata/config/cfg_lat_decide.hpphmi/replayer_hmi.cppdata/boundary/driving_corridor.hppdata/dp_poly_path/comparable_cost.cppdata/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/obstacle/ogm.cpphmi/node_hmi.hpphmi/widget/dp_decision_detail.cppdata/dp_poly_path/dp_road_graph.hppdata/dp_poly_path/decision_trace.cpphmi/widget/dp_decision_detail.hpphmi/draw/draw_map.cpphmi/node_hmi.cpp647ec1732b820ba83e13e1fed8fd0a942751f7931782288449000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: side-pass 决策 gap-graph 重构 + 决策可观测化
- CompareTo 纳入全分项软代价(path_l/dl/ddl/his/end), 修旧逻辑只比
safety+smoothness 致调参失效(PNC_DP_LEGACY_COMPARE 可回退)
- BuildGaps 的 side 绑真实障碍(STATIC_OBS), 纯几何偏置不报绕行
- label 加位移阈值门控 + 搜索失败 dp_search_ok_ gating, 直行/退化不误报左右绕行
- 终点后持住 corridor 边界, 治末端假 OOB 致"先右再左"虚假 S
- path_l 目标取 gap 中心(ref_l) + 权重 200->800, 绕障后正常回目标车道
- 碰撞 cost 收口 box-to-SDF + 稠密采样; s_base_ego 提到构造期(~500->20ms)
- 新增 decision_trace + HMI"DP决策过程"窗口(可视化决策)
- 清理两段式 DP 死代码(RefineDlAlongPath/CalculateDrivingCorridorCost/旧 mean-filter)
注: OOB/OOL 硬约束当前停用, 仅 collision 为硬约束, 下一版评估重启。
2026-06-24 16:07:29 +0800647ec1732b820ba83e13e1fed8fd0a942751f793feat: side-pass 决策 gap-graph 重构 + 决策可观测化editdata/dp_poly_path/trajectory_cost.hppadddata/dp_poly_path/decision_trace.cppedithmi/node_hmi.cppeditdata/map/reference/reference_road_section.cppeditdata/obstacle/ogm.cppedittasks/deciders/lat_decider/side_pass_decider.cppaddhmi/widget/dp_decision_detail.cppeditdata/dp_poly_path/trajectory_cost.cppedithmi/draw/draw_map.cppedithmi/node_hmi.hppedithmi/replayer_hmi.cppadddata/dp_poly_path/decision_trace.hppeditdata/boundary/driving_corridor.hppeditdata/dp_poly_path/dp_road_graph.hppeditdata/dp_poly_path/comparable_cost.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_func_sw.hppaddhmi/widget/dp_decision_detail.hppedithmi/replayer_hmi.hppeditdata/dp_poly_path/dp_road_graph.cppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.cpp
- algorithm/wbca/occupancy_grid_map/data_render.cpp2c37a2fae2e741934afe42afb7ec9952e4e120bb1782288449000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 扩大 data_render 地图渲染范围边距 (10->15m)
2026-06-24 16:07:29 +08002c37a2fae2e741934afe42afb7ec9952e4e120bbfix: 扩大 data_render 地图渲染范围边距 (10->15m)editalgorithm/wbca/occupancy_grid_map/data_render.cpp
- data/dp_poly_path/trajectory_cost.cppa1953cd190a89113585fdb021e15ad8b2bb957021782293786000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: path_l 的 ref_l 取 gap 内离车道中心最近的 l(非几何中心)
- ref_l = clamp(0, gap_lower, gap_upper): 障碍轻微侵入只付最小偏移清障,
不再被拽到 gap 中间过度绕行; 障碍走后 gap 含 0 自动回正
- dl/ddl 物理化车速上限 3.3->8.0m/s
2026-06-24 17:36:26 +0800a1953cd190a89113585fdb021e15ad8b2bb95702fix: path_l 的 ref_l 取 gap 内离车道中心最近的 l(非几何中心)editdata/dp_poly_path/trajectory_cost.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp9449d4498e013ed06dfa7fed504ef9ad27c19b421782369149000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败
在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域
(IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大,
解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。
附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。
2026-06-25 14:32:29 +08009449d4498e013ed06dfa7fed504ef9ad27c19b42fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp1300c30323d09a36379a87b9382c98a54dbddcb61782369456000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败
GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间
区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。
2026-06-25 14:37:36 +08001300c30323d09a36379a87b9382c98a54dbddcb6fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/ssep/into_yard_junction_ec.cpp7abef0590c3c44991f903f297a31e23c889fd76d1782371549000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败
GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis
直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer),
避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。
2026-06-25 15:12:29 +08007abef0590c3c44991f903f297a31e23c889fd76dfix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败editdata/ssep/into_yard_junction_ec.cpp
- data/lattice/trajectory_evaluator.cppa605b97d260908f14442ab19f80625592247786b1782378493000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: low speed issues in wbca smooth mode.
2026-06-25 17:08:13 +0800a605b97d260908f14442ab19f80625592247786bfix: low speed issues in wbca smooth mode.editdata/lattice/trajectory_evaluator.cpp
- ssep/scenarios/scenario_planner_factory.hdata/ssep/forward_ec.cpp07eb31a244cc3de07964b5f3d358a92c018d27bc1782396554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 拖挂进堆场无 passing 途径点时改用单段倒车
TT 进堆场场景下, 当搜索不到 passing 途径点
(is_have_search_passing_pt_ 为 false)时, 改用
kTractorTrailerSingleSegmentParking 单段倒车规划;
并恢复 ScenarioPlannerFactory 中单段倒车 planner 的真正构造
(原先复用 MultiSegmentParkingPlanner)。
2026-06-25 22:09:14 +080007eb31a244cc3de07964b5f3d358a92c018d27bcfeat: 拖挂进堆场无 passing 途径点时改用单段倒车editssep/scenarios/scenario_planner_factory.heditdata/ssep/forward_ec.cpp
- data/ssep/forward_ec.cpp07b2fc4bc1c371c934630950681f4c92633efd1c1782403360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索
2026-06-26 00:02:40 +080007b2fc4bc1c371c934630950681f4c92633efd1cfeat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索editdata/ssep/forward_ec.cpp
- algorithm/wbca/path_optimization/path_optimization.cppdata/lattice/trajectory_evaluator.cpp1963653688c02cfef4cbf429420de584894b5d4e1782481585000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: speed down unexpectly in wbca smooth mode.
2026-06-26 21:46:25 +08001963653688c02cfef4cbf429420de584894b5d4efix: speed down unexpectly in wbca smooth mode.editdata/lattice/trajectory_evaluator.cppeditalgorithm/wbca/path_optimization/path_optimization.cpp
- hmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/config/cfg_hmi.hpphmi/draw/draw_perception.cppdata/config/cfg_hmi.cpphmi/draw/draw_perception.hpphmi/replayer_hmi.cpphmi/node_hmi.cpp337331696f6c7457d80ba670e544785cce1f13881782644837000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 新增上层/下层点云显示切换开关
2026-06-28 19:07:17 +0800337331696f6c7457d80ba670e544785cce1f1388feat: HMI 新增上层/下层点云显示切换开关edithmi/draw/draw_all.cppeditdata/config/cfg_hmi.cppedithmi/draw/draw_perception.hppedithmi/replayer_hmi.cppedithmi/node_hmi.cppedithmi/widget/pnc_mat_shared.cppeditdata/config/cfg_hmi.hppedithmi/draw/draw_perception.cpp
- data/ssep/forward_ec.cpp06b01ceaca976539485bce73dd8b321d339768941782708622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 ExecPreparation 中为 LIANG_SHAN_GANG 区域添加新的场景类型处理
2026-06-29 12:50:22 +080006b01ceaca976539485bce73dd8b321d33976894feat: 在 ExecPreparation 中为 LIANG_SHAN_GANG 区域添加新的场景类型处理editdata/ssep/forward_ec.cpp
- algorithm/wbca/wbca_manager.cppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cpp31d0b0cfe91a666249742d2a2b5772803c169e901782809890000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: warm-start bug
2026-06-30 16:58:10 +080031d0b0cfe91a666249742d2a2b5772803c169e90fix: warm-start bugedittasks/plan/path_optimization_task.cppeditalgorithm/wbca/wbca_manager.cppeditdata/wbca/wbca_data.hpp
- algorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cpp5179362f8c2c571223ae21362104e56d159f75041782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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
2026-07-01 10:02:31 +08005179362f8c2c571223ae21362104e56d159f7504feat: PJPO 增加软曲率约束并优化起点处理edittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
- algorithm/wbca/wbca_manager.cpp10f7f31561bf716f4955bb7cd57731f3273c79be1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复优化函数中的逻辑错误并注释掉历史记录的日志输出
2026-07-01 10:02:31 +080010f7f31561bf716f4955bb7cd57731f3273c79befix: 修复优化函数中的逻辑错误并注释掉历史记录的日志输出editalgorithm/wbca/wbca_manager.cpp
- replayer/replayer_data_process/replayer_data_process.cpp4d78466fe82dea4a84536573dddd1e919845738c1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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
2026-07-01 10:02:31 +08004d78466fe82dea4a84536573dddd1e919845738cfeat: 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editreplayer/replayer_data_process/replayer_data_process.cpp
- data/config/vehicle_kinematics.hppmath/dubins_curve/dubins_curve.hpp5096b32eda38e36dd36c5fe221da30c5f292fbbb1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆最大曲率计算函数，优化运动学处理
2026-07-01 10:02:31 +08005096b32eda38e36dd36c5fe221da30c5f292fbbbfeat: 添加车辆最大曲率计算函数，优化运动学处理editmath/dubins_curve/dubins_curve.hppadddata/config/vehicle_kinematics.hpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp9479ca66d8170cfe4fa3690159078b8b15007c3c1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算
2026-07-01 10:02:31 +08009479ca66d8170cfe4fa3690159078b8b15007c3cfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/plan/start_point_data.cppfa2abd108cca9a9750fbfd1e337f396488428f321782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理
2026-07-01 10:02:31 +0800fa2abd108cca9a9750fbfd1e337f396488428f32feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cpp
- tasks/deciders/long_decider/constrain_decider.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppdata/boundary/driving_corridor.hpp6b3686799b5b0bf0f52e1504690f0e9f83fedc4b1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行边界按窄区逐段限速
- driving_corridor 沿路径找出所有狭窄区段, 每段输出 (限速, 段入口距离),
带帧间非对称 EMA 滤波(降速即时跟手, 升速平滑防抖)
- constrain_decider 逐段生成 BOUNDARY_SPEED_LIMIT 约束, 替代原来只取单一最紧段
- max_boundary_distance_thr 默认值 0.5 -> 1.0
2026-07-01 10:02:31 +08006b3686799b5b0bf0f52e1504690f0e9f83fedc4bfeat: 绕行边界按窄区逐段限速editdata/boundary/driving_corridor.hppeditdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/boundary/driving_corridor.cpp
- data/dp_poly_path/dp_road_graph.cppf910b7a15ff0398609db9788a061bc656e371f4d1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 SamplePathWaypoints 中添加居中候选点处理，优化路径平滑性
2026-07-01 10:02:31 +0800f910b7a15ff0398609db9788a061bc656e371f4dfeat: 在 SamplePathWaypoints 中添加居中候选点处理，优化路径平滑性editdata/dp_poly_path/dp_road_graph.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp9624291215338496e187f6dbea51bf396793dadb1782871351000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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
2026-07-01 10:02:31 +08009624291215338496e187f6dbea51bf396793dadbfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_func_sw.hppeditdata/plan/switch_data.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cpp
- data/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppd20241afcc9d6c272f34f1243940f25b71ac35121782888173000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。
2026-07-01 14:42:53 +0800d20241afcc9d6c272f34f1243940f25b71ac3512feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/plan/switch_data.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/obstacle/ogm.cppeditdata/obstacle/ogm.hpp
- data/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp858a29dc3f9fbae8884fdb3a960bde21ab32dae41782888195000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。
2026-07-01 14:43:15 +0800858a29dc3f9fbae8884fdb3a960bde21ab32dae4feat: 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editdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cpp
- data/plan/cloud_trajectory.hppf6d0e176d8025a627708fd454a1718c4e88279a31782904271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示
2026-07-01 19:11:11 +0800f6d0e176d8025a627708fd454a1718c4e88279a3feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hpp
- tasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp80c250f8be27a904517a193a311e26ac498da3fc1782904566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑
2026-07-01 19:16:06 +080080c250f8be27a904517a193a311e26ac498da3fcfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑edittasks/plan/pjpo_task.hppedittasks/plan/pjpo_task.cppeditdata/plan/smooth_data.cpp
- data/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppsink/ros_sink_pnc_status.cppdata/ssep/into_yard_junction_ec.cppce31279bb682e41671ddb24b9492931ff61a33f81782971969000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离
2026-07-02 13:59:29 +0800ce31279bb682e41671ddb24b9492931ff61a33f8feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离editdata/other/flow_control.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/config/cfg_env_const.hpp
- data/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/online_region_contour_creator.hppdata/ssep/into_yard_junction_ec.cppae24d17730da1b191f820edea7d5220a2962418c1782982146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域
- 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框
- open_space_ec 起点框内联逻辑改为调用该函数
- into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底
2026-07-02 16:49:06 +0800ae24d17730da1b191f820edea7d5220a2962418c重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域editdata/ssep/open_space_ec.cppeditdata/ssep/online_region_contour_creator.hppeditdata/ssep/online_region_contour_creator.cppeditdata/ssep/into_yard_junction_ec.cpp
- scenarios/stage.cpp784a12f724aaa5b3dd616e8bdb2a0cb8cedf31c71782990116000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group
2026-07-02 19:01:56 +0800784a12f724aaa5b3dd616e8bdb2a0cb8cedf31c7修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 groupeditscenarios/stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppa273ae3308da88e7fc03620dc4a70709a612ef681782993134000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果
2026-07-02 19:52:14 +0800a273ae3308da88e7fc03620dc4a70709a612ef68feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cpp
- data/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cppc5b39c782d006de4f947e84ec668040e494ccceb1783004580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判
- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
2026-07-02 23:03:00 +0800c5b39c782d006de4f947e84ec668040e494ccceb场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cpp
- data/scenario/scenario_planner_action.cpp6338f049dce7309fbaf604edd2263cc1c8ae48131783005178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner
2026-07-02 23:12:58 +08006338f049dce7309fbaf604edd2263cc1c8ae4813BTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cpp
- data/config/cfg_func_sw.cpptasks/plan/keb_utils.cppdata/config/cfg_func_sw.hppa25baa9e9cb5613bb51bb21e539e6603ae38404b1783306834000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comKEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避
碰撞检测不需要路边点, 故 prepare 阶段未写入 OGM 栅格。KEB 在栅格副本上
补画下层路边采样点再抽取轮廓线, 不污染碰撞用栅格。新增开关
use_func_keb_add_roadside_segments_(默认 false), 仅下层补充。
2026-07-06 11:00:34 +0800a25baa9e9cb5613bb51bb21e539e6603ae38404bKEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避edittasks/plan/keb_utils.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cppe2051b889c484d409656f2b7cb140f165cd0290a1783316588000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.compath_bounds: 出库 planner 也纳入 kinetics 边界特殊处理
2026-07-06 13:43:08 +0800e2051b889c484d409656f2b7cb140f165cd0290apath_bounds: 出库 planner 也纳入 kinetics 边界特殊处理edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/map/pnc_map/routing_extension/routing_data.cppdata/map/envelop/map_envelop.cppdata/ssep/into_yard_junction_ec.cppdata/map/reference/reference_road_section.cpp6fcf82b0d13d1090da452028fdc98749dc16409d1783321715000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复 GetRoadType 调用点未校验 lane 空指针导致的崩溃隐患
GetRoadType 内部 CHECK_NOTNULL, 传 null 直接 FATAL。
- routing_data GetOpenSpaceShapeMode: lane/pre_lane/suc_lane 判空后返回 PARALLEL
- into_yard_junction_ec: 修正 lane_ptr 判空顺序倒置
- reference_road_section/map_envelop: .lane 为 null 时降级为 ROAD_TYPE_UNKNOWN
2026-07-06 15:08:35 +08006fcf82b0d13d1090da452028fdc98749dc16409d修复 GetRoadType 调用点未校验 lane 空指针导致的崩溃隐患editdata/map/reference/reference_road_section.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/envelop/map_envelop.cppeditdata/ssep/into_yard_junction_ec.cpp
- hmi/draw/draw_map.hpphmi/draw/draw_map.cppc96eaa847718662964d9474b5d2a825312fe13741783336140000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃
lane/road/junction 等指针是 offset_ptr(内存映射), 换图重建 HDMap 后旧指针
悬空。DrawMap 跨帧缓存这些指针, 但刷新只看车位移、漏了换图判断, 换图后车未
大幅移动时解引用悬空指针崩溃。DrawBaseMap 增加 map_path 变化检测, 换图时强制
清空重取。
2026-07-06 19:09:00 +0800c96eaa847718662964d9474b5d2a825312fe1374修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃edithmi/draw/draw_map.cppedithmi/draw/draw_map.hpp
- data/plan_frame.cppdata/decide/decide_reaction.hpp4119dd8a91225742a102087052275e92f31e27411783342535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复变道临停标志位在非变道场景残留导致的幽灵停车线
req_stop_to_wait_change_lane_ 是跨帧锁存位, 原仅在 LaneChangeDecider 内复位,
而 OPEN_SPACE/BULKLOAD/倒车等场景不调度该 decider, 标志位残留会被 constrain_decider
读到并一直在车前挂临停停车线. 改为在 decision_reaction_ 每帧 FromHis 流转处按
planner 边界兜底清除.
2026-07-06 20:55:35 +08004119dd8a91225742a102087052275e92f31e2741修复变道临停标志位在非变道场景残留导致的幽灵停车线editdata/decide/decide_reaction.hppeditdata/plan_frame.cpp
- hmi/draw/draw_map.cppad363a6776d190a15f4c8d6f1876c1534647a9b11783344757000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图
last_map_path_ 声明后从未被赋值, 恒为空串, 使换图检测 map_changed 恒为
true, 每帧强制重取 lanes/roads/junctions 等, 架空 IsNeedGetMap 的位移缓存。
在重取分支开头记录当前 map_path(放在后续 Get* 之前, 保证即便中途异常也已
记下, 不会下一帧误判换图)。
2026-07-06 21:32:37 +0800ad363a6776d190a15f4c8d6f1876c1534647a9b1修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图edithmi/draw/draw_map.cpp
- data/obstacle/ogm.hppdata/obstacle/ogm.cpp2019c0c26a27438accffa0ef8c1227a46aa843561783403360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comOGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定
- distanceTransform 带 DIST_LABEL_PIXEL 输出 label_map, 按占用灰度建
label→OccSource(道路边界/沟/上下层点云/实体/预测框) 查表, 供走廊与
DP 按来源分级处理
- mask 3→5: 3×3 掩模斜向 2~5% 低估对小障碍边界定位影响放大
- GetNearestObstacleDistance/GetNearestSource 先截断 x/res 再加 center,
与写入端同约定, 消除负半平面 1 格系统性偏移
2026-07-07 13:49:20 +08002019c0c26a27438accffa0ef8c1227a46aa84356OGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定editdata/obstacle/ogm.cppeditdata/obstacle/ogm.hpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor.hpp194f7ed1a5314077a82ef32190909f6d323595161783403410000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件
- BuildOgm 按危险度排序写占用灰度(道路边界200/沟248/下层253/上层255/
obj251/预测250), 道路边界墙沿 shift 边界左右分开画折线, 防 uturn 宽
边界闭合多边形自相交
- gap 扫描顺存与 SDF 同索引的最近占用来源行(set_sdf_source/
GetSdfSourceByIdx), 供 DP/限速按来源分级
- 幻影挖窗: free 段内 SDF 局部极小 < interval/2 判为断面间小障碍, 按等
值弦宽挖占用窗, 治小障碍随车前进可见/消失闪烁; 大障碍边界仍由细等值
线定位不损通道宽
- gap 帧间 EMA 改端点双条件匹配, 防新障碍切出的子 gap 错配上帧大 gap
被拉走边界
- 限速: 最近占用为道路边界/沟点的角点不触发降速, 只对障碍类降速
2026-07-07 13:50:10 +0800194f7ed1a5314077a82ef32190909f6d32359516走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hpp
- data/config/cfg_lat_decide.cppdata/dp_poly_path/comparable_cost.hppdata/dp_poly_path/trajectory_cost.cppdata/config/cfg_lat_decide.hppdata/dp_poly_path/comparable_cost.cppcb118a9628e712bb6e5cd1ebed337ffbca061b5b1783403467000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comDP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录
治绕行后不回目标车道的三层叠加缺陷 + 低速晚急拐形态:
- SDF 软罚预留量按占用来源分档(cfg dp_poly_sdf_margin_*, 道路边界 0.3
其余 1.0): 原统一 1m 使普通车道纯居中也背 safety, 路径无故偏心 ~0.8m
- SDF 碰撞硬判只统计非道路来源: 车身斜穿时角点横甩 1~2m 必扫进道路边
界硬判带,致回中心必碰整列 HAS_COLLISION; 道路越界由 gap 硬判+
deficit+软罚兜底
- path_l/path_end 偏离量改米制: 原 /(left+right) 归一化使回正拉力随走
廊宽度稀释, 高速压不过 v⁴ 级 ddl 机动代价; 权重换算 800→50/1e4
- 末层判定 curr_level+1==total_level: 原 ==total_level 永不成立, 终点
回正罚从未生效
- dl/ddl 等效车速下限 cfg 化(dp_poly_lat_v_floor): 低速急拐不再近乎免
费, 恢复早而缓的绕行形态偏好
- ComparableCost 新增 first_coll_s 随碰撞位传播(取链上最小), 供 trace/
HMI 把红×画在真实碰撞位置
- CfgLatDecide 序列化 bump v4(新字段分版本 gate, 旧 dump 可回放)
2026-07-07 13:51:07 +0800cb118a9628e712bb6e5cd1ebed337ffbca061b5bDP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录editdata/config/cfg_lat_decide.cppeditdata/dp_poly_path/comparable_cost.cppeditdata/dp_poly_path/comparable_cost.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/config/cfg_lat_decide.hpp
- data/dp_poly_path/dp_road_graph.cppdata/dp_poly_path/dp_road_graph.hppfeef2cf71d58677b8d9e71c41a573e349b6dd80f1783403527000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comDP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持
- dl 档 {±0.2,0}→{±0.2,±0.1,0}: 补中间档使匀速缓爬可表达, 治低速"贴 0
到临近才集中爬完"的晚急形态
- 转移剪枝: 端点 dl 档与段平均斜率偏差 >0.15 的曲线不构不算(直行区只留
|dl|≤0.1 档), 把 5 档转移量压回 3 档量级; level1 起点真实 dl 不剪
- 边界邻近 dl 档过滤: 到 gap 车中心可行边界余量 < 档位×5m 的"冲向边界"
档不生成节点, 贴边死节点连同其全部入边转移一并省掉
- side_pass_range 改真实绕行区间[起坡点,回正点](沿路径回溯/延伸到偏移
回落 ≤0.3m); 旧 {触发s, +0.5} 起点晚报且终点无意义
- 回正保持 KeepSidePassUntilCentered: 上帧在绕行且车实际仍偏 >0.5m 时
延续 label 直到回落, 三个无触发出口(路径空/dp_search_ok=false/前方无
障碍侧 gap)统一接入; 失败帧只延续不新发起, 依据车辆实际位置而非失败
路径形状, 治障碍甩到车后或单帧搜索失败时状态机提前退出绕行态
2026-07-07 13:52:07 +0800feef2cf71d58677b8d9e71c41a573e349b6dd80fDP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持editdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/dp_road_graph.hpp
- hmi/widget/dp_decision_detail.hppdata/dp_poly_path/decision_trace.cpphmi/widget/dp_decision_detail.cppdata/dp_poly_path/decision_trace.hppb66975cb75f6934e16c59124411a873aa7cbd2fe1783403558000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comside-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置
- HMI "DP决策过程" gap 边界按 Gap::Source 分 5 类散点(道路/静障/OGM/
动态/未知), 空类型不占图例
- trace 节点带 coll_s(链上首碰实际 s), 红×画在首碰位置而非节点 s(节点
记账有层间距+半车长视觉偏差, 易误读为障碍定位错), 红×聚成障碍轮廓;
tooltip 增加首碰 s 与节点 s 对照
- dl 档摊开系数 0.75→2.5 适配 5 档(相邻档 s 偏 0.25m 可分辨/可分别 hover)
- DumpTraceJson 对 inf/nan clamp(不可达节点原写出裸 inf 致 JSON 非法)
2026-07-07 13:52:38 +0800b66975cb75f6934e16c59124411a873aa7cbd2feside-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置edithmi/widget/dp_decision_detail.cppedithmi/widget/dp_decision_detail.hppeditdata/dp_poly_path/decision_trace.hppeditdata/dp_poly_path/decision_trace.cpp
- tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp0fe2532aafdf938b5180b486f12e94de923a10ee1783403590000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comwbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽
- 查 driving_corridor path_bound() 原取"右邻"断面(单向 0~0.5m s 偏),
叠加 path_bound 标签在段中点(+0.25)后小障碍凹口与障碍 s 明显错位;
改取左右邻中更近者, 偏差降为 ±0.25(0.5m 断面结构下限)
- 右边界原误加 UnderlyingHeadBase2left(复制粘贴), 左右半宽不同车型
右侧凹口深度偏差, 改 Base2right
2026-07-07 13:53:10 +08000fe2532aafdf938b5180b486f12e94de923a10eewbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽edittasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
- data/boundary/driving_corridor.cppec46acf9b3f93515568d6f4e9e0a5686c0f20ce31783406310000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comgap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路
BuildGaps 端点来源原是几何猜测(距 shift 边界 0.3m 内标 ROAD, 否则一律
STATIC_OBS), 贴路沿的 obj 会被误标成道路; 道路边界被滤波/挖窗内侵超
0.3m 时也会被误标静障、凑出假绕行 side。
改为优先查 source_at_l(往占用侧外探半步防窄 gap 查到对侧), 按 OccSource
映射: ROAD/DITCH→道路, UNDERLYING/UPPER→OGM, OBJ→静障, PRED_OBJ→动态;
SDF 无信息才回退几何判定。side 触发判定同步从 ==STATIC_OBS 放宽为
!=ROAD, 保持 OGM/动态切出边界仍可触发绕行的原行为。
2026-07-07 14:38:30 +0800ec46acf9b3f93515568d6f4e9e0a5686c0f20ce3gap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路editdata/boundary/driving_corridor.cpp
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹
2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- data/obstacle/ogm.hppdata/boundary/driving_corridor.cppdata/obstacle/ogm.cpp116049d3a4a9a36d52f65de598509154ca22795b1783413671000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志
修"贴道路边界就降速": 真实路沿的下层/上层点云叠在/紧邻几何边界墙,
按 253/255 写入后最近占用查出"障碍", ROAD/DITCH 豁免形同虚设。BuildOgm
画完墙后对墙单独求距离场, 距墙 0.75m 带内的下层/上层点改标 200(路沿
观测归道路边界); band 覆盖地图偏差(实测 0.46m 例)+截断离散 1 格。
obj/预测框后画覆盖不受影响。
修兜底误限: 轮廓顶点全被豁免时 clearance==DBL_MAX 被误判"轮廓不可用",
退静态半宽兜底把已豁免占用重新罚回。contour_clearance 回传 any_valid,
轮廓有效但全豁免=余量充足, 不再退兜底。
可观测: 每段限速输出 [boundary_limit] 日志(最窄余量/来源/触发角点/
占用像素 Frenet 位置); OgmDistance 新增 label_pos_ 表与 GetNearestOccPos
反查最近占用位置。限速上限逐点取该 s 处地图限速(原用 ego 处一刀切)。
2026-07-07 16:41:11 +0800116049d3a4a9a36d52f65de598509154ca22795b边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志editdata/obstacle/ogm.cppeditdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.cpp
- data/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.cppd2cf01ba41650367ce28ef310b4f14b9665013b51783413693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量
min_boundary_distance_thr 0→0.25: 余量低于 0.25m 即压到最低限速,
线性段从 0.25 起算, 贴障碍时限速更果断。
CreateBoundaryConstrain 约束位置去掉固定 -10m 提前量, 按窄区真实
入口下发(原提前量叠加窄区入口, 减速点过早)。
2026-07-07 16:41:33 +0800d2cf01ba41650367ce28ef310b4f14b9665013b5边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量editdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cpp
- data/obstacle/ogm.hppdata/boundary/driving_corridor.cppdata/obstacle/ogm.cppa0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd21783417370000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com移除边界限速调试日志与占用反查诊断
问题已定位修复([boundary_limit] 日志完成使命), 摘除诊断链路:
flush_segment 的日志与 occ 反查、NarrowInfo 收集、OgmDistance 的
label_pos_ 表与 GetNearestOccPos。保留功能性修复不动: 贴墙点云改标
ROAD、兜底 any_valid(轮廓全豁免不退兜底)。需要时从 116049d3a 找回。
2026-07-07 17:42:50 +0800a0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd2移除边界限速调试日志与占用反查诊断editdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.cppeditdata/obstacle/ogm.cpp
- tasks/deciders/long_decider/constrain_decider.cpp8f8bf8b409923b1283029be33419cab8d2f98a641783417390000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com边界限速约束点再去车头偏置, 按窄区入口原值下发
CreateBoundaryConstrain 的 distance 去掉 -HeadBase2front: 窄区入口
距离本就是沿路径到该断面的量, 再减车头偏置会把减速点提前一个车头。
2026-07-07 17:43:10 +08008f8bf8b409923b1283029be33419cab8d2f98a64边界限速约束点再去车头偏置, 按窄区入口原值下发edittasks/deciders/long_decider/constrain_decider.cpp
- data/dp_poly_path/dp_road_graph.cppdata/plan/side_pass_data.cpp788df06af2b12c622211308281cda512ac56ca5a1783426041000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态
两半同一 bug: ① IsNeedUseHis 手误写成 status_==RIGHT_SIDE_PASS → 右绕行
期间每帧触发 UseHis; ② UseHis 不清空直接 append, his 又是上帧拼接结果
→ frenet_frame_path 每帧净增约一条路径长, 线性膨胀且 s 失序(下游
GenerateBoundary/EvaluateByS 按 s 有序二分, 边界被带乱)。
修: UseHis 先 clear 再整体替换(s 平移到本帧参考系); 触发条件改回
status_==USE_HIS(状态机判定本帧 DP 结果不可信时才沿用上帧)。附带行为
修正: 右绕行恢复与左绕一致、每帧使用 DP 新结果, 不再执行首帧旧路径的
平移拼接版。
2026-07-07 20:07:21 +0800788df06af2b12c622211308281cda512ac56ca5a修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态editdata/dp_poly_path/dp_road_graph.cppeditdata/plan/side_pass_data.cpp
- algorithm/wbca/wbca_manager.cppdbd4b15f7d7bb90ad6666103ccf4eb966fec5a101783426056000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comwbca 热启动: route_info 空容器防护
WarmStartFromHistory 访问 route_info.front() 前补 empty 检查, 防空容器
未定义行为。
2026-07-07 20:07:36 +0800dbd4b15f7d7bb90ad6666103ccf4eb966fec5a10wbca 热启动: route_info 空容器防护editalgorithm/wbca/wbca_manager.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束
2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑
2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error
2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- tasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppc8867e6bfb420f15e74e702dc7eaff1d9aab4fb91783504854000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态
- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
2026-07-08 18:00:54 +0800c8867e6bfb420f15e74e702dc7eaff1d9aab4fb9桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/other_decider/replan_decider.hpp
- math/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型
2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpp
- tasks/deciders/other_decider/replan_decider.hpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态
- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/search_decider/bridge_junction_search_decider.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks
任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
- data/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索
ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cpp
- data/scenario/scenario_planner_action.cppdfc82bc615e203baa61b9e6dccc5a1f623c163b91783517649000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comscenario BT: 出桥区进入普通路口区时立即退出 BRIDGE_JUNCTION planner
2026-07-08 21:34:09 +0800dfc82bc615e203baa61b9e6dccc5a1f623c163b9scenario BT: 出桥区进入普通路口区时立即退出 BRIDGE_JUNCTION plannereditdata/scenario/scenario_planner_action.cpp
- data/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger
2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cpp
- data/obstacle/block.cppc87ab5c742c1ab47bbb67327191b68d32269ec0e1783910923000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)
2026-07-13 10:48:43 +0800c87ab5c742c1ab47bbb67327191b68d32269ec0eblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)editdata/obstacle/block.cpp
- data/ssep/into_yard_junction_ec.cpp2c663fc2e3eb7ba04d86a73d6c074e7ef2fd6b611784021598000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框
2026-07-14 17:33:18 +08002c663fc2e3eb7ba04d86a73d6c074e7ef2fd6b61ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框editdata/ssep/into_yard_junction_ec.cpp
- data/boundary/road_boundary.cppdata/boundary/polygon_sl_projector.cppdata/boundary/polygon_sl_projector_test.cppdata/config/cfg_func_sw.hppdata/boundary/road_boundary.hppdata/common/path.cppdata/config/cfg_func_sw.cppdata/common/path.hppdata/boundary/polygon_sl_projector.hppCMakeLists.txta156a6dbb9763d6fb15daf0e957a4dce81d11ac21784021958000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comboundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关)
旧逻辑逐点垂线射线与手工过滤的多边形边集求交, 对凹形/异形路口取
最近交点语义错误, 门边剔除脆弱, 单点失败兜底值无限传播。
新增 PolygonSLProjector: 将路口多边形/envelope 轮廓离散投影到
guide line SL 系逐格聚合左右边界。要点:
- 门区(出入口 ±gate_window)样本一律不采信, 防异形门口的门柱顶点
把 l≈0 砸进门口格子(实车日志实证)
- 横跨 guide line 且交叉点落在门区内的门边整条剔除
- max_slope=3.0 限坡磨尖刺, 不削直角外凸的可行驶区
- max_lateral=50 覆盖大路口敞开区, 避免人为截断走廊
- 出入口不与车道宽度混合, 门口宽度台阶是放宽方向, 与旧逻辑一致
顺手修复 Path::GetProjection s_range 窗口两处隐藏 bug(上界 fmax
应为 fmin; 平方距离误与 50.0 比较), 新增显式窗口投影接口
GetProjectionInRange(不回退全线扫描)。
开关 use_func_junction_boundary_sl_projection 默认关闭; 开启时
每帧输出 [sl_bd] 新旧对比与边界表摘要日志, 供灰度期 replay 排查,
默认打开后随旧射线路径一并清理。
单测 pnc_polygon_sl_projector_test(-DPNC_BUILD_TESTS=ON) 覆盖
矩形/凹形/直角外凸/门柱坑/单侧无约束/退化输入与窗口投影。
2026-07-14 17:39:18 +0800a156a6dbb9763d6fb15daf0e957a4dce81d11ac2boundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关)editdata/config/cfg_func_sw.cppadddata/boundary/polygon_sl_projector.hppeditdata/config/cfg_func_sw.hppeditdata/boundary/road_boundary.hppeditdata/common/path.hppeditCMakeLists.txteditdata/common/path.cppadddata/boundary/polygon_sl_projector_test.cppeditdata/boundary/road_boundary.cppadddata/boundary/polygon_sl_projector.cpp
- data/ssep/open_space_ec.cppdata/map/reference/reference_line.cppdata/map/reference/reference_line.hpp9b202b39519038925ea10704abad7c572fc8c21a1784022418000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:出堆场 直接open sapce上码头面搜索起点不合适的bug
2026-07-14 17:46:58 +08009b202b39519038925ea10704abad7c572fc8c21afix:出堆场 直接open sapce上码头面搜索起点不合适的bugeditdata/ssep/open_space_ec.cppeditdata/map/reference/reference_line.cppeditdata/map/reference/reference_line.hpp
- data/ssep/normal_junction_ec.cpp0528362a8f7311d237c27a23d17b41227443cddb1784023505000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 删除路口终点位姿的车头点框内回退校验
终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义,
且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。
2026-07-14 18:05:05 +08000528362a8f7311d237c27a23d17b41227443cddbssep: 删除路口终点位姿的车头点框内回退校验editdata/ssep/normal_junction_ec.cpp
- ssep/maps/ogm.ccfb51a26b1bdd53e3f14d69ad32617986390f28331784023682000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:删除打印的日志
2026-07-14 18:08:02 +0800fb51a26b1bdd53e3f14d69ad32617986390f2833feat:删除打印的日志editssep/maps/ogm.cc
- data/config/cfg_func_sw.cppa8c764bfaa62b8a6fd5f3ae8525f2f040260ff661784023833000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁用前向搜索设置中的 theta 功能
2026-07-14 18:10:33 +0800a8c764bfaa62b8a6fd5f3ae8525f2f040260ff66fix: 禁用前向搜索设置中的 theta 功能editdata/config/cfg_func_sw.cpp
- algorithm/wbca/linear_velocity_generator.cpp7aae25bd393db481ed8f8640a5caec04821f75461784035685000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca velocity profile bug
2026-07-14 21:28:05 +08007aae25bd393db481ed8f8640a5caec04821f7546fix: wbca velocity profile bugeditalgorithm/wbca/linear_velocity_generator.cpp
- data/obstacle/ogm.cppdata/boundary/driving_corridor.cppdata/dp_poly_path/decision_trace.hpphmi/widget/dp_decision_detail.cpphmi/widget/dp_decision_detail.hppdata/obstacle/ogm.hppdata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor.hpp213b9b1ba2fdfd2c2cca12ee810cd90698c7167a1784088690000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comboundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩
旧的贴边点云改标 200 方案用无符号距离带, 边界内侧真障碍点云也被吞成
道路(限速被豁免+不发绕行+HMI 显示错), 且写入时销毁真源。改为:
- 点云一律写真实灰度(253/255); BuildOgm 构建有符号边界带 mask(外侧
0.75m+内侧 2 格离散容差), ConstructDistanceMap 给占用像素打
kOccInBandBit 高位, 低 7 位保真源, 消费端各自解释: 限速豁免
in_band 亦豁免; DP 软罚按真源档(贴边点云 underlying 1.0m > 几何墙
road 0.3m, 观测优先于几何), in_band 只豁免硬判; gap 分型贴边点云
归 ROAD 不发绕行
- Gap::Source 扩 7 值与 OccSource 数值一一对齐, side 判定改
IsBoundarySource(ROAD||DITCH), HMI DP 窗 7 桶分色, trace 数值语义
同步(旧 dump 不兼容)
- 修无障碍下走廊边界内缩(路口张开区不跟随/直线段锯齿/加点反而外扩):
挖窗豁免 ROAD(墙斜连线平坦垂距区被误判局部极小整片挖占用);
墙折线宽度突变阶梯化(斜连线贴线带啃噬 ~0.2*Δl);
扫描端点带 0.3m 内纯几何墙豁免(封边由扫描范围表达, 消像素基线锯齿);
EMA 匹配容差 0.6→0.35(防历史系统性偏差持续混入不收敛)
- HMI DP 窗加 shift 边界白点线(gap 端点对比定位内缩来源)
2026-07-15 12:11:30 +0800213b9b1ba2fdfd2c2cca12ee810cd90698c7167aboundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩editdata/dp_poly_path/decision_trace.hppeditdata/boundary/driving_corridor.cppedithmi/widget/dp_decision_detail.hppeditdata/boundary/driving_corridor.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/obstacle/ogm.hppeditdata/obstacle/ogm.cppedithmi/widget/dp_decision_detail.cpp
- data/vehicle/cloud_pnc_config.cppsource/ros_source_pnc_config.hpphmi/draw/draw_map.cppdata/vehicle/cloud_pnc_config.hppsource/ros_source_pnc_config.cpp86128a399f44d1f70d71b1cb91cd19c8ec03043d1784100250000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端pnc config适配access line转换, 补HMI绘制与收包打印
2026-07-15 15:24:10 +080086128a399f44d1f70d71b1cb91cd19c8ec03043dfeat: 云端pnc config适配access line转换, 补HMI绘制与收包打印editdata/vehicle/cloud_pnc_config.cppeditsource/ros_source_pnc_config.cppeditsource/ros_source_pnc_config.hppedithmi/draw/draw_map.cppeditdata/vehicle/cloud_pnc_config.hpp
- data/vehicle/cloud_pnc_config.cpp03260cb307241474583031ba804545e680c3466c1784113105000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正云端访问线路的yard_id赋值
2026-07-15 18:58:25 +080003260cb307241474583031ba804545e680c3466cfix: 修正云端访问线路的yard_id赋值editdata/vehicle/cloud_pnc_config.cpp
- data/vehicle/cloud_pnc_config.cpp44d902e0bf0b25cdb826c586914fcaf8958e39001784113982000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正云端配置中access line的yard_id赋值
2026-07-15 19:13:02 +080044d902e0bf0b25cdb826c586914fcaf8958e3900fix: 修正云端配置中access line的yard_id赋值editdata/vehicle/cloud_pnc_config.cpp
- data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp824daf8445e92722d6ce546b2e8a03a11c8763761784120704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段
2026-07-15 21:05:04 +0800824daf8445e92722d6ce546b2e8a03a11c876376fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
- data/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation
2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpp
- plan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.hpp4f361ae47bc58a4dca72f5bed937aac4e62e59741784178402000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: OGM精细碰撞采样点分级去重, 控制序列化体积
精细碰撞开启时采样点不再全量保留:
- 引导线路径带(半径12m, 1m粗块掩码)内按1/4 cell子格去重,
位置误差上界约3.5cm, 每cell至多16点
- 路径带外及无引导线时退化为每cell仅保留首点(等同旧抽稀密度)
- 栅格写入逻辑不变, 仅瘦身采样点集; 精细开关关闭时行为不变
- 顺手收拢龙须/上下层四处重复写入分支为AddPoint
2026-07-16 13:06:42 +08004f361ae47bc58a4dca72f5bed937aac4e62e5974perf: OGM精细碰撞采样点分级去重, 控制序列化体积editplan/prepare/prepare_ogm.cppeditplan/prepare/prepare_ogm.hpp
- tasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position.
2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cpp
- data/vehicle/lock_station_data.cpp41119aa52d08f3d36a58e0f0bd5bd9e77c269c671784186100000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出
2026-07-16 15:15:00 +080041119aa52d08f3d36a58e0f0bd5bd9e77c269c67fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出editdata/vehicle/lock_station_data.cpp
- data/map/envelop/map_envelops.cppc3d8a6c116c0a9e8f4ff69bf5904033acab647a11784197676000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复union region异步计算, latch结果消费即释放治理内存驻留
- CreateUnionRegion恢复std::async异步, polygons改move捕获少一份拷贝
- latch结果消费一次即move取走并shrink_to_fit释放, 不再常驻AsyncUnionRegionState
- 重建路径不再预清union_region_/重建async_state, 异步未就绪时沿用上一帧轮廓
2026-07-16 18:27:56 +0800c3d8a6c116c0a9e8f4ff69bf5904033acab647a1fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留editdata/map/envelop/map_envelops.cpp
- replayer/logic.cppd749b4221ec4750bc1d19a2308f5c31730545b711784200418000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效
2026-07-16 19:13:38 +0800d749b4221ec4750bc1d19a2308f5c31730545b71perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效editreplayer/logic.cpp
- plan/prepare/prepare_status.hppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppplan/prepare/prepare_status.cpp46f793d6f300e33aa0d19b0a6c518d26f886bfd11784260934000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 远程单次直线步进END后不退出循环重回MOVE
UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经
ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface
的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END
边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,
finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经
RemoteInit 无条件重回 REMOTE_MOVE 直至超时.
prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖
fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.
2026-07-17 12:02:14 +080046f793d6f300e33aa0d19b0a6c518d26f886bfd1fix: 远程单次直线步进END后不退出循环重回MOVEeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cpp
- data/config/cfg_lat_plan.hpptasks/deciders/lat_decider/trailer_side_pass_decider.cppreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_plan.cpptasks/deciders/lat_decider/path_bounds_decider.cpptasks/deciders/lat_decider/trailer_path_bounds_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/boundary/driving_corridor.hpp74b035a35b095b2e5650e2eb298b03fd8d46b1431784261160000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 走廊边界按gap端点来源差异化内缩(corridor_buffer_*), 钳制保DP路径可行
- GenerateBoundary: 选中gap端点按来源查buffer内缩(道路/沟点小, 点云/实体/预测框大),
钳制到容得下DP路径(车中心±半宽+0.3 slack, 覆盖WBCA Dilated每侧0.2m侵蚀), 只缩不反转;
贴障/起步时要求的预留自适应压到实际余量, 不做近自车渐变(避免越接近障碍预留越衰减);
DP无路径降级帧不内缩, 保持原始边界
- 新增raw_path_bound(未内缩原始端点): path_bounds/trailer_path_bounds_decider的
区域相等性判定(bound==shift宽)改读raw, 防内缩翻转is_in_obstacle_region分支
- cfg_lat_plan新增6个corridor_buffer_*参数(rosparam, 序列化v5), 类内初始化0兜底
老dump反序列化(v<5跳过字段落0=不内缩=复现老行为)
- BuildGaps拆出BuildGapAt(单gap构建), 免每断面整表分类; 挂车半宽提TrailerAwareHalfWidths
与GetSpeedLimitsAndDistances共用
2026-07-17 12:06:00 +080074b035a35b095b2e5650e2eb298b03fd8d46b143feat: 走廊边界按gap端点来源差异化内缩(corridor_buffer_*), 钳制保DP路径可行editdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_plan.hppedittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/deciders/lat_decider/trailer_path_bounds_decider.cppeditdata/config/cfg_lat_plan.cppeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/boundary/driving_corridor.hppedittasks/deciders/lat_decider/side_pass_decider.cpp
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/app/fsm/task_fsm/task_fsm.cppdata/app/fsm/task_command_type.cpp8f7e94a46edce22ff96ee1be076fdc8031d6b1531784264979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: park子状态机收普通任务卡死PARK_MOVE无法退出
bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,
Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下
Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,
只能靠再次取消任务解锁(实车卡死近4小时):
- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区
- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL
同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE
放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),
正常进位途中刷新停车任务不受影响
另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,
日志不再把正常事件误打成E_NO_STATE
2026-07-17 13:09:39 +08008f7e94a46edce22ff96ee1be076fdc8031d6b153fix: park子状态机收普通任务卡死PARK_MOVE无法退出editdata/app/fsm/task_fsm/task_fsm.cppeditdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
- plan/prepare/prepare_status.hppplan/prepare/prepare_status.cppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpped2c1d8a2e9893510e2680bcfed62c70ff1dd41f1784266212000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 远程单次直线步进END后不退出循环重回MOVE
UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经
ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface
的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END
边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,
finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经
RemoteInit 无条件重回 REMOTE_MOVE 直至超时.
prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖
fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.
2026-07-17 13:30:12 +0800ed2c1d8a2e9893510e2680bcfed62c70ff1dd41ffix: 远程单次直线步进END后不退出循环重回MOVEeditplan/prepare/prepare_status.cppeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppeditplan/prepare/prepare_status.hpp
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/app/fsm/task_command_type.cppdata/app/fsm/task_fsm/task_fsm.cppc0b886c3483f4c06631a38fffa6952e98b6064051784266225000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: park子状态机收普通任务卡死PARK_MOVE无法退出
bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,
Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下
Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,
只能靠再次取消任务解锁(实车卡死近4小时):
- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区
- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL
同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE
放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),
正常进位途中刷新停车任务不受影响
另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,
日志不再把正常事件误打成E_NO_STATE
2026-07-17 13:30:25 +0800c0b886c3483f4c06631a38fffa6952e98b606405fix: park子状态机收普通任务卡死PARK_MOVE无法退出editdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_fsm/task_fsm.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
- data/map/pnc_map/pnc_map_path.cppdata/common/path.cppf7ecf7b1dee5d6720bc871d7301910b4d6fd3b391784442326000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级
- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志
- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,
下游经IsAvailable安全降级, 不再CHECK崩进程
2026-07-19 14:25:26 +0800f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级editdata/map/pnc_map/pnc_map_path.cppeditdata/common/path.cpp
- data/common/path.hppdata/common/path.cppdata/common/path_point.cppf8233babbba259246c3ed95227f6b9e2a070d6001784449421000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Path/DiscretizedPath 空与单点场景既有隐患修复
- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留
- path.hpp 给 num_sample_points_/length_ 加类内默认值, 防默认构造读未初始化垃圾
- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]
- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,
Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点
2026-07-19 16:23:41 +0800f8233babbba259246c3ed95227f6b9e2a070d600fix: Path/DiscretizedPath 空与单点场景既有隐患修复editdata/common/path.cppeditdata/common/path.hppeditdata/common/path_point.cpp
- plan/prepare/prepare_status.cpp6087fa2830942d05011e37f9971570f912f11c231784461943000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换
2026-07-19 19:52:23 +08006087fa2830942d05011e37f9971570f912f11c23fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换editplan/prepare/prepare_status.cpp
- data/common/trajectory_point.cpp6762d53f760e626f1471f94fdd2ee82ef093e5051784514428000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为
lower_bound 落在 end() 时原代码用 *end() 参与外插, 读垃圾内存, 结果不可信
且可崩溃; 与 MatchPtByt 的同款历史修复对齐, 夹到末点返回, 并补 size<2 的
begin 分支越界保护。动态边界收窄的 arrive_t 反查每帧命中该分支, 既有
cloud_trajectory/trajectory_combiner 调用点同受益。
2026-07-20 10:27:08 +08006762d53f760e626f1471f94fdd2ee82ef093e505fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为editdata/common/trajectory_point.cpp
- data/obstacle/decision/obstacle_decision.hpptasks/plan/keb_utils.cpptasks/deciders/other_decider/obstacle_decider.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hppdata/obstacle/obstacle_decider_attr.hppdata/dp_poly_path/trajectory_cost.cppb9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd51784514450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源
新增 data/obstacle/decision/: ObstacleDecider 循环体收敛为 obstacle_decision::
Update(决策态继承→运动状态估计→Base/Label 决策→label 消抖)。
- 运动状态估计治动静误判误绕行: 感知 is_static 是 1km/h 单帧阈值, 测速置零
即翻转, 走静态标签分支引发误绕行。改用 his_states 15帧均值速度 + 3s 窗
净位移证据(≥0.8m, 滤 bbox 遮挡抖动) + 非对称迟滞(判动3帧/判静10帧);
UNDETERMINED 回落感知 is_static, 真静障首帧即走静态通道。
- direction 修复: 投影失败返 0 误判 REVERSE(同向车被当对向画反向延伸/污染
长决策)。改 +0.3/-0.15 非对称死区, 死区内保持上帧值。
- label 消抖: 收紧立即生效, 放松需连续 5 帧确认。
- 决策态继承走 Update 内 InheritDecisionState 而非 Obstacles::FromHis:
后者全 stage 无条件跑, 会在不调度 OBSTACLE_DECIDER 的 stage 残留旧值。
- 准入谓词统一: IsDpDynamicCandidate/IsCorridorGridObstacle 单一事实源,
DP 动态盒与 KEB 走廊消费端只调用不自判。
- ObstacleHisStates 加 velocity_filter_available(): MeanFilter 空缓存取均值
LOG_ASSERT 直接崩, 且该滤波器不参与序列化(回放载入恒空), 消费前必查。
- debug_str 增加运动状态标记(U_/S_/M_)。attr 序列化升 v3。
2026-07-20 10:27:30 +0800b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源editdata/obstacle/obstacle_decider_attr.cppadddata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.hppedittasks/deciders/other_decider/obstacle_decider.cppedittasks/plan/keb_utils.cppeditdata/obstacle/obstacle.hppadddata/obstacle/decision/obstacle_decision.cppeditdata/dp_poly_path/trajectory_cost.cpp
- data/config/cfg_lat_plan.hpptasks/deciders/lat_decider/trailer_side_pass_decider.cppreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_plan.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/boundary/driving_corridor.hpp4c6347125137a837135fd420306b5564fb539b501784514474000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)
DP 有时间参数化的动态碰撞 cost 但 path_bound 只由静态化 OGM 切出, 动态避让
仅经 ref_l 软引导进 WBCA, 平滑权重把绕行量拉回。GenerateBoundary 在静态内缩
后追加动态收窄:
- 同向车时间对齐投影: 自车到达时刻按上帧轨迹反查(与 DP 同口径), 回放/首帧
退化匀速映射(下限步速 1.5m/s, 防起步覆盖塌缩); 预测横向漂移限幅采信在
当前实测 l ± min(0.5·t, 1m), 防邻道预测线漂移把直道路径挤偏。
- 对向车会车旁路(dyn_clamp_meeting_bypass): 常被弯道/航向门打成 IGNORE 但
会车交互仍在, REVERSE+FRONT/SIDE+确认运动独立于 label 进收窄(不进 DP 盒
不改绕行决策); 弃时间对齐用 6s 扫掠包络(低速会车两车到达时刻天然错开),
豁免横向限幅(弯道对向车 Frenet 横移是真实几何), 收窄深度封顶半富余。
- 安全阀: 只收窄不翻转绕行侧, 下限=DP路径±半宽+slack, 车前 5m 起步豁免,
K=3/M=5 帧锁存消抖(锁存迁移不受单帧降级门控, 防会车中途边界抖动)。
- 障碍 SL 半宽取 fabs: GetSLBoundary start/end 顺序未归一化, 裸减得负宽会
把占用区间整段丢弃(根治待源头归一, 见审计记录)。
- 观测: 障碍 debug_str 追加 _D<C|B><H><A>:<n> 漏斗标记(幂等, 防回放重算
累积); trailer 走廊共用对象但不参与收窄不触碰锁存。
- 灰度默认关(rosparam use_dynamic_bound_clamp, 验证需显式开)。
2026-07-20 10:27:54 +08004c6347125137a837135fd420306b5564fb539b50feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)editdata/config/cfg_lat_plan.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/config/cfg_lat_plan.cppeditreplayer/replayer_data_process/replayer_data_process.cpp
- data/dp_poly_path/decision_trace.cppdata/dp_poly_path/decision_trace.hpp613bb76c1c04a61369d8cf718abbdd3ac5273f351784514485000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细
dyn_dbg 漏斗行(enabled→cand/bypass→arrive→hit→active→clamped, 哪层归零卡
哪层) + dyn_notes 逐障碍投影统计(预测 s/l 范围/swept/inter/被拒原因) +
断面级 dyn_* 收窄快照; dump 移到 GenerateBoundary 之后以带出收窄结果。
排查'为什么没收窄'先看这两处。
2026-07-20 10:28:05 +0800613bb76c1c04a61369d8cf718abbdd3ac5273f35feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细editdata/dp_poly_path/decision_trace.hppeditdata/dp_poly_path/decision_trace.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_problem.cc9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限
2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cc
- data/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line
2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cpp
- data/app/fsm/task_fsm/task_fsm.cpp5e94cf0938c76aee4944c9521d1073f2e917a1401784531577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入
2026-07-20 15:12:57 +08005e94cf0938c76aee4944c9521d1073f2e917a140fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入editdata/app/fsm/task_fsm/task_fsm.cpp
- data/boundary/driving_corridor.cpphmi/draw/draw_perception.cppdata/dp_poly_path/decision_trace.hpptasks/deciders/long_decider/constrain_decider.hppdata/constrain/longitude_constrain.cppdata/obstacle/perception_obstacle.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/perception_obstacle.cppdata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor.hppdata/config/cfg_safe_const.hppdata/config/cfg_lat_plan.hppdata/common/sl_boundary.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/config/cfg_safe_const.cppdata/map/reference/reference_segment.cppdata/dp_poly_path/decision_trace.cppdata/obstacle/obstacle_decider_attr.cppdata/constrain/longitude_constrain.hppdata/obstacle/obstacle_decider_attr.hpp5d4c8178edc1a0a13f8a08bd4e556f43e4ac96cf1784590790000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全)
- DP 动态碰撞时域修复: num=5.0/0.5 却按 0.1 步进致实际只看 1s, 收成
编译期单源 kDynEvalDtS/kDynHorizonS(5s), 让 DP 及早为对向车主动让行
- 动态障碍边界时间对齐收窄 + 会车 MEETING label 化 + 投影策略集中
(对向扫掠包络/收窄深度封顶 dyn_clamp_meeting_depth_cap 可调) + trace 观测
- 狭窄会车识别: 收窄后可用宽度不足→降速+缩跟车距离(narrow_meeting)
- 误绕行治理:
* 跟踪成熟度门(reserved_int_1 未初始化 + age), 修 age>0 放过新 track 的洞
* 动态障碍足迹掩膜: 动车漏聚类只剩 OGM 点云时不切 gap(仅横向, 纵向照常)
* 类型策略 SidePassPolicy: 车辆类居中跟车等/VRU 居中停让/靠边绕/场桥不碰,
VRU 靠边无条件绕(解耦动静), 车辆类居中抛锚超时逃生口
* 动作承诺: 一旦绕行锁到动作完成(甩到车后/VRU挡前硬退出/超时), 承诺期
旁路各软门, 防超车并排时半途回摆; 进入侧连续 N 帧确认防单帧误判固化
- 走廊限速失真治理(零新栅格): 静态非绕行障碍横向余量按 frenet 补进限速;
同向并行/超车贴身降速(空间足够不降速), 复用 PARALLEL_OBSTACLE_SPEED_LIMIT
- SL 约定全仓统一(start_l=左缘/end_l=右缘)+语义访问器
- 所有功能使能开关集中到 CfgFuncSw, 数值调参留各域 config;
序列化迁移用占位模式保旧 dump 对齐(CfgFuncSw/CfgLatPlan/CfgSafeConst/
ObstacleDeciderAttr/PerceptionObstacle 各升版本)
2026-07-21 07:39:50 +08005d4c8178edc1a0a13f8a08bd4e556f43e4ac96cffeat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全)edithmi/draw/draw_perception.cppeditdata/map/reference/reference_segment.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/constrain/longitude_constrain.cppeditdata/boundary/driving_corridor.hppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_func_sw.hppeditdata/dp_poly_path/decision_trace.hppeditdata/boundary/driving_corridor.cppeditdata/constrain/longitude_constrain.hppeditdata/dp_poly_path/decision_trace.cppeditdata/config/cfg_safe_const.hppeditdata/obstacle/perception_obstacle.cppeditdata/obstacle/perception_obstacle.hppeditdata/config/cfg_lat_plan.hppeditdata/common/sl_boundary.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/obstacle/decision/obstacle_decision.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hpp
- plan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state
2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cpp
- data/dp_poly_path/dp_road_graph.cpp57432d24b14d214084e3c0719893a693d3db77961784642244000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行
dl剪枝带用弦斜率avg_dl=Δl/seg_len当机动激进度代理, 在短基线上被天然放大;
init锚车辆真实s防采样抖导致首段常畸短, 偏置起点回正弦斜率超带→l=0在DP图上
不可达(留默认inf非碰撞)→被迫朝障碍侧大拱误绕行。改: 短段按基线比例放宽带宽
(cap 5x), 回正方向(|cur_l|<|prev_l|)一律放行打破方向锁; 激进度仍由IsValidCurve兜底。
不动s锚定/采样。
2026-07-21 21:57:24 +080057432d24b14d214084e3c0719893a693d3db7796fix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行editdata/dp_poly_path/dp_road_graph.cpp
- data/obstacle/decision/obstacle_decision.cpp7f9cc76953b6e990b2a03616093dd9a9369432f71784642401000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)
- 进入承诺除 label 意图外, 增加自车已实际横向偏移(|ego_match l|>0.5,
与 DP KeepSidePassUntilCentered 同源、对齐 kKeepLThr)作为必要条件,
防 l≈0 纯意图被单帧抖动瞬时锁成 30s 承诺
- 退出新增"空承诺撤销": 已承诺但未实际横向执行且已不满足准入即释放,
零回摆风险; 已绕到一半(lateral_engaged)的仍走硬承诺完成
- ego_match 不可用时证据无效, 进入保守拒绝、已建承诺不误撤
2026-07-21 22:00:01 +08007f9cc76953b6e990b2a03616093dd9a9369432f7feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)editdata/obstacle/decision/obstacle_decision.cpp
- data/config/cfg_func_sw.cpp245dc82d4e357b7d33cabc7b091bdb2b7c2aeead1784642447000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)
2026-07-21 22:00:47 +0800245dc82d4e357b7d33cabc7b091bdb2b7c2aeeadfeat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)editdata/config/cfg_func_sw.cpp
- data/obstacle/obstacle_decider_attr.cppe448e4ce08f401dd7e70250707072e155614d0921784690400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等
会车 MEETING 原只挂在弯道/航向差大两门上, 直道正面对开车掉头后与参考线
反平行(r_diff≈0)且在直线, 两门都不触发, 掉进余宽判定两侧不足即 BLOCK
停等。在 LabelDecider !treat_as_static 块【先于】两门加会车短路:
IsMeetingScenario(确认运动+逆向+车前/侧)一律走 MEETING——本体不 BLOCK/
不写实体栅格, 只按预测轨迹收窄边界让行; 空间真不够时收窄切不出 gap,
纵向 ST/guardian 照常停, 安全不丢。灰度仍 dyn_clamp_meeting_bypass。
2026-07-22 11:20:00 +0800e448e4ce08f401dd7e70250707072e155614d092feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等editdata/obstacle/obstacle_decider_attr.cpp
- data/config/cfg_lat_plan.cpp40537f7ac3d275051064cfa1361a4a989672e8a61784690400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)
2026-07-22 11:20:00 +080040537f7ac3d275051064cfa1361a4a989672e8a6chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)editdata/config/cfg_lat_plan.cpp
- data/constrain/longitude_constrain.hppdata/constrain/longitude_constrain.cppac4a015c1d0fa9fff7faee5f20a363bfd4d0706b1784691662000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃
NARROW_MEETING_SPEED_LIMIT 实装时只登记了 IsSpeedLimitType, 漏了
LongitudeSpeedLimitConstrain::Initialize 的类型断言白名单。窄会车识别一旦
触发 CreateNarrowMeetingConstrain 就 LOG_ASSERT 崩溃(Signal 6)。补三处:
断言白名单 / TraceBack switch 分组(同 PARALLEL 走减速曲线) / ToString case
(原走 default 显示 UNKNOWN)。走软限速, 未加 IsHardConstrainType。
2026-07-22 11:41:02 +0800ac4a015c1d0fa9fff7faee5f20a363bfd4d0706bfix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃editdata/constrain/longitude_constrain.hppeditdata/constrain/longitude_constrain.cpp
- data/obstacle/decision/obstacle_decision.hppdata/map/pnc_map/pnc_map_path.cppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cppdata/config/cfg_func_sw.hppdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_func_sw.cppdata/map/pnc_map/pnc_map_path.hpp58317cd215b7ab93b84dab9a684c06666a8dacec1784792061000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳)
窄路正面会车时, 本车道被 OGM 点堵住需绕行, 原会向左借进逆向道, 与对向
来车正面冲突。改为在决策层纯逻辑判场景, 执行侧钳走廊左界, 不动 DP 搜索。
参考线预计算逆向车道几何(PncMapPath::InitWidth):
- 新增 ReverseLaneGeo{valid,num,near_bound_l,far_bound_l,gap}, 逐采样点
存左/右逆向道近远边界与缝宽(可为负), 复用原有 GetToRoadBoundaryDistance
/GetProjection 结果不重复查图; 不序列化。
- 访问器 GetReverseLaneGeo(s, is_left, out)。
场景判定(obstacle_decision::IsMeetingBorrowYieldScenario, 帧级):
对向逆向车快速逼近(速度取 his_states 15 帧均值, 不用裸 speed_km_h——感知
单帧测速置零会误撤让行门, 是危险方向的失效) + 逆向道过窄 → 宁让不借。
执行(DrivingCorridor::Init) 三层门控:
1. 场景成立;
2. 已承诺左借(ego 中心越过车道左边线)则不钳——中途拉回比走完更危险,
让它尽快清空逆向道; 让行只拦尚未起步的借行;
3. 本车道确实被堵才钳——用 his 走廊 drivable_seg 判(原始 OGM 堵塞, 与本帧
钳制无关, 不震荡); 本车道畅通则完全不动边界。
命中后左界按 ego 左边缘锚点沿 12m 线性渐变钳到 lane_left_l, 避免硬钳导致
方向盘猛打; 车道被堵死→无 gap→复用纵向停, 不硬挤右侧。
停住的对向车写入栅格(IsCorridorGridObstacle):
对方停下后让行解除放行绕道, 若它不在图里就是"图上空、实际有车"。故确认
静止+逆向+heading 对齐者写图, 能否通过交真实几何判定。heading 对齐判定
(30°+3 帧防抖)从 meeting_fallback 分支提到动静分支之外, 否则静态车只能
读到上帧陈旧值。
其他:
- 逆向车绕行策略直接 ALLOW: pulled_over 相对自车参考线判, 会把侵入自车道
的逆向车误判为"居中"→跟一辆迎面来的车。
- 走廊左钳与堵塞判据统一用 TrailerAwareHalfWidths(挂车感知/左右非对称),
该函数上移至 Init 之前, 保持各处 footprint 口径一致。
- GetBoundaryFromS 内是 CHECK(!empty()), 新增调用在断面循环之前, 加空守卫。
- 灰度 use_meeting_borrow_yield_(cfg_func_sw v14), 观测日志 LOG_EVERY_N 降频。
2026-07-23 15:34:21 +080058317cd215b7ab93b84dab9a684c06666a8dacecfeat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳)editdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_func_sw.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/map/pnc_map/pnc_map_path.hppeditdata/obstacle/decision/obstacle_decision.cpp
- data/obstacle/ogm.hpptasks/plan/keb_utils.cppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cpphmi/draw/draw_perception.cpp51819254225b35991f7648de9c4d98c51f1e32b21784793352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 烟台车内/柱子/房子点云及下沉坑点适配
新增 107/108/110/111 四种点云类型: 前三者(车辆内部/柱子/房子点云)标记
为无效点云, 碰撞与侧避均不考虑; 下沉坑点(111)按路边点云同等逻辑处理,
参与侧避绕行(限速不因它降速, 但 gap/碰撞仍当墙, KEB 补画为障碍规避)。
2026-07-23 15:55:52 +080051819254225b35991f7648de9c4d98c51f1e32b2feat: 烟台车内/柱子/房子点云及下沉坑点适配editdata/obstacle/ogm.cppedittasks/plan/keb_utils.cppeditdata/obstacle/ogm.hppedithmi/draw/draw_perception.cppeditdata/boundary/driving_corridor.cpp
- data/obstacle/decision/obstacle_decision.hppdata/map/pnc_map/pnc_map_path.cppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/boundary/road_boundary.cppdata/boundary/road_boundary.hppdata/map/pnc_map/pnc_map_path.hpp336c09dfd3035a62ada742b79f001dbda066f0c31784807246000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界
坐标系纠错:
障碍物 sl_boundary 由 GenerateRefSlBoundary(guide_line) 生成, 是 guide 系,
原实现却拿它的 s 去查 reference_line().pnc_map_path() 的 ref 系逆向道表,
两系不重合时取到错误断面; 且硬编码主参考线, standby 断面直接查错线。
改为在 GenerateRoadBoundary 建表时用 point_info.s() 从该断面对应的那条
参考线取, 存进 BoundaryPt, 与 lane_left_l 同源, 消费侧全在 guide 系查。
顺带补 rev_s<0 早退(GetBoundaryFromS 对负 s 退化返回最远断面)。
钳制线纠错:
原钳到自车道左边线, 而"不借道"的硬线是逆向道近边界, 二者之间的本方向
其余车道与道间缝隙被白白没收; 本方向多车道时还会拦住合法的同向换道绕行。
改为 lane_left_l + reverse_lane_gap(自车道边线到逆向道近边界的距离),
承诺判据线同步取同一条, 否则同向换道会被误判成"已借逆向道"而撤销钳制。
地图两 road 重叠(gap<0)时该线比车道边线更靠右, 反而堵住侵入漏洞。
只搬差值(宽度、缝隙)不搬 near/far 绝对量: 差值的参考系零点相消, 绝对量
搬进 guide 系必须先减 point_info.l()。
SSEP 断面排除:
该段无对应参考线, lane_left_l 停在"半车宽+0.15"兜底值而本身是 left_l=10
的开阔区; meeting_yield 是帧级开关而 guide line 多段拼接, 不排除会把开阔
的 SSEP 段硬缩到贴车身。
2026-07-23 19:47:26 +0800336c09dfd3035a62ada742b79f001dbda066f0c3fix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界editdata/boundary/road_boundary.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/boundary/driving_corridor.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/boundary/road_boundary.hppeditdata/map/pnc_map/pnc_map_path.hpp
- tasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening
2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppeditdata/plan/ssep_data.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hpp
- ssep/coarse_search/evaluator/evaluator.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍
2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍addssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/bounded_priority_queue.haddssep/gpu/heuristic/reeds_shepp_kernel.cuheditssep/gpu/device_types.haddssep/gpu/heuristic/dubins_kernel.cuheditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/evaluator/composite_heuristic_computer.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/indexed_priority_queue.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/gpu_context.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/coarse_search/evaluator/evaluator.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/coarse_search/gpu_context.cceditssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- data/decide/decide_reaction.cppdata/decide/decide_reaction.hppnode/logic.cppsink/ros_sink_record_trigger.cpp2bc76bf271b37cbd6e4fb2c4eb1b0e65228db1bf1784873600000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)
- DecisionReaction 加一次性标志 hmi_req_record_snap_(不序列化/不入FromHis)
- logic plan循环消费快照按钮标志并当场复位, 修从不复位每帧触发问题
- 快照按钮不再置 save_decision_result
- RosSinkRecordTrigger 按钮标志与自动条件一并发 SNAP Trigger
2026-07-24 14:13:20 +08002bc76bf271b37cbd6e4fb2c4eb1b0e65228db1bffeat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)editnode/logic.cppeditdata/decide/decide_reaction.cppeditdata/decide/decide_reaction.hppeditsink/ros_sink_record_trigger.cpp
- tasks/deciders/long_decider/constrain_decider.cppcommon/util/express.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_plan.cppdata/constrain/longitude_constrain.cppdata/boundary/driving_corridor.hppbef81f367cafc8ae74ab8e77155a23d1478f14c71784874214000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 窄会车主动贴右让行(走廊左界钳到对向车近侧)+修急停判定两处笔误
- 走廊 Init 注入 narrow_hug: 距会车点 kHugLeadS 内把左界钳到"对向车近侧-余量",
逼 DP/PJPO 贴右, 横向让出空间给对向车; 读 his 帧结果同时喂 DP 与 PJPO
- 判窄改用交互过滤前的几何净空(raw_l_intervals), 不再要求收窄锁存 active,
避免"对向车已压上路径才判窄"(该刹车非靠边)的时机错位
- 逐断面存对向车近侧 l(narrow_hug_near_l_), 贴对向车而非道路右界免疫弯道 SL 畸变
- GenerateBoundary 贴右时右侧障碍源保留最小膨胀(kNarrowRightObsKeep), 防啃 og 点
- 缩跟车距离加距会车点门(kNarrowFollowLeadS), 与贴右提前量口径一致
- side_margin 默认 0.4→0.6
- 修 constrain_decider 两处: fabs(end_l()<=3.0) 括号错位; 横向切入判定
M_2_PI(36°)误用应为 M_PI_2(90°), 致同向并行车误急停/斜插漏拦
2026-07-24 14:23:34 +0800bef81f367cafc8ae74ab8e77155a23d1478f14c7feat: 窄会车主动贴右让行(走廊左界钳到对向车近侧)+修急停判定两处笔误editcommon/util/express.cppeditdata/config/cfg_lat_plan.cppeditdata/boundary/driving_corridor.cppeditdata/constrain/longitude_constrain.cppeditdata/boundary/driving_corridor.hppedittasks/deciders/long_decider/constrain_decider.cpp
- data/boundary/driving_corridor.cppb3106e93ac9e3d2edae8c64ad2ea91fc7c15e8771784874580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 窄会车贴右就近查改单调游标(O(n²)→均摊O(n)), 诊断日志降频
- Init 内 his_hug/his_pb 逐断面线性扫描改只前进的单调游标: 二者沿行驶方向
单调且与本帧 while 同向, start_s 单调推进→最近邻单调推进, 均摊 O(n);
仅采信半个 interval 内最近点, 阈值语义与原线性扫描一致
- [narrow_hug]/[narrow_hug_dbg]/[narrow_meet] 三条诊断日志频率降到 EVERY_N 50
2026-07-24 14:29:40 +0800b3106e93ac9e3d2edae8c64ad2ea91fc7c15e877perf: 窄会车贴右就近查改单调游标(O(n²)→均摊O(n)), 诊断日志降频editdata/boundary/driving_corridor.cpp
- data/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cpped38742ac3653b98bffbf6039acd113a38e5c05d1784943547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景
2026-07-25 09:39:07 +0800ed38742ac3653b98bffbf6039acd113a38e5c05dfeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景editdata/config/cfg_region.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_region.cpp
- data/config/cfg_func_sw.cppdata/ssep/ex_lane_change_ec.cppdata/config/cfg_func_sw.hppa93cf96e88f3a7a11105b1445a36733642ee3fe71785120780000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级
极限变道的 tunnel 约束原本用单条长直线段近似弯曲车道, 弦误差为 L^2*kappa/8
(40m 直线在 R=100m 弯道上偏 2.0m), 而 end tunnel 的 HARD 管道半宽只有车道半宽
加 5cm(约2m), 弯道上管道与真实车道几乎不重叠, 起点/终点被墙关在外面, 导致
搜索必然失败。
- 折线化: 新增 AppendOffsetPolylineTunnel(沿参考线 2m 等 l 偏移折线) /
AppendCrossLineTunnel(等 s 断面法向封口线) / CalcMaxCurvature(theta 差分
带符号曲率), 替换四处弦近似: ConstructStartTunnel 两条侧墙+横切线、
ConstructEndTunnel 左右管道+后端封口、ConstructObsTunnel、
GetRealObstacleTunnel。横向量统一为 SL 约定(左正右负), 与旧
GetParallelLine "线段方向右侧为正"、且纵向线反向构造致法向翻转的隐式约定等价
- 弯道裕量: end tunnel 补挂车 offtracking(L^2*kappa/2, 上限 1.2m, 按曲率符号
只放宽弯道内侧, 仅带挂车型); 后向管道长度按曲率收缩(kappa>0.01 起, 最短 8m)
- 急弯兜底: kappa>0.02(R<50m) 且端约束为 HARD 且带挂时降级为 SOFT, IMV 不降级
- 顺带修: s 超出参考线长度时线段退化的隐患; SL 法向外推在 |l|*kappa 接近 1 时
跨过曲率中心翻折成幽灵墙, 按局部曲率钳制横向跨度; 曲率采样改用插值的
GetReferencePoint, 避免最近离散点致曲率被静默低估为 0
灰度 use_func_lc_tunnel_curvature_fit / use_func_lc_tunnel_curvature_margin,
cfg_func_sw 序列化 version 15。replay 与实车均未验证。
2026-07-27 10:53:00 +0800a93cf96e88f3a7a11105b1445a36733642ee3fe7fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级editdata/config/cfg_func_sw.cppeditdata/ssep/ex_lane_change_ec.cppeditdata/config/cfg_func_sw.hpp
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题
2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- data/obstacle/reverse_lane_approach.cpphmi/draw/draw_constrain.cppdata/config/cfg_hmi.hppdata/obstacle/reverse_lane_approach.hpptasks/deciders/long_decider/constrain_decider.hppdata/constrain/longitude_constrain.cppdata/constrain/long_target.cppdata/config/cfg_hmi.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/app/fsm/stop_reason.cpphmi/draw/draw_reverse_approach.hppdata/config/cfg_safe_const.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/config/cfg_safe_const.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppcommon/util/express.cppdata/plan_frame.cpphmi/draw/draw_reverse_approach.cpphmi/node_hmi.cpp37e60d1fffdd460496b2b6249ed71c92517de4c91785163467000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 逆向车道快速接近凸包停车防护(cluster兜底)
对向来车未被感知分类为obj、只输出TYPE_CLUSTER时, PNC纵向决策对它完全无反应:
cluster不进interested因而无decider_attr, FromHis跳过它因而无历史, ST按静态建
且不进path_time_obstacles_, 唯一影响是写OGM当前占用->只限速不停车。对"点云少+
速度快"的逆向来车, 等它进自车path时已无刹停距离。
cluster无id概念、前后帧id不对应, 因此判据做成不依赖id的标量时序:
- 逆向车道链: 自车已驶入转弯lane(无逆向邻车道)时沿参考线回退到弯道前直道作
锚点, 再沿直道predecessor往上游延伸, 终止条件是"自车上游累计长度够不够",
不是级数/链总长(单条lane就可能几百米, 按总长封顶会一次都延伸不进去)
- 冲突区: 自车走廊与对向道路判定带的重叠段, 不用两条中心线求交 —— 车体有
宽度, 中心线不相交时车照样扫过去
- 判据: cluster投影到逆向链自身量弧长(不碰guide的SL, 规避弯道投影问题),
帧级批量关联维持航迹, 两车占用冲突区的时间窗交叠即触发
防误停三道门: 路沿侧边界内缩、接近速度死区、航迹成熟度。
停止线保持2s防判据抖动导致点头; 车头横向切入对向道路超阈则整体释放 —— 进区
后再停等于横在对向道上挡路, 比抢过去更危险。
灰度use_reverse_approach_stop默认关, 12项参数均可rosparam调。
HMI"逆向车道接近"菜单画链/道路边界/判定带/冲突区/命中cluster, 状态行给出各道
门的通过情况。
2026-07-27 22:44:27 +080037e60d1fffdd460496b2b6249ed71c92517de4c9feat: 逆向车道快速接近凸包停车防护(cluster兜底)editdata/constrain/long_target.cppeditdata/plan_frame.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/long_decider/constrain_decider.hppeditdata/constrain/longitude_constrain.hppeditdata/config/cfg_safe_const.hppedithmi/draw/draw_all.cppeditcommon/util/express.cppeditdata/constrain/longitude_constrain.cppadddata/obstacle/reverse_lane_approach.cppedithmi/draw/draw_constrain.cppeditdata/config/cfg_hmi.cppaddhmi/draw/draw_reverse_approach.cppeditdata/app/fsm/stop_reason.cppeditdata/config/cfg_hmi.hppadddata/obstacle/reverse_lane_approach.hppeditdata/config/cfg_safe_const.cppeditdata/plan_frame.hppaddhmi/draw/draw_reverse_approach.hppedittasks/deciders/long_decider/constrain_decider.cppedithmi/widget/pnc_mat_shared.cppedithmi/node_hmi.cpp
- data/config/cfg_func_sw.hppb61c553c0f4ff9a36aedab5c5614f28b518af1c21785198914000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 逆向车道接近防护灰度默认打开
hpp 类内初始化与 cpp 的 rosparam 默认值一并改 true —— 前者在回放
version<16 的老 dump 时生效, 只改后者会让老包回放仍是关的。
2026-07-28 08:35:14 +0800b61c553c0f4ff9a36aedab5c5614f28b518af1c2chore: 逆向车道接近防护灰度默认打开editdata/config/cfg_func_sw.hpp
- hmi/draw/draw_constrain.cppafa15f9f2342928ced17b1889a3035764b1152441785214793000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 窄会车限速HMI补绘制颜色, 原落到default暗红
2026-07-28 12:59:53 +0800afa15f9f2342928ced17b1889a3035764b115244fix: 窄会车限速HMI补绘制颜色, 原落到default暗红edithmi/draw/draw_constrain.cpp
- data/config/cfg_env_const.hppdata/config/cfg_topic.hpphmi/draw/draw_constrain.cppdata/config/cfg_topic.cppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppsource/ros_source_traffic_light.cpphmi/widget/diagnose.cppdata/vehicle/traffic_light_data.cppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppsource/ros_source_traffic_light.hppdata/vehicle/traffic_light_data.hppdata/plan_frame.hppdata/constrain/longitude_constrain.hppcommon/util/express.cppsource/module.cpp29aab4d28dc68f370f38bc4787b9fa5c55d256b91785215545000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 红绿灯实时灯态停车, 含倒计时通行判断与红灯缓行
从 feat_traffic 移植实时灯态接入, 原逻辑只按地图判"路口有灯就停",
现改为按灯色放行:
- 新增 TrafficLightData 与 ROS 源, 订阅 traffic_light_det
- 按路口转向选相位判定停走, 补齐右转灯(未检出右转灯时维持放行)
- HMI 诊断显示灯态与倒计时
倒计时(感知复用 conf 字段承载)相关:
- 绿灯剩余不足以让车头驶出路口时提前停等; 已无法在停止线前停住
则继续通过, 避免明知停不住仍急刹
- 红灯将结束时压低接近速度缓行; 停止线约束保留, 不会闯红灯
移植修正:
- FromMsg 补 clear(), 原实现跨帧累积会让历史绿灯命中 IsHaveStatus
- ROS 源补 mutex, 与其余数据源一致
- 未移植 NeedTrafficLightStop 里的调试用 return true(会架空灰度开关)
灰度 use_func_traffic_light_countdown / use_func_traffic_light_creep
默认关; PlanFrame 序列化升至 version 6, 新字段按版本追加。
2026-07-28 13:12:25 +080029aab4d28dc68f370f38bc4787b9fa5c55d256b9feat: 红绿灯实时灯态停车, 含倒计时通行判断与红灯缓行edittasks/deciders/long_decider/constrain_decider.cppadddata/vehicle/traffic_light_data.hppadddata/vehicle/traffic_light_data.cppeditdata/config/cfg_env_const.hppaddsource/ros_source_traffic_light.cppeditdata/constrain/disable_stop_range.hppeditdata/config/cfg_func_sw.hppeditdata/constrain/longitude_constrain.hppeditdata/plan_frame.hppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_constrain.cppeditdata/constrain/disable_stop_range.cppeditdata/config/cfg_topic.cppeditcommon/util/express.cppeditdata/constrain/longitude_constrain.cppaddsource/ros_source_traffic_light.hppeditdata/config/cfg_topic.hppeditsource/module.cppeditdata/config/cfg_env_const.cppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.hpp
- data/vehicle/traffic_light_data.cpp9e7385a8a3484d64ba9b49974ca6230826de396e1785216327000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comstyle: 灯相位改指定初始化器, 防字段顺序变动时静默错位
2026-07-28 13:25:27 +08009e7385a8a3484d64ba9b49974ca6230826de396estyle: 灯相位改指定初始化器, 防字段顺序变动时静默错位editdata/vehicle/traffic_light_data.cpp
- hmi/draw/draw_map.hpphmi/draw/draw_map.cpp23b1fbfac1ccccc0570406cec64bbe47367d9b691785216718000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 地图标注红绿灯相位与倒计时, 挂动态层避免静态缓存不刷新
2026-07-28 13:31:58 +080023b1fbfac1ccccc0570406cec64bbe47367d9b69feat: 地图标注红绿灯相位与倒计时, 挂动态层避免静态缓存不刷新edithmi/draw/draw_map.cppedithmi/draw/draw_map.hpp
- CMakeLists.txtf7fe9b1838d7deb33e6534ab396cc6efefd484ad1785222216000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: Debug 调试信息拆到 .dwo, 链接改用 lld
-fstandalone-debug 让每个 .o 都带完整调试信息, 全量产出 819 个 .o 共 4.7GB、
可执行文件各 1.35GB, 结果 ccache 装不下一次全量(命中率仅 17%), 链接也很慢。
追加 -gsplit-dwarf 把调试信息拆到独立 .dwo, 不再进 .o 和最终二进制。两个 flag
各管一件事(前者决定类型完整性, 后者决定存放位置), 必须同时保留, 调试能力不变。
改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。
链接器在探测到 lld 时改用 lld, 链接阶段耗时占比从瓶颈降到 0.3%。lld 是独立包
不随 clang 一起装, 所以先问编译器能否使用再启用, 没装的机器回落系统默认链接器。
注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。
2026-07-28 15:03:36 +0800f7fe9b1838d7deb33e6534ab396cc6efefd484adbuild: Debug 调试信息拆到 .dwo, 链接改用 lldeditCMakeLists.txt
- scenarios/task_condition_evaluator.cppd7c66ed883d6c439a310ea0f7569991cf1bf51ef1785229446000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用
2026-07-28 17:04:06 +0800d7c66ed883d6c439a310ea0f7569991cf1bf51effix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用editscenarios/task_condition_evaluator.cpp
- data/plan/path_direction_data.cppb2f9bbd3d848b5a7587239e398db547471e9b00c1785233883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站方向判定增加终点在车后倒车分支
终点在车后且对齐余量超过 1m 时直接置为倒车方向, 避免落到
req_step_align 分支后按前进方向规划。
2026-07-28 18:18:03 +0800b2f9bbd3d848b5a7587239e398db547471e9b00cfeat: 锁站方向判定增加终点在车后倒车分支editdata/plan/path_direction_data.cpp
- data/map/reference/center_line.cpp555643794eb3726b03b06138afd7b43fecee22411785237895000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 途径点匹配改按横向距离绝对值取最近中心线
引桥/岸桥/park/buffer/lane_change 五处筛选中心线时, min_l 初值为 DBL_MAX
却用带符号的 l() 比较, 实际选出的是横向偏移最负(最靠右)的那条, 而非横向
最近的。外层已按 fabs(l()) < 2.0 过滤, 内层比较与之矛盾。改为与
UpdateDestAttr / UpdateCurrentAttr 一致的 fabs 写法。
2026-07-28 19:24:55 +0800555643794eb3726b03b06138afd7b43fecee2241fix: 途径点匹配改按横向距离绝对值取最近中心线editdata/map/reference/center_line.cpp
- data/map/reference/center_line.hppdata/plan/switch_data.hppdata/map/reference/center_line.cpp55345aae591d63ec186a92ce017ada334467c55c1785240143000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)
判定:
- 变道左右邻的 distance 跨越数不同, 原 check_range 被右邻覆盖后左侧实线
检查也复用它, 拆成 left/right 各算各的
- 引桥途径点 s 只算不用, 结果取到最后一个而非最近的, 补上筛选
- seaside/lane_change 比较用 start_match.s() 却存 end_match.s(), 下一轮
比较基准错位, 统一回 start
越界与崩溃防护:
- RelationOfRefByIdx 两个重载空容器时 size()-1 下溢, 后面 CHECK 必失败,
改优雅返回 INT32_MAX(46 处调用点已按此值处理)
- UpdateSwitchAttr 开头补 empty() 早退, 原先 back() 无保护
- JudgeIsInBlackLane 查的是邻车道, 补 idx==0 查左邻的边界判断
- GetBlackLaneDistanceFromEgo 的 count 是变道相对关系可为负, idx+count
走 size_t 会下溢, 改 int64_t 中转后校验
- SwitchData::curr_lane_idx_/target_lane_idx_ 无类内初始化也不在构造列表,
补 SIZE_MAX
冗余拷贝(均为每帧热路径, CenterLine 含完整点列):
- UpdateBlackLaneDistance 深拷贝整个 MltCenterLines
- GetBlackLaneDistanceFromEgo 首次 at(idx) 拷贝立即被覆盖
- JudgeIsInBlackLane 按值拷贝邻车道
死代码:
- 136 行注释掉的 lane_change 旧实现
- LaneChangePtIsInCurPath(条件括号错位致语义反转, 仅注释块内调用)
- buffer 途径点在 center_line 侧的链路(赋值处早已注释, 无消费者);
AppReaction::buffer_passing_pts_ 仍在用, 未动
2026-07-28 20:02:23 +080055345aae591d63ec186a92ce017ada334467c55cfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)editdata/map/reference/center_line.hppeditdata/map/reference/center_line.cppeditdata/plan/switch_data.hpp
- hmi/draw/draw_path_boundary.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_path_boundary.cpphmi/draw/draw_all.cpp5b27175f0138069d8f6b7d25750b6511d52adb1a1785246274000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 显示 road boundary 的 shift type
在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,
同类型连续断面不重复标。
文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach
的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。
2026-07-28 21:44:34 +08005b27175f0138069d8f6b7d25750b6511d52adb1afeat: HMI 显示 road boundary 的 shift typeedithmi/draw/draw_path_boundary.cppedithmi/draw/draw_path_boundary.hppedithmi/draw/draw_all.cppedithmi/widget/pnc_mat_shared.cpp
- data/common/trajectory_point.cpp6d93e3a9c729dba971bb8b40f0600f479bffc1801785300131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 TrajectoryPoints 三处按弧长插值的参数误用
MatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给
InterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 "p0.s() >= s - 0.01"
早退分支 —— 轨迹中段 s 是几十米量级、恒大于比例值, 插值从未真正生效, 取点一直
退化成按离散点向下取整。
- MatchPtByt: 把时间比例换算成对应弧长再传
- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s
- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)
- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),
插值真正生效后不能再盲目 lerp —— 任一端越界或两端相差超过 pi 时取下界点
影响面较大: obstacle 预测采样、DP 动态代价、走廊 s<->t 反查、lattice 停车轨迹、
cloud_trajectory 都从"取整"变为"真插值", 数值会有变化, 目前只验证过变道场景。
2026-07-29 12:42:11 +08006d93e3a9c729dba971bb8b40f0600f479bffc180fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用editdata/common/trajectory_point.cpp
- Testing/pjpo_case_test.cppdata/plan/start_point_data.cppalgorithm/plan/pjpo.cpptasks/deciders/lat_decider/switching_bounds_decider.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppd22a1c8ac945ee70b47bf11a0263366d995c84f91785300165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲
一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)
车的横移速率 ≈ init_dl × v(每帧只执行路径最前约 0.5m), 所以起点斜率一旦被压到
0, 路径形状再对车也不动。两处把它压到 0:
- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass
的起点 kappa kink 把 init_dl 软化, 但变道恰恰需要起点持续保持朝目标的横移
斜率, 软化后 QP 每帧把它拉回 0(kSoftInitPenalty 相对 l_ref 权重极低, 拉回几乎
无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。
- kInitDlOutwardMax 的"向外"判据改为相对 path_reference_l。原按 init_l 符号判,
会把 PREPARE 段"正朝目标车道靠拢"误判成向外漂移(实测 ref_l=1.57/init_l=0.82/
init_dl=0.06), 起点斜率被夹死在 0.05。
另新增 BoostLaneChangeInitDl: QP 每帧的解从起点起 dl 就单调递减, 而车只执行起点
段, 构成一阶惯性环节(指数收敛、尾巴无限长), 只能在入口给定横移速率下限打破。
二、跨两车道路径扭曲(变一道正常, 变两道路径扭、控制跟不住而触发曲率限速)
- 变道 dl 上限放宽到 0.8。单车道 S 曲线峰值仅 0.26, 跨两车道需 ~0.5, 恰好顶死
±0.5 上限, QP 在约束边界上滑动导致解非光滑。用同一帧 dump 离线扫描, dl 拐点
数与触限程度严格对应: 0.3->7, 0.5->3, 0.8->1; 放宽后实际只用到 0.505。
- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)
压 dl 峰值治"急": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。
三、连带修复
- init_dl 为硬约束时补上夹进 dl 边界。piecewise_jerk_problem 把 dx[0] 上下界同设
为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道
关闭了 all_soft 兜底, 会一路掉到 last_path fallback。
- 起点 dl/ddl 增加 Frenet 直传(参考线几何未变时从上一帧解按 s 取), 绕开 Cartesian
往返; 失败自动回退反算。
- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false
而结构体默认 true, 之前从不入档, 离线回放会多挂 all_soft 档致复现不可信。
- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与
SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。
验证: 实车变道正常、曲率连续; side-pass 回归 72 例 0 退化, 其中 1 例判据差异是对
旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。
2026-07-29 12:42:45 +0800d22a1c8ac945ee70b47bf11a0263366d995c84f9fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲editdata/plan/start_point_data.cppeditalgorithm/plan/pjpo.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditalgorithm/plan/pjpo.hppedittasks/plan/pjpo_task.cppeditTesting/pjpo_case_test.cpp
- data/ssep/forward_ec.cpp494a4c03c12d713a4f2c572f39263f19537749f21785300245000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 梁山港进料场景也使用通用牵引挂车泊车场景
原先仅出料(BulkOut)时设为 kTractorTrailerGeneral, 现进料(BulkIn)同样适用。
2026-07-29 12:44:05 +0800494a4c03c12d713a4f2c572f39263f19537749f2feat: 梁山港进料场景也使用通用牵引挂车泊车场景editdata/ssep/forward_ec.cpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpp6b68ccaa05a2dfddc975df3c86c4ab8b783fa6d21785303286000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端轨迹下发各 lane 的剩余长度与总长度
Traj.msg 的 length_s/total_length_s 与 lane_ids 逐项对齐, 取值来自
第一条引导线的 line_infos: 自车所在 lane 只算未走完的部分, 其后的
lane 取引导线覆盖的全长; 变道备用引导线不下发长度。
2026-07-29 13:34:46 +08006b68ccaa05a2dfddc975df3c86c4ab8b783fa6d2feat: 云端轨迹下发各 lane 的剩余长度与总长度editdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cpp
- data/obstacle/reverse_lane_approach.cpphmi/draw/draw_reverse_approach.hppreplayer/replayer_data_process/replayer_data_process.cppdata/obstacle/reverse_lane_approach.hpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/plan_frame.cpphmi/replayer_hmi.cpphmi/draw/draw_reverse_approach.cpp5c38a92c41b9a233368ed32efc2c4581518350181785324485000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 逆向车道接近支持 Replayer 回放诊断
2026-07-29 19:28:05 +08005c38a92c41b9a233368ed32efc2c458151835018feat: 逆向车道接近支持 Replayer 回放诊断editdata/obstacle/reverse_lane_approach.cppedithmi/replayer_hmi.cppedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_reverse_approach.hppeditdata/plan_frame.hppedithmi/draw/draw_reverse_approach.cppeditdata/obstacle/reverse_lane_approach.hppeditdata/plan_frame.cppeditreplayer/replayer_data_process/replayer_data_process.cpp
- data/obstacle/reverse_lane_approach.cppdata/obstacle/reverse_lane_approach.hpphmi/draw/draw_reverse_approach.cpp95407a6e3a73566bcde36b509d0f64e176ed25711785333570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正逆向车道防护区域构建
按 section real_lane_ids 过滤反向生成的重叠车道，统一初始候选和前驱链校验。
防护区域靠自车侧使用逆向车道左 lane boundary，按自车方向的左侧外沿使用逆向车道右 road boundary，避免正反向 road boundary 重叠造成区域越界。
冲突区域改为与自车走廊求交，并补充纵向 padding 与去重采样，避免垂直相交时 polygon 退化；同步更新 HMI 边界显示。
2026-07-29 21:59:30 +080095407a6e3a73566bcde36b509d0f64e176ed2571fix: 修正逆向车道防护区域构建edithmi/draw/draw_reverse_approach.cppeditdata/obstacle/reverse_lane_approach.cppeditdata/obstacle/reverse_lane_approach.hpp
- data/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.hppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppconfig/config_car/plan.yamlf8383017ad40e74bba23f8eedfd1ed144d3a18e11785408734000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加堆高机侧向吊具高度防护
按堆高机与车身的横纵向位置及垂直朝向识别侧向作业场景。
场景内采用可配置的 5.5 米吊具高度阈值，并追加角度、横向距离和纵向容错配置及回放序列化。
2026-07-30 18:52:14 +0800f8383017ad40e74bba23f8eedfd1ed144d3a18e1feat: 增加堆高机侧向吊具高度防护editconfig/config_imv/plan.yamleditconfig/config_truck/plan.yamledittasks/deciders/long_decider/constrain_decider.hppeditdata/config/cfg_safe_const.cppeditconfig/config_car/plan.yamledittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_safe_const.hpp
- hmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.cppdata/obstacle/perception_obstacle.hppca4985937f3eda88a3813000f1dc4ce9e56ab0311785408749000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物朝向与速度方向
修正速度方向访问器，并为外部聚类障碍物初始化速度方向。
HMI 使用较浅、较短的箭头区分 heading 和速度方向，同时过滤场桥虚拟障碍物及聚类障碍物。
2026-07-30 18:52:29 +0800ca4985937f3eda88a3813000f1dc4ce9e56ab031feat: 显示障碍物朝向与速度方向edithmi/draw/draw_perception.cppeditdata/obstacle/perception_obstacle.hppeditdata/obstacle/perception_obstacle.cpp
- data/constrain/block_data.cppdata/constrain/temporary_stop_data.cppdata/constrain/disable_stop_range.cppdata/constrain/block_data.hppdata/constrain/disable_stop_range.hpp29b6b238475dd1893941953a4293910c95006f401785417832000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁止跳过动态场桥临停约束
在 Range 中增加可跳过属性，并将属性传递到临停约束。\n\n区分动态场桥与静态场桥、未聚类障碍物，动态场桥始终保持停车且拒绝 SS 跳过请求，同时记录告警日志。\n\n修正出堆场场桥障碍物索引读取错误。
2026-07-30 21:23:52 +080029b6b238475dd1893941953a4293910c95006f40fix: 禁止跳过动态场桥临停约束editdata/constrain/block_data.hppeditdata/constrain/disable_stop_range.hppeditdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cppeditdata/constrain/temporary_stop_data.cpp
- data/ssep/forward_ec.cppad80465330e84bdcb0d01569eb179354d4cb00d11785420614000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持真石 IMV 按途经点多段停车
真石 IMV 进场且携带搜索途经点时，切换到 IMV 多段停车规划器并构建 pass posture。
收紧途经点支持范围，避免真石 CAR/TT 意外启用随机途经点采样，同时保持其他港区原有逻辑不变。
2026-07-30 22:10:14 +0800ad80465330e84bdcb0d01569eb179354d4cb00d1feat: 支持真石 IMV 按途经点多段停车editdata/ssep/forward_ec.cpp
- data/app/cmd/cmd_remote_ctrl.hppdata/app/cmd/cmd_remote_ctrl.cpp0c3fea420317acb226dbc6e783f141e5854c75581785475712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复直线步进指令立即中断
区分远控命令尚未进入与已退出 MOTION_REMOTE 的状态，保留 STOP/DISABLE 启动阶段请求，使 stop2remote 能在后续周期正常触发。\n\n进入 MOTION_REMOTE 后退出仍立即中断，并保留原有超时保护；同步升级命令序列化版本。
2026-07-31 13:28:32 +08000c3fea420317acb226dbc6e783f141e5854c7558fix: 修复直线步进指令立即中断editdata/app/cmd/cmd_remote_ctrl.hppeditdata/app/cmd/cmd_remote_ctrl.cpp
- data/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.cpp570a5354eaa718c4626c8bd24d1aefad515aa52b1785478691000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前窄路靠边车辆绕行判定
缩短动态障碍转静态时的确认帧数和近期位移窗口，降低停车后开始绕行的等待时间。\n\n靠边判断增加障碍外缘到真实道路边界的距离证据，使窄路上绝对横向偏移较小但实际已贴边的车辆能够及时放行；道路边界无效时保留原中心带判据。
2026-07-31 14:18:11 +0800570a5354eaa718c4626c8bd24d1aefad515aa52bfix: 提前窄路靠边车辆绕行判定editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cpp
- data/dp_poly_path/dp_road_graph.cppdata/dp_poly_path/dp_road_graph.hpp9daeef8eed2c2e3f87c130bd6dde91ed5f7849271785481135000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止DP搜索中断后绕行路径错误回正
DP完整路径无解时，从最深层的最优可行节点回溯，仅保留无碰撞、无越界的搜索前缀。
保持失败帧不发起新绕行决策，并让后续路径边界维持中断前的绕行侧位置，避免采用硬约束节点之后的虚假回目标车道段。
2026-07-31 14:58:55 +08009daeef8eed2c2e3f87c130bd6dde91ed5f784927fix: 防止DP搜索中断后绕行路径错误回正editdata/dp_poly_path/dp_road_graph.hppeditdata/dp_poly_path/dp_road_graph.cpp
- tasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/obstacle/decision/obstacle_decision.hpptasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/obstacle/obstacle_decider_attr.hppdata/boundary/driving_corridor.hppea1ed71bd038fc6b4f93a9c4519f1904b52c55641785540986000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定动态障碍绕行边界切换
隔离 UseHis 最终执行路径与动态交互路径，并改用原始可行 gap 计算窄会车空间，消除历史 DP 反灌造成的边界闪烁。
横向切入采用让速不让道，切入完成或障碍后缘超过自车后释放来源侧车道边界，同时保留 KEB 碰撞防护。
增加 OG 到 obj 的占用交接标签，以历史原始 OG 作为新 box 的成熟度证据；仅旁路 age，侧向与 KEB 构图均保留原始 bbox 且不额外膨胀。
2026-08-01 07:36:26 +0800ea1ed71bd038fc6b4f93a9c4519f1904b52c5564fix: 稳定动态障碍绕行边界切换edittasks/deciders/lat_decider/side_pass_decider.cppeditdata/obstacle/decision/obstacle_decision.hppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/boundary/driving_corridor.hppedittasks/plan/keb_utils.cppeditdata/obstacle/obstacle_decider_attr.hpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor.hpp3b0e547e25d4f535a44a0549efb3910dd9a897ae1785547957000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定窄路会车的 DP 采样边界
在自车纵向范围内延后边界收缩，并结合历史可行 gap、当前道路边界、安全缓冲和栅格余量保证最小通行空间。
锁存贴右进入与退出状态，对各采样断面的对向车几何独立做短时保持，避免快速来车时边界逐帧收缩和放开。
2026-08-01 09:32:37 +08003b0e547e25d4f535a44a0549efb3910dd9a897aefix: 稳定窄路会车的 DP 采样边界editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hpp
- data/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision.hpp8eb6c8060e6e7bb18987b2f6220a5a1beaa5be5c1785547965000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤未沿道路对齐的会车收边
MEETING 障碍只有通过沿当前道路逆向对齐确认后才能进入动态边界收窄，避免弯道外侧、支路横穿或调头车辆误触发狭窄会车。
补充 along 诊断字段，便于回放区分标签命中与沿路对开确认。
2026-08-01 09:32:45 +08008eb6c8060e6e7bb18987b2f6220a5a1beaa5be5cfix: 过滤未沿道路对齐的会车收边editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/boundary/driving_corridor.cpp
- data/dp_poly_path/trajectory_cost.cppc5d61657e629d304d2463ecfbb5a47b6b735b6f81785636337000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 DP 动态障碍横向范围过滤
使用障碍物 SL 横向边界与走廊横向宽度进行比较，修复原先混用 s 边界造成的量纲错误。\n\n避免前方动态障碍被提前过滤，恢复 DP 动态碰撞代价的有效性。
2026-08-02 10:05:37 +0800c5d61657e629d304d2463ecfbb5a47b6b735b6f8fix: 修正 DP 动态障碍横向范围过滤editdata/dp_poly_path/trajectory_cost.cpp
- data/boundary/driving_corridor.cpphmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.hppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/perception_obstacle.cppdata/dp_poly_path/dp_road_graph.cppdata/config/cfg_lat_plan.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle_decider_attr.hppdata/plan/side_pass_data.hpp421fbda76064ca97a6705ec7761467e39bfc8e181785636360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持受控低速车辆超车
新增清扫车和洒水车类型，支持明确类型授权与可配置速度门控的低速超车候选。\n\n实现单目标锁定、左侧单向 DP 采样、目标扫掠与短时掉帧占用、动作承诺及超车限速，并在切入、会车、路口、倒车和目标失效时统一退出。\n\n按道路姿态区分静止车辆绕行：纵向对齐车辆使用短等待，斜停或横停车辆仅在确认静止并长时间堵塞后开放，避免方向和靠边判据旁路姿态保护。\n\n补充配置、诊断标记和快照序列化兼容。
2026-08-02 10:06:00 +0800421fbda76064ca97a6705ec7761467e39bfc8e18feat: 支持受控低速车辆超车editdata/plan/side_pass_data.cppeditdata/config/cfg_func_sw.hppeditdata/boundary/driving_corridor.cppeditdata/dp_poly_path/dp_road_graph.cppeditconfig/config_imv/plan.yamledithmi/draw/draw_perception.cppeditdata/obstacle/perception_obstacle.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_lat_plan.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_func_sw.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/perception_obstacle.hpp
- data/obstacle/decision/obstacle_decision.hppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp49b1706abe4aa9841141d718927fa1ac19f5282c1785724938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧快速对向会车边界
快速对向车改用到达时刻对齐和局部参考线投影，投影异常时按当前状态匀速回退。
窄会车仅保留真实不足的断面，并按整组更新历史贴右区域，避免移动预测留下长尾收边和跨支路误收缩。
2026-08-03 10:42:18 +080049b1706abe4aa9841141d718927fa1ac19f5282cfix: 收紧快速对向会车边界editdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hpp
- data/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/dp_poly_path/dp_road_graph.hpp448bc5c581f7903a3befb73a05404843d9c8a9821785724938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持绕行路径连续性
绕行未获得足够回中空间或本帧 DP 无解时，请求沿用历史路径，避免车辆提前回目标车道后陷入首层无解。
历史路径复用增加参考线锚点与当前可行走廊校验；校验失败时交由上层停车兜底，并修正拖挂路径使用错误参考线的问题。
2026-08-03 10:42:18 +0800448bc5c581f7903a3befb73a05404843d9c8a982fix: 保持绕行路径连续性edittasks/deciders/lat_decider/side_pass_decider.cppeditdata/dp_poly_path/dp_road_graph.hppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/dp_poly_path/dp_road_graph.cpp
- sink/ros_sink_record_trigger.cpp75ddb364839d8c88ff2a9e802606bd70a9bac1e41785724938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正录包触发模块标识
将快照录包触发消息的模块名由 decision 统一为 pnc，与当前节点其他对外消息保持一致。
2026-08-03 10:42:18 +080075ddb364839d8c88ff2a9e802606bd70a9bac1e4fix: 修正录包触发模块标识editsink/ros_sink_record_trigger.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccbced6f6d483813906b1a3fd2308a7a4835c657ab1785742740000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数
2026-08-03 15:39:00 +0800bced6f6d483813906b1a3fd2308a7a4835c657abchore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数
2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search
2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hpp
- plan/prepare/prepare_status.cpp8431c0cf7263b8e64e011c14543bcca8c13f58f01785766365000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 延迟普通出堆场区域切换
普通出堆场场景按挂尾所在路段确定反馈区域，挂尾仍在堆场或堆垛区时保持对应安全档位，完全离开后再切换为出堆场路口。
复用按需计算的挂尾路段查询，避免非相关场景执行额外地图查询，并保持 open space 原有逻辑不变。
2026-08-03 22:12:45 +08008431c0cf7263b8e64e011c14543bcca8c13f58f0fix: 延迟普通出堆场区域切换editplan/prepare/prepare_status.cpp
- plan/prepare/prepare_status.cpp6ee53cedccd00a851aa1e1bff39897eacd3f4e391785810177000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定任务切换期间区域状态
车辆静止且 PNC local map 尚未稳定时沿用上一帧区域状态，地图恢复或车辆起步后退出保持。
通过新 routing 接收标志和 task id 变化识别任务首帧，避免场景状态尚未更新时短暂回退到普通道路或路口区域；保留 PARK_LOCK 专用判定优先级。
2026-08-04 10:22:57 +08006ee53cedccd00a851aa1e1bff39897eacd3f4e39fix: 稳定任务切换期间区域状态editplan/prepare/prepare_status.cpp
- data/config/cfg_lat_plan.hpp9a38fc7decf718c1b841c65117eda39a4e3524721785810183000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: serialize WBCA max cost
2026-08-04 10:23:03 +08009a38fc7decf718c1b841c65117eda39a4e352472fix: serialize WBCA max costeditdata/config/cfg_lat_plan.hpp
- plan/prepare/prepare_status.cpp9d2aba33a792be680c5fc0f7c831bb6c5f7993301785810195000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 低速出桥场景适配锁站安全档位
启用低速安全阈值调整时，将 REGION_OUT_BRIDGE 纳入锁站安全档位转换范围，避免该枚举因数值位于 REGION_STACKER 之后而被遗漏。
2026-08-04 10:23:15 +08009d2aba33a792be680c5fc0f7c831bb6c5f799330fix: 低速出桥场景适配锁站安全档位editplan/prepare/prepare_status.cpp
- data/plan/start_point_data.cppeef8e9a6d8adc39d76cc7f720a1d7102ebdacd241785811528000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: plan from history in low speed
2026-08-04 10:45:28 +0800eef8e9a6d8adc39d76cc7f720a1d7102ebdacd24fix: plan from history in low speededitdata/plan/start_point_data.cpp
- data/scenario/scenario_planner_action.cppf196f370519ae2951f909d6067cbb575ca6936db1785820957000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正场景规划器过早退出判断
修正横向偏差与航向角阈值表达式的括号错误，避免将比较结果传入 fabs 导致左右判断不对称。
补齐出堆场区域切换判断，并校验搜索路径坐标长度，防止错误退出及无效路径访问。
2026-08-04 13:22:37 +0800f196f370519ae2951f909d6067cbb575ca6936dbfix: 修正场景规划器过早退出判断editdata/scenario/scenario_planner_action.cpp
- algorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/path_optimization/imv_path_optimization.cppalgorithm/wbca/path_optimization/truck_path_optimization.cpp12a6cda7e67d01b78624b8ff8f5a32cde12345481785822755000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update WBCA for truck and imv
2026-08-04 13:52:35 +080012a6cda7e67d01b78624b8ff8f5a32cde1234548fix: update WBCA for truck and imveditalgorithm/wbca/path_optimization/imv_path_optimization.cppeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/path_optimization/truck_path_optimization.cpp
- ssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppfc6eb0868971fc680840de071580930fd7143f991785913580000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复IMV重规划时起点曲率异常的问题
2026-08-05 15:06:20 +0800fc6eb0868971fc680840de071580930fd7143f99fix: Keb: 修复IMV重规划时起点曲率异常的问题editssep/data_structures/path.ccedittasks/plan/keb_lane_follow_path_task.cpp
- data/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/deciders/long_decider/constrain_decider.cpptasks/plan/reversing_truck_path_task.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory
2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/other/flow_control.cppedittasks/plan/reversing_truck_path_task.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/vehicle/deviation_status.cpp
- algorithm/wbca/imv_wbca_manager.cppe8c56d84d6c5f40efb5d5ab3a8d3ffd273ff41d21785924191000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: use history path for IMV direct link
2026-08-05 18:03:11 +0800e8c56d84d6c5f40efb5d5ab3a8d3ffd273ff41d2fix: use history path for IMV direct linkeditalgorithm/wbca/imv_wbca_manager.cpp
- data/app/fsm/motion_fsm/motion_fsm.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppc4d88d1700cdc8e4586d2b4556e6a5f089d906fd1785931504000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复缓刹遇障碍后无法进入停止态
NStop 执行期间进入 MOVE_BRAKE 后保持障碍制动，避免 MOVE_NSTOP 与 MOVE_BRAKE 循环切换。
车辆静止退出 MOVE_BRAKE 时恢复 NN_STOP 停车原因，使 MotionStopFsm 直接进入 STOP_CTRL。
2026-08-05 20:05:04 +0800c4d88d1700cdc8e4586d2b4556e6a5f089d906fdfix: 修复缓刹遇障碍后无法进入停止态editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/app/fsm/motion_fsm/motion_fsm.cpp
- tasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.cc6610aa1d8d22f71ff4c955a5d43d474b8bf8f1b41785931883000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复堆场转场时避障距离过大的问题
2026-08-05 20:11:23 +08006610aa1d8d22f71ff4c955a5d43d474b8bf8f1b4fix: Keb: 修复堆场转场时避障距离过大的问题editoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_lane_follow_path_task.cpp
- ssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils_core.cppcccfcf32d51b255fe754f3de5dac69683c7857181785998658000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复出堆场时挂车距离障碍物太近的问题
2026-08-06 14:44:18 +0800cccfcf32d51b255fe754f3de5dac69683c785718fix: Keb: 修复出堆场时挂车距离障碍物太近的问题editssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_utils_core.cpp
- ssep/offboard/ssep_planner_wrapper.ccssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/maps/ogm.hssep/maps/ogm_builder.hssep/ssep_planner.ccssep/ssep_planner.hssep/maps/ogm_builder.cc3002b0204ba227f2c7e17bfe25fbd5b31a86c0581786015196000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 前港清除access line附近的地图障碍物
2026-08-06 19:19:56 +08003002b0204ba227f2c7e17bfe25fbd5b31a86c058feat: SSEP: 前港清除access line附近的地图障碍物editssep/maps/ogm.heditssep/ssep_planner.heditssep/offboard/ssep_planner_wrapper.cceditssep/maps/ogm_builder.cceditssep/maps/ogm_builder.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/ssep_planner.cc
- data/vehicle/lock_station_data.cpp6e8c698095499413e06bbb4b1e350403d3c7ce5e1786016132000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复普通场景缓冲区数据失效问题
将缓冲区有效标记和距离更新移出堆高机场景判断，使通过基础路径匹配筛选的缓冲区点均能正常生效。
保留堆高机障碍物对缓冲区停车距离的动态调整逻辑。
2026-08-06 19:35:32 +08006e8c698095499413e06bbb4b1e350403d3c7ce5efix: 修复普通场景缓冲区数据失效问题editdata/vehicle/lock_station_data.cpp
- math/piecewise_jerk/constant_jerk_traj.cppdata/common/trajectory_point.cppdata/lattice/trajectory_combiner.cppdata/lattice/piecewise_traj_generator.cppdata/lattice/feasible_region.cppmath/piecewise_jerk/piecewise_jerk_traj.cppdata/lattice/feasible_region.hppbc74bb89bd349452152f3e327b06384e849a83221786027375000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正纵向轨迹基础计算边界
修正轨迹点投影的绝对 s 计算、可行域减速边界和加速段距离公式。
补齐终点采样，允许数值稳定的微小时长 jerk 段，并实现 PiecewiseJerkTraj 深拷贝。
2026-08-06 22:42:55 +0800bc74bb89bd349452152f3e327b06384e849a8322fix: 修正纵向轨迹基础计算边界editmath/piecewise_jerk/constant_jerk_traj.cppeditdata/lattice/feasible_region.hppeditdata/lattice/feasible_region.cppeditdata/common/trajectory_point.cppeditmath/piecewise_jerk/piecewise_jerk_traj.cppeditdata/lattice/piecewise_traj_generator.cppeditdata/lattice/trajectory_combiner.cpp
- tasks/deciders/long_decider/constrain_decider.cppcommon/util/crash_helper.hppdata/lattice/collision_sweep.hppdata/lattice/collision_checker.cppcommon/util/crash_helper.cppdata/lattice/ogm_crash_data.cpp6adf47332ad16566b6d51f2c4043c4656bd608001786027398000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强纵向碰撞连续扫掠
按时间和空间双阈值补齐轨迹点间的连续碰撞检测，并统一牵引车与挂车扫掠轨迹。
细化 OGM 首碰位置，修正碰撞距离重复扣除 ego s 的问题。
2026-08-06 22:43:18 +08006adf47332ad16566b6d51f2c4043c4656bd60800feat: 增强纵向碰撞连续扫掠editcommon/util/crash_helper.cppadddata/lattice/collision_sweep.hppeditdata/lattice/ogm_crash_data.cppedittasks/deciders/long_decider/constrain_decider.cppeditcommon/util/crash_helper.hppeditdata/lattice/collision_checker.cpp
- data/lattice/trajectory1d_generator.hppreplayer/replayer_data_process/replayer_data_process.cppdata/constrain/speed_hard_constrain.hppdata/lattice/trajectory1d_generator.cppdata/constrain/longitude_constrain.cppdata/constrain/long_target.cppCMakeLists.txtdata/lattice/condition_sampler.cppdata/lattice/trajectory_combiner.hppdata/plan/start_point_data.cppdata/lattice/lattice_trajectory1d.cppdata/lattice/constraint_checker.hppdata/lattice/trajectory_evaluator.hppdata/config/cfg_long_plan.cppalgorithm/plan/lattice.cppdata/constrain/long_target.hppdata/lattice/trajectory_combiner.cppdata/lattice/trajectory_evaluator.cppdata/constrain/speed_hard_constrain.cpptasks/plan/lattice_task.hppdata/lattice/lattice_trajectory1d.hpptasks/plan/lattice_task.cppdata/lattice/constraint_checker.cppdata/lattice/longitudinal_comfort.hppdata/lattice/stop_planning_context.hppdata/lattice/jerk_limited_stop.hppdata/lattice/fsm_safety_brake.hppdata/lattice/longitudinal_curve_validator.hppdata/lattice/condition_sampler.hppdata/lattice/lattice_debug_data.hppdata/lattice/path_time_graph.cppdata/config/cfg_long_plan.hppdata/app/fsm/stop_reason.cppTesting/jerk_limited_stop_test.cppdata/lattice/stop_profile_planner.hppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/plan_frame.cpp7d80498d997025a130ff2e2dcf8b5e592ef202df1786031480000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一纵向停车规划与限速约束
建立统一停车上下文与运行状态，明确普通规划继承规划曲线起点、FSM 安全制动继承车辆反馈。
将严格停车改为 jerk 受限的多候选采样并支持上一条安全曲线续接，统一零速硬约束、动态限速和碰撞检查。
压缩停车诊断序列化，在回放端重建可派生数据，并补齐停车、重入、重载、限速及连续扫掠回归测试。
2026-08-06 23:51:20 +08007d80498d997025a130ff2e2dcf8b5e592ef202dffix: 统一纵向停车规划与限速约束editdata/lattice/trajectory1d_generator.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/lattice/constraint_checker.cppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/trajectory_combiner.hppedittasks/plan/lattice_task.cppadddata/lattice/jerk_limited_stop.hppeditdata/config/cfg_long_plan.cppeditdata/plan_frame.hppadddata/lattice/longitudinal_curve_validator.hppeditdata/lattice/constraint_checker.hppeditdata/plan_frame.cppadddata/lattice/stop_profile_planner.hppeditdata/lattice/trajectory_evaluator.hppeditdata/lattice/condition_sampler.cppadddata/lattice/fsm_safety_brake.hppeditdata/lattice/condition_sampler.hppadddata/lattice/stop_planning_context.hppeditdata/app/fsm/stop_reason.cppaddTesting/jerk_limited_stop_test.cppeditdata/config/cfg_long_plan.hppeditdata/plan/start_point_data.cppadddata/lattice/lattice_debug_data.hppeditdata/lattice/lattice_trajectory1d.cppeditdata/lattice/path_time_graph.cppeditdata/constrain/speed_hard_constrain.cppeditalgorithm/plan/lattice.cppeditdata/constrain/long_target.hppadddata/lattice/longitudinal_comfort.hppeditdata/constrain/longitude_constrain.cppeditdata/constrain/long_target.cppeditCMakeLists.txteditdata/lattice/trajectory1d_generator.cppedittasks/plan/lattice_task.hppeditdata/lattice/trajectory_combiner.cppeditdata/constrain/speed_hard_constrain.hppeditdata/lattice/lattice_trajectory1d.hppeditdata/constrain/longitude_constrain.hpp
- hmi/replayer_hmi.hpphmi/widget/lattice_plan_detail.cpphmi/widget/lattice_plan_detail.hpphmi/node_hmi.hpphmi/replayer_hmi.cpphmi/node_hmi.cppc0d77e9213506a73bc9d1ff584242d1f491626fd1786031500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 Lattice 停车诊断界面
增加候选轨迹、ST、s-v、t-a 和停车时序视图，展示停车上下文、候选筛选及失败原因。
接入在线 HMI 与回放 HMI，共用压缩后的诊断数据并支持回放重建结果展示。
2026-08-06 23:51:40 +0800c0d77e9213506a73bc9d1ff584242d1f491626fdfeat: 增加 Lattice 停车诊断界面edithmi/node_hmi.hppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/lattice_plan_detail.hppedithmi/node_hmi.cppaddhmi/widget/lattice_plan_detail.cpp
- data/scenario/scenario_manager.cppa3bbf6a8c9ec3bac13e512160e03f379d048de681786031573000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:s弯下码头面不搜索的bug
2026-08-06 23:52:53 +0800a3bbf6a8c9ec3bac13e512160e03f379d048de68feat:s弯下码头面不搜索的bugeditdata/scenario/scenario_manager.cpp
- data/lattice/trajectory_evaluator.hppdata/lattice/stop_planning_context.hppdata/lattice/trajectory1d_generator.cppdata/lattice/trajectory_evaluator.cppdata/constrain/long_target.cppdata/lattice/longitudinal_curve_validator.hppTesting/jerk_limited_stop_test.cpp253af5e4cbbd47c5124c7fe4b7e8383032b5915f1786033146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止终点制动阶段重新提速
- 在同一停车约束内跨帧锁存正常规划制动承诺
- 统一收紧停车候选、参考速度和历史续接的加速度约束
- 补充高速近终点重加速及状态清理、序列化回归测试
2026-08-07 00:19:06 +0800253af5e4cbbd47c5124c7fe4b7e8383032b5915ffix: 防止终点制动阶段重新提速editdata/constrain/long_target.cppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory_evaluator.hppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/trajectory1d_generator.cppeditTesting/jerk_limited_stop_test.cppeditdata/lattice/stop_planning_context.hpp
- data/lattice/trajectory1d_generator.hppdata/lattice/longitudinal_curve_validator.hppalgorithm/plan/lattice.cppdata/lattice/trajectory1d_generator.cppTesting/jerk_limited_stop_test.cppbd877bb416411869d616e0ecb6d5005a83208e061786034552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持停车终点释放后的低速前移
统一为所有硬速度约束保留 0.5 km/h 容差，同时继续严格限制停车终点的空间边界。
在停车未激活但硬终点仍有效时采样精确收敛到终点的低速五次曲线，解决动态跟车距离缩短后车辆无法继续前移的问题，并补充容差与候选生成测试。
2026-08-07 00:42:32 +0800bd877bb416411869d616e0ecb6d5005a83208e06fix: 支持停车终点释放后的低速前移editTesting/jerk_limited_stop_test.cppeditdata/lattice/longitudinal_curve_validator.hppeditalgorithm/plan/lattice.cppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/trajectory1d_generator.hpp
- data/lattice/trajectory1d_generator.hppdata/lattice/longitudinal_curve_validator.hppdata/lattice/stop_profile_planner.hppdata/lattice/trajectory1d_generator.cppdata/lattice/trajectory_evaluator.cppTesting/jerk_limited_stop_test.cppe99242fdc655541b05965f803b0dadc19b6eaf761786035846000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正短距停车前移速度
按剩余距离和舒适动力学搜索最高可行巡航峰值，并同步候选曲线与参考曲线。
保留 0.5 km/h 仅作为硬限速容差，移除其对前移速度的误用；在终点匹配范围内从继承位置生成零速保持，消除厘米级残差规划失败。
2026-08-07 01:04:06 +0800e99242fdc655541b05965f803b0dadc19b6eaf76fix: 修正短距停车前移速度editdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory1d_generator.hppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/stop_profile_planner.hppeditdata/lattice/trajectory1d_generator.cppeditTesting/jerk_limited_stop_test.cpp
- data/lattice/stop_planning_context.hppdata/constrain/long_target.cppTesting/jerk_limited_stop_test.cpp2c20fda83ae5d384e18c5474fb9fb100a50efd5b1786037343000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离停车目标跨帧状态
严格校验约束 ID 与投影后停车终点连续性，防止新终点继承旧目标的制动承诺、安全曲线和 OGM hold。补充空 ID、同 ID 跳变、失活目标和 FSM 重入回归测试。
2026-08-07 01:29:03 +08002c20fda83ae5d384e18c5474fb9fb100a50efd5bfix: 隔离停车目标跨帧状态editdata/constrain/long_target.cppeditdata/lattice/stop_planning_context.hppeditTesting/jerk_limited_stop_test.cpp
- data/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束
2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cpp
- sink/ros_sink_ctrl_reference.cppdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp331648018ddaf341fb953981c0d6b403c93a34541786078618000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正双头 IMV 直线步进方向
双头 IMV 在反向形式下默认保持固定车身方向，不再无条件按 reversing_mode 翻转步进距离。\n\n新增功能开关以兼容需要沿用旧方向定义的车辆，并支持配置动态更新及序列化。
2026-08-07 12:56:58 +0800331648018ddaf341fb953981c0d6b403c93a3454fix: 修正双头 IMV 直线步进方向editsink/ros_sink_ctrl_reference.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- data/lattice/trajectory_evaluator.hppdata/lattice/trajectory1d_generator.hppdata/lattice/stop_profile_planner.hppdata/lattice/stop_planning_context.hppdata/lattice/trajectory1d_generator.cppdata/lattice/trajectory_evaluator.cppdata/constrain/long_target.cpptasks/plan/lattice_task.hppdata/lattice/longitudinal_curve_validator.hpptasks/plan/lattice_task.cppTesting/jerk_limited_stop_test.cpp400111028f6748229d9152d2a43aa25416a19be51786078828000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复纵向停车限速恢复与无解兜底
去除跨帧制动速度锁存，改为根据当前停车距离和动力学状态决定是否立即制动。
区分当前位置与前方硬限速，为前方低限速生成满足物理恢复包络和终点停车条件的候选。
正常规划无解时输出限 jerk 的最大减速兜底轨迹，并在后续周期持续重试正常规划以便恢复行驶。
补充硬限速、短距停车、制动恢复和现场回归测试。
2026-08-07 13:00:28 +0800400111028f6748229d9152d2a43aa25416a19be5fix: 修复纵向停车限速恢复与无解兜底editTesting/jerk_limited_stop_test.cppedittasks/plan/lattice_task.cppeditdata/lattice/stop_profile_planner.hppedittasks/plan/lattice_task.hppeditdata/constrain/long_target.cppeditdata/lattice/stop_planning_context.hppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory_evaluator.hppeditdata/lattice/trajectory_evaluator.cppeditdata/lattice/trajectory1d_generator.hppeditdata/lattice/trajectory1d_generator.cpp
- data/config/cfg_func_sw.cppsink/ros_sink_ctrl_reference.cppdata/config/cfg_func_sw.hppcc22bdd20003402f89d9dfc808dcbd8e0a10ba101786079196000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正双头 IMV 直线步进方向
双头 IMV 在反向形式下默认保持固定车身方向，不再无条件按 reversing_mode 翻转步进距离。\n\n新增功能开关以兼容需要沿用旧方向定义的车辆，并支持配置动态更新及序列化。
2026-08-07 13:06:36 +0800cc22bdd20003402f89d9dfc808dcbd8e0a10ba10fix: 修正双头 IMV 直线步进方向editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditsink/ros_sink_ctrl_reference.cpp
- data/ssep/ssep_activation.cpp47d27a93e02d01731872969ee446f9871d2bb2ef1786086842000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 前港口清除access line附近的地图障碍物2
2026-08-07 15:14:02 +080047d27a93e02d01731872969ee446f9871d2bb2effix: SSEP: 前港口清除access line附近的地图障碍物2editdata/ssep/ssep_activation.cpp
- ssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/scenarios/imv_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/direction_switch_point_cost.hssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.ccf21c9d7db57f73bc55f13137a60ee3f5872d81fa1786086961000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: IMV多段路径规划，在优化时增加“方向切换参考点”
2026-08-07 15:16:01 +0800f21c9d7db57f73bc55f13137a60ee3f5872d81fafeat: SSEP: IMV多段路径规划，在优化时增加“方向切换参考点”addssep/keb_optimizer/cost_features/direction_switch_point_cost.heditssep/keb_optimizer/keb_problem.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/keb_problem.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.h
- hmi/draw/draw_guide_line.cpp85803e4342f42a1dabde51fdd671b1b01d8a0c271786088516000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 引导线绘制车道 ID
在每段连续车道的中点标注 lane ID，并根据视图缩放调整字号。\n跳过空 ID 和无效路径索引，避免重复文字与越界访问。
2026-08-07 15:41:56 +080085803e4342f42a1dabde51fdd671b1b01d8a0c27feat: 引导线绘制车道 IDedithmi/draw/draw_guide_line.cpp
- data/ssep/ssep_util.hppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/ssep/ssep_util.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cpp8b97531af95c81a24e87f179322254432f99a3281786335903000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持短直道路口连续搜索
抽取短直道连接下一路口的公共判定逻辑，并在引桥搜索中将终点延伸至下一路口 end_s。
新增默认关闭的 SSEP 功能开关，统一控制引桥、出堆场及后续场景的启用行为，同时支持动态更新与快照序列化。
2026-08-10 12:25:03 +08008b97531af95c81a24e87f179322254432f99a328feat: 支持短直道路口连续搜索editdata/config/cfg_func_sw.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_util.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/config/cfg_func_sw.hpp
- CMakeLists.txtfbd07404195d337fb8ea566b2261e47ca3f660831786338336000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 缩小版本宏的编译影响范围
将 VERSION_NODE、COMMIT_NODE 和 NODE_MSG_VERSION 从全局定义调整为仅作用于实际读取版本信息的 5 个源文件。
避免每次提交变化都改写全部编译命令并触发全量重编，使其余编译单元能够跨提交复用 ccache，同时保留程序版本信息。
2026-08-10 13:05:36 +0800fbd07404195d337fb8ea566b2261e47ca3f66083perf: 缩小版本宏的编译影响范围editCMakeLists.txt
- data/boundary/driving_corridor.cpp7d622f8768f9f782c479b0c122662a706e95aac01786347582000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复相邻道路逆向车误触发窄会车
窄会车净空计算前过滤完全位于最右可行边界之外的障碍断面，避免负净空将相邻平行道路车辆误判为极窄会车。\n\n障碍跨越可行边界时仍按零净空保守处理，并补充 outside_right 诊断计数。
2026-08-10 15:39:42 +08007d622f8768f9f782c479b0c122662a706e95aac0fix: 修复相邻道路逆向车误触发窄会车editdata/boundary/driving_corridor.cpp
- ssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.hssep/coarse_search/evaluator/diagonal_cost_computer.hssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/coarse_search/evaluator/README.mdssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.hssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.hssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/shortest_path_heur_table.hssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.ccssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.hssep/coarse_search/evaluator/dir_switching_cost_computer.hssep/coarse_search/README.mdssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.hssep/coarse_search/searcher_builders/README.mdssep/coarse_search/evaluator/ref_line_cost_computer.hssep/coarse_search/evaluator/jackknife_cost_computer.hssep/coarse_search/motion_primitive_sampler/README.mdbc8a0f42965a27f6aa0896d9d5886b20e27fe8671786361757000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: 补充搜索模块相关的注释和文档
2026-08-10 19:35:57 +0800bc8a0f42965a27f6aa0896d9d5886b20e27fe867doc: SSEP: 补充搜索模块相关的注释和文档addssep/coarse_search/evaluator/README.mdeditssep/coarse_search/evaluator/diagonal_cost_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.heditssep/coarse_search/evaluator/dir_switching_cost_computer.heditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdeletessep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.haddssep/coarse_search/searcher_builders/README.mdaddssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.heditssep/coarse_search/evaluator/jackknife_cost_computer.hdeletessep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.haddssep/coarse_search/README.mdeditssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.heditssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.haddssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.cceditssep/coarse_search/evaluator/composite_heuristic_computer.haddssep/coarse_search/motion_primitive_sampler/README.mdeditssep/coarse_search/evaluator/ref_line_cost_computer.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/coarse_search/evaluator/shortest_path_heur_table.h
- data/lattice/trajectory_combiner.cppalgorithm/plan/lattice.cpptasks/plan/lattice_task.cppTesting/jerk_limited_stop_test.cpp6d05474cd9f0ee8883398f6c28547cc895e259441786362148000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止 Lattice 轨迹合成陷入死循环
将轨迹合成的无界浮点循环改为整数索引有界采样，并拒绝非法采样步长、非有限时域和异常大的采样规模。\n\n补充制动曲线时长校验、Lattice 阶段 watchdog 定位及零步长、无限时域和超大时域回归测试。
2026-08-10 19:42:28 +08006d05474cd9f0ee8883398f6c28547cc895e25944fix: 防止 Lattice 轨迹合成陷入死循环editdata/lattice/trajectory_combiner.cppeditTesting/jerk_limited_stop_test.cppeditalgorithm/plan/lattice.cppedittasks/plan/lattice_task.cpp
- data/obstacle/reverse_lane_approach.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hppdata/boundary/driving_corridor.cppdata/obstacle/reverse_lane_approach.hpphmi/ui/ui_main_window.hppdata/obstacle/cluster_lateral_approach.hppdata/obstacle/cluster_lateral_approach.cppdata/config/cfg_hmi.cppCMakeLists.txtdata/boundary/driving_corridor.hpphmi/replayer_hmi.cpphmi/widget/pnc_mat_shared.cppplan/prepare/prepare_objs.cpphmi/ui/main_window.uihmi/draw/draw_perception.cpptasks/deciders/long_decider/time_path_graph_decider.hpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_perception.hpptasks/deciders/long_decider/time_path_graph_decider.cppdata/config/cfg_safe_const.hppdata/obstacle/occupy_grid.hpphmi/draw/draw_all.cppdata/config/cfg_safe_const.cppdata/obstacle/occupy_grid.cppdata/obstacle/cluster_motion_tracker.cppdata/obstacle/cluster_motion_tracker.hppdata/plan_frame.hppdata/plan_frame.cpphmi/draw/draw_reverse_approach.cpphmi/node_hmi.cppsink/ros_sink_snapshot.cppade631dc8ca8ab07b65b63d37dba305c6708c6381786369883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一无ID聚类障碍运动跟踪
新增内部稳定航迹，统一维护聚类 polygon、UTM 速度、命中丢失和运动状态，并处理普通目标与聚类之间的短时交接及分裂伴随片段。\n\nReverseApproach 改为消费统一航迹并仅保留停止线 latch；普通横向侵入改用统一速度计算 TTC，移除旧 OccupyGrid 边界差分限速。DrivingCorridor 仅在侧避栅格屏蔽确认移动聚类的 polygon 扫掠区域，保留纵向原始 OGM 安全约束。\n\n补充 PlanFrame/HMI 诊断与回放冻结数据，统一 Replayer 的 OGM 输入，并序列化新增横向 TTC 参数。
2026-08-10 21:51:23 +0800ade631dc8ca8ab07b65b63d37dba305c6708c638feat: 统一无ID聚类障碍运动跟踪editdata/boundary/driving_corridor.hppeditdata/config/cfg_safe_const.cppedithmi/draw/draw_reverse_approach.cppadddata/obstacle/cluster_motion_tracker.cppdeletedata/obstacle/occupy_grid.cppdeletedata/obstacle/occupy_grid.hppadddata/obstacle/cluster_motion_tracker.hppeditdata/config/cfg_hmi.cppedithmi/widget/pnc_mat_shared.cppeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/deciders/long_decider/constrain_decider.cppeditCMakeLists.txtedithmi/draw/draw_perception.hppeditdata/config/cfg_safe_const.hppeditdata/plan_frame.hppedittasks/deciders/long_decider/time_path_graph_decider.cppeditdata/config/cfg_hmi.hppedithmi/ui/main_window.uieditdata/obstacle/reverse_lane_approach.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/deciders/long_decider/time_path_graph_decider.hppedithmi/draw/draw_perception.cppeditdata/plan_frame.cppeditsink/ros_sink_snapshot.cppedithmi/draw/draw_all.cppedithmi/ui/ui_main_window.hppeditplan/prepare/prepare_objs.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/reverse_lane_approach.hppadddata/obstacle/cluster_lateral_approach.hppadddata/obstacle/cluster_lateral_approach.cpp
- data/config/cfg_func_sw.hpp880c647f4d3ee00bfe66315eec6b28278dccb7151786369894000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 序列化直道路口边界开关
将 use_func_straight_junction_use_road_boundary_ 纳入 CfgFuncSw v19 快照，确保 PNC Node 与 Replayer 使用同帧开关生成 RoadBoundary。
2026-08-10 21:51:34 +0800880c647f4d3ee00bfe66315eec6b28278dccb715fix: 序列化直道路口边界开关editdata/config/cfg_func_sw.hpp
- ssep/scenarios/tractor_trailer_enter_yard_planner.hf4a230bfa3e99386c715ba81040f0e2da5f45c7a1786372649000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复进堆场规划器头文件引用路径
更新 YardEntryReferencePathGenerator 重构后的头文件目录，解决 ssep_planner 编译时找不到头文件的问题。
2026-08-10 22:37:29 +0800f4a230bfa3e99386c715ba81040f0e2da5f45c7afix: 修复进堆场规划器头文件引用路径editssep/scenarios/tractor_trailer_enter_yard_planner.h
- data/boundary/road_boundary.cpp97f8c35707a10febe88e11f4bf9e964c36b4d2f71786377143000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整散货出场禁横移区域判定
使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。
补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。
2026-08-10 23:52:23 +080097f8c35707a10febe88e11f4bf9e964c36b4d2f7fix: 调整散货出场禁横移区域判定editdata/boundary/road_boundary.cpp
- data/boundary/road_boundary.cpp92ec18ef9528acb21394f9687294695be642af6a1786377224000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整散货出场禁横移区域判定
使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。
补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。
2026-08-10 23:53:44 +080092ec18ef9528acb21394f9687294695be642af6afix: 调整散货出场禁横移区域判定editdata/boundary/road_boundary.cpp
- data/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp6cbaaef29834453c80f18d5de20c08e997660c6c1786420961000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 散货进场末段切换 PJPO 规划
新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。
2026-08-11 12:02:41 +08006cbaaef29834453c80f18d5de20c08e997660c6cfeat: 散货进场末段切换 PJPO 规划editdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/task_condition_evaluator.cpp
- data/plan/guide_line.cppf08e65f3559f0592f75179239a476e785d4d17e21786421170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强 SSEP 目标路径有效性校验
引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。
2026-08-11 12:06:10 +0800f08e65f3559f0592f75179239a476e785d4d17e2fix: 增强 SSEP 目标路径有效性校验editdata/plan/guide_line.cpp
- data/ssep/forward_ec.cpp8542f5fb31cb13be6645b7ad2fef683dd2ea7ae01786421229000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 振石进场按参考线构造搜索起点
振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。
2026-08-11 12:07:09 +08008542f5fb31cb13be6645b7ad2fef683dd2ea7ae0feat: 振石进场按参考线构造搜索起点editdata/ssep/forward_ec.cpp
- data/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/config/cfg_stage.hpp08b5a4d8bc6d8ce57da4b1c4b73fbb39ae897f841786421338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 散货进场末段切换 PJPO 规划
新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。
2026-08-11 12:08:58 +080008b5a4d8bc6d8ce57da4b1c4b73fbb39ae897f84feat: 散货进场末段切换 PJPO 规划editdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.hpp
- data/plan/guide_line.cppee1806d7ac6d14c1e6ae396c22ff2c1a465227b61786421343000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强 SSEP 目标路径有效性校验
引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。
2026-08-11 12:09:03 +0800ee1806d7ac6d14c1e6ae396c22ff2c1a465227b6fix: 增强 SSEP 目标路径有效性校验editdata/plan/guide_line.cpp
- data/ssep/forward_ec.cppa19a44b5976756bef5c6ba34d485470995d3d1671786421372000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 振石进场按参考线构造搜索起点
振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。
2026-08-11 12:09:32 +0800a19a44b5976756bef5c6ba34d485470995d3d167feat: 振石进场按参考线构造搜索起点editdata/ssep/forward_ec.cpp
- ssep/keb_optimizer/README.mdssep/offboard/scene_replay/README.mdssep/scenarios/tractor_trailer_enter_yard_planner.h75ad18901f026164b12f30f4328d3d7ad9782e151786432674000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: 增加keb optimizer及离线工具的说明文档
2026-08-11 15:17:54 +080075ad18901f026164b12f30f4328d3d7ad9782e15doc: SSEP: 增加keb optimizer及离线工具的说明文档addssep/keb_optimizer/README.mdaddssep/offboard/scene_replay/README.mdeditssep/scenarios/tractor_trailer_enter_yard_planner.h
- ssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceee3ac87e6210b49e7360eabede326d100ac52cd1786433169000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题
2026-08-11 15:26:09 +0800eee3ac87e6210b49e7360eabede326d100ac52cdfix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题editssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cc
- data/lattice/trajectory1d_generator.hppdata/constrain/speed_hard_constrain.hppdata/lattice/trajectory1d_generator.cppdata/constrain/longitude_constrain.cppdata/lattice/fsm_safety_brake.hppdata/lattice/brake_trajectory_policy.hppdata/lattice/longitudinal_curve_validator.hppdata/plan/start_point_data.hppTesting/jerk_limited_stop_test.cppdata/plan/start_point_data.cppalgorithm/plan/lattice.cpptasks/plan/lattice_task.hppdata/constrain/speed_hard_constrain.cppdata/constrain/longitude_constrain.hpptasks/plan/lattice_task.cppdata/lattice/constraint_checker.cppb2ba1ece6230c0eae9696e682be9f6549feb32351786439039000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Lattice 制动恢复与硬限速约束
正常规划从制动兜底恢复时仅清除继承的负加速度，并在再次无解时续接上一条制动曲线，避免低速锁存和连续制动弱化。
统一 FSM 安全制动的规划拼接起点，完善 stop 轨迹标志生命周期和短路径截断兜底；同时按约束来源区分 0.5 km/h 硬限速容差，停车及障碍物约束保持严格。
补充制动切换、恢复重试、短路径和分类限速回归测试。
2026-08-11 17:03:59 +0800b2ba1ece6230c0eae9696e682be9f6549feb3235fix: 修复 Lattice 制动恢复与硬限速约束editdata/constrain/speed_hard_constrain.hppeditdata/lattice/trajectory1d_generator.hppadddata/lattice/brake_trajectory_policy.hppeditdata/lattice/trajectory1d_generator.cppeditdata/plan/start_point_data.cppedittasks/plan/lattice_task.hppeditdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/constraint_checker.cppeditdata/constrain/longitude_constrain.cppeditalgorithm/plan/lattice.cppeditdata/lattice/fsm_safety_brake.hppeditdata/constrain/speed_hard_constrain.cppedittasks/plan/lattice_task.cppeditdata/constrain/longitude_constrain.hppeditdata/plan/start_point_data.hppeditTesting/jerk_limited_stop_test.cpp
- AGENTS.mdf19373f892fa4ab5c7ac7c99b67f14e0b71c03841786439053000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 记录纵向规划连续性规则
明确正常规划、安全制动和兜底轨迹之间的起点继承、状态切换及标志生命周期要求，避免后续改动重新引入速度跳变或低速锁存。
2026-08-11 17:04:13 +0800f19373f892fa4ab5c7ac7c99b67f14e0b71c0384docs: 记录纵向规划连续性规则addAGENTS.md
- data/lattice/trajectory1d_generator.hppdata/lattice/longitudinal_curve_validator.hppdata/lattice/stop_profile_planner.hppdata/lattice/trajectory1d_generator.cppTesting/jerk_limited_stop_test.cppdata/lattice/constraint_checker.cpp64709981e692d4549692f89cd0b5dccb76d53a1b1786440297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 平滑普通硬限速恢复制动
普通地图、曲率和 REQ 限速按正常减速度恢复，并继承已有负加速度。\n\n前方限速、障碍物及停车约束仍保留最大制动能力，避免削弱 ST 与终点停车安全边界。\n\n增加限速切换及现场停车失败帧的回归测试。
2026-08-11 17:24:57 +080064709981e692d4549692f89cd0b5dccb76d53a1bfix: 平滑普通硬限速恢复制动editdata/lattice/longitudinal_curve_validator.hppeditdata/lattice/trajectory1d_generator.hppeditdata/lattice/stop_profile_planner.hppeditdata/lattice/trajectory1d_generator.cppeditTesting/jerk_limited_stop_test.cppeditdata/lattice/constraint_checker.cpp
- data/lattice/trajectory1d_generator.cppTesting/jerk_limited_stop_test.cppdata/lattice/longitudinal_curve_validator.hpp5a83a984799e41acd81745069bff5a497cd9f1471786449899000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 平滑前方普通硬限速制动
- 普通限速按边界距离选择最小可达减速度，距离充足时使用正常或继承值
- 严格安全来源继续使用最大减速度，停车阶段保留独立最大制动上限
- 补充 12.49 km/h 降至 8 km/h 现场参数及紧边界回归
2026-08-11 20:04:59 +08005a83a984799e41acd81745069bff5a497cd9f147fix: 平滑前方普通硬限速制动editdata/lattice/trajectory1d_generator.cppeditTesting/jerk_limited_stop_test.cppeditdata/lattice/longitudinal_curve_validator.hpp
- tasks/deciders/long_decider/constrain_decider.cppd3cf8222bc28bbc3ff3badbcaada886375ba3bde1786450956000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 降低锁站缩距区域限速
进入缩短跟车距离区域时，在锁站基础限速上额外降低 0.3 m/s，减小该区域内的跟车速度。
2026-08-11 20:22:36 +0800d3cf8222bc28bbc3ff3badbcaada886375ba3bdefix: 降低锁站缩距区域限速edittasks/deciders/long_decider/constrain_decider.cpp
- ssep/README.md1c57c822633652991975431220e3e619b2593b7e1786503902000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: 补充ssep子模块的整体说明文档
2026-08-12 11:05:02 +08001c57c822633652991975431220e3e619b2593b7edoc: SSEP: 补充ssep子模块的整体说明文档addssep/README.md
- Testing/routing_map_guard_test.cppreplayer/replayer_data_process/replayer_data_process.cppdata/vehicle/request_routing_data.cppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/routing_extension/routing_data.cppCMakeLists.txtplan/prepare/prepare_map_related.cppdata/map/pnc_map/pnc_map.cpp95b5e370255175e817d97b238fe122a0744da3a31786525097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强 routing 地图转换边界保护
校验车辆路由索引和各类 RoadSegments 的 route_path_idx，避免无效快照触发越界访问。\n\n修正 standby relative segments 访问与清理逻辑，避免接收新路由时同帧重复推进状态，并为在线与 replayer 地图恢复补充失败返回和回归测试。
2026-08-12 16:58:17 +080095b5e370255175e817d97b238fe122a0744da3a3fix: 增强 routing 地图转换边界保护editdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/pnc_map.cppaddTesting/routing_map_guard_test.cppeditplan/prepare/prepare_map_related.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditdata/vehicle/request_routing_data.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditCMakeLists.txt
- data/plan/ssep_data.cppTesting/ssep_path_corridor_test.cppreplayer/replayer_data_process/replayer_data_process.cpphmi/draw/draw_ssep.hppdata/other/ssep_path_corridor.cppdata/other/flow_control.cppdata/other/ssep_path_corridor.hppdata/plan/ssep_data.hppdata/other/flow_control.hppCMakeLists.txthmi/widget/diagnose.cpphmi/widget/pnc_mat_shared.cppssep/data_structures/type_definition.htasks/deciders/other_decider/replan_decider.cpphmi/draw/draw_all.cppssep/data_structures/type_definition.cchmi/draw/draw_ssep.cppdata/plan_frame.hppdata/plan_frame.cpp40012dbc845dd0a872f44709638fee5aabd77c401786525140000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 基于 SSEP 包络优化 Bulk 场景判断
按搜索路径与换向段构建 SSEP 包络，统一 BulkIn/BulkOut 互斥判断，并支持双向 IMV 倒车航向、入口临界区域和往返路径切段防抖。\n\n序列化 FlowControl、包络用途及保换向拓扑的压缩路径，使 replayer 可稳定恢复诊断与绘制数据；同时增加原地 BulkOut 重规划时间门限和完整归档回归测试。
2026-08-12 16:59:00 +080040012dbc845dd0a872f44709638fee5aabd77c40feat: 基于 SSEP 包络优化 Bulk 场景判断adddata/other/ssep_path_corridor.cppeditreplayer/replayer_data_process/replayer_data_process.cppedithmi/widget/diagnose.cppeditdata/plan_frame.cppeditdata/other/flow_control.hppeditssep/data_structures/type_definition.heditCMakeLists.txteditdata/plan/ssep_data.cppedithmi/draw/draw_all.cppeditdata/other/flow_control.cppedithmi/draw/draw_ssep.hppeditssep/data_structures/type_definition.ccaddTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.hppedithmi/draw/draw_ssep.cppadddata/other/ssep_path_corridor.hppedithmi/widget/pnc_mat_shared.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/plan_frame.hpp
- data/plan/ssep_data.cppTesting/ssep_path_corridor_test.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppf397d968ee7f58975957d69ac4b5c66426f635fc1786526149000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 重叠路径切段失败
切段判断改为直接校验当前分段真实末点的位置和航向，避免往返路径在同坐标重叠处被最近点投影到较早路段。\n\n保留双向 IMV reversing_mode 的航向还原，并补充自重叠路径及反转航向回归测试。
2026-08-12 17:15:49 +0800f397d968ee7f58975957d69ac4b5c66426f635fcfix: 修复 SSEP 重叠路径切段失败editdata/other/ssep_path_corridor.cppeditdata/plan/ssep_data.cppeditdata/other/ssep_path_corridor.hppeditTesting/ssep_path_corridor_test.cpp
- data/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/plan/side_pass_data.cppdata/dp_poly_path/dp_road_graph.hpptasks/deciders/long_decider/constrain_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/plan/side_pass_data.hppb40a051be1d4d997c4ac998b331ffa5aab3285c71786531985000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复侧绕历史路径失效触发无轨迹停车
DP 搜索截断时保留当前安全前缀和既有侧绕决策，历史路径校验失败后恢复语义状态，不再使侧绕任务直接失败。\n\n历史路径仅复用当前执行区间内且通过方向、参考线和走廊校验的点；最终执行路径真实余量接入纵向既有无轨迹安全判断，由纵向决定停车时机。
2026-08-12 18:53:05 +0800b40a051be1d4d997c4ac998b331ffa5aab3285c7fix: 修复侧绕历史路径失效触发无轨迹停车edittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/dp_road_graph.hppedittasks/deciders/long_decider/constrain_decider.cpp
- data/ssep/forward_ec.cpp7f8053951a09f4c2392360fc64ac0df62077edd71786535953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整梁山港 Bulk 场景规划模式
将梁山港牵引车 Bulk 进出场景从通用规划切换为单段泊车规划，匹配现场作业路径需求。
2026-08-12 19:59:13 +08007f8053951a09f4c2392360fc64ac0df62077edd7fix: 调整梁山港 Bulk 场景规划模式editdata/ssep/forward_ec.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hf78699e31acb37f35df22035469c20df064c0e471786536244000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 单段倒车时不使用倒车曲率限制策略
2026-08-12 20:04:04 +0800f78699e31acb37f35df22035469c20df064c0e47chore: SSEP: 单段倒车时不使用倒车曲率限制策略editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
- data/ssep/forward_ec.cpp032be6f7acb9c1628fd51bd7d3b052e96430bbd21786540098000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 细分梁山港 Bulk 场景规划模式
梁山港 Bulk 进场去料堆任务继续使用单段泊车规划，其余 Bulk 进出任务恢复使用通用牵引车规划，避免所有任务统一套用泊车模式。
2026-08-12 21:08:18 +0800032be6f7acb9c1628fd51bd7d3b052e96430bbd2fix: 细分梁山港 Bulk 场景规划模式editdata/ssep/forward_ec.cpp
- data/dp_poly_path/dp_road_graph.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/ogm.hppdata/obstacle/obstacle_decider_attr.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.cpp79a4dc5f79282a75ae004e17ced1bb65c3a44aad1786598543000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善作业车辆主动超车规划
- 放宽 28/29 类型超车 TTC 与巡航上限，统一目标准入门槛
- 区分超车目标与其他占用来源，仅对目标保留正相对速度
- 扫掠范围覆盖 lattice 时域，避免路径提前回正触发纵向限速
2026-08-13 13:22:23 +080079a4dc5f79282a75ae004e17ced1bb65c3a44aadfix: 完善作业车辆主动超车规划editconfig/config_imv/plan.yamleditdata/dp_poly_path/dp_road_graph.cppeditdata/obstacle/ogm.hppeditdata/obstacle/ogm.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_lat_plan.hpp
- data/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppconfig/config_imv/plan.yamldata/obstacle/obstacle_decider_attr.hppcf37549046af37febfab4db3e54bc1ac9fecfc131786602490000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 阻止绕行存在横穿冲突的弱势交通参与者
对靠边 VRU 同时检查当前横向速度和预测轨迹，进入道路中心保护带时强制停车让行。\n\n增加冲突释放迟滞、无效速度保守回退和绕行动作硬退出；保留靠边且无横穿冲突时的绕行能力。
2026-08-13 14:28:10 +0800cf37549046af37febfab4db3e54bc1ac9fecfc13fix: 阻止绕行存在横穿冲突的弱势交通参与者editconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle_decider_attr.hpp
- data/obstacle/cluster_motion_tracker.hppdata/obstacle/cluster_motion_tracker.cpp5b341d71ad0c277f56bed226fb98613c8fe539371786602511000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免静态点云凸包误判为动态
cluster 测速改用凸包边界共同位移，并结合形变、面积和对齐 IoU 验证刚体平移。\n\n单侧点云增删不再生成虚假移动速度；异常关联不更新运动状态，真实移动但轮廓变化的目标也不会被误推向静态。
2026-08-13 14:28:31 +08005b341d71ad0c277f56bed226fb98613c8fe53937fix: 避免静态点云凸包误判为动态editdata/obstacle/cluster_motion_tracker.hppeditdata/obstacle/cluster_motion_tracker.cpp
- data/obstacle/reverse_lane_approach.hppdata/obstacle/reverse_lane_approach.cppc1732ae87b714ff98f4baa462b195fe10e2f09671786604335000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 直行路口关闭逆向来车防护
根据实际冲突区中心匹配路口转向，仅在 ROAD_NO_TURN 路口抑制防护，避免影响路口前独立借道场景。
直行抑制时清空防护几何并释放历史停止线 latch，地图转向未知及转弯路口继续保持原有安全策略。
2026-08-13 14:58:55 +0800c1732ae87b714ff98f4baa462b195fe10e2f0967fix: 直行路口关闭逆向来车防护editdata/obstacle/reverse_lane_approach.hppeditdata/obstacle/reverse_lane_approach.cpp
- data/app/fsm/stop_reason.cppdata/constrain/longitude_constrain.cpp32a03b5d8a7b503196f7b63861185f55619525991786605376000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正逆向凸包停车状态分类
将逆向接近停止线归入可自动启动停止线，并把停车原因映射移至可达的自动启动分支。
车辆因逆向凸包停车后进入 STOP_AUTO，人工停车等手动启动原因仍保持 STOP_CTRL。
2026-08-13 15:16:16 +080032a03b5d8a7b503196f7b63861185f5561952599fix: 修正逆向凸包停车状态分类editdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cpp
- Testing/routing_map_guard_test.cppdata/other/flow_control.cppcommon/util/crash_helper.cppdata/map/reference/reference_segment.cpp577998aef6ad5b7c253364fbfa901287d94dc0601786610471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复流控碰撞检测路径越界崩溃
限制参考线转换索引不超过实际参考点范围，并处理空数据和反向区间。
碰撞检测拒绝无效 SL 边界，按牵引车和挂车各自的真实点数约束遍历，避免路径数量不一致时访问 at(size)。
补充 Flow Control 子步骤异常上下文及参考线、挂车点数不一致和无效投影回归测试。
2026-08-13 16:41:11 +0800577998aef6ad5b7c253364fbfa901287d94dc060fix: 修复流控碰撞检测路径越界崩溃editcommon/util/crash_helper.cppeditdata/other/flow_control.cppeditTesting/routing_map_guard_test.cppeditdata/map/reference/reference_segment.cpp
- tasks/deciders/long_decider/constrain_decider.cpp6ec098956fa340949b355528bf96f654ef6e70c61786616679000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除无轨迹停车的 DP 路径判断逻辑
2026-08-13 18:24:39 +08006ec098956fa340949b355528bf96f654ef6e70c6fix: 移除无轨迹停车的 DP 路径判断逻辑edittasks/deciders/long_decider/constrain_decider.cpp
- data/dp_poly_path/dp_road_graph.cppdata/config/cfg_lat_plan.hppdata/boundary/driving_corridor.cppdata/dp_poly_path/decision_trace.hpphmi/widget/dp_decision_detail.cppdata/config/cfg_lat_plan.cpphmi/widget/dp_decision_detail.hppdata/dp_poly_path/decision_trace.cppCMakeLists.txtdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp01e880b2e4d13dbe7b3533e024f67aeaf517b98a1786616744000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复贴道路边缘点云绕行边界收缩
区分道路边界与点云障碍的绕行和安全预留来源，在 DP 候选生成前应用 OG 缓冲及求解余量，避免直行候选压缩最终内缩距离。
同步补充无可行 gap 的安全截断、最终边界可视化和回归测试，确保 ROAD 不主动推动绕行。
2026-08-13 18:25:44 +080001e880b2e4d13dbe7b3533e024f67aeaf517b98afix: 修复贴道路边缘点云绕行边界收缩editdata/boundary/driving_corridor.cppeditdata/dp_poly_path/decision_trace.hppedithmi/widget/dp_decision_detail.cppedithmi/widget/dp_decision_detail.hppeditdata/config/cfg_lat_plan.hppeditCMakeLists.txteditdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/decision_trace.cppeditdata/boundary/driving_corridor.hppadddata/boundary/driving_corridor_test.cppeditdata/config/cfg_lat_plan.cpp
- algorithm/wbca/wbca_manager.cpp5c378c71b505eef55cbcd8ed0686bcdf9839d54a1786629204000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(wbca): derive direct-link threshold from route interval
2026-08-13 21:53:24 +08005c378c71b505eef55cbcd8ed0686bcdf9839d54afix(wbca): derive direct-link threshold from route intervaleditalgorithm/wbca/wbca_manager.cpp
- data/vehicle/traffic_light_data.cppdata/constrain/disable_stop_range.cppcommon/util/hdmap_namespace.hpphmi/draw/draw_map.hppdata/vehicle/traffic_light_data.hpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cpp4fd7c00186ed64807a54203a435c9748a8540c041786632740000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 按弯道车道属性处理路口灯控
使用 PncJunction 的弯道 lane 读取 TrafficControl，按属性匹配左转、右转或直行灯；NotControl 直接放行，缺失车道和非法属性保守停车。
HMI 仅展示参考线所经弯道 lane 的灯控类型，并将地图查询和文字绘制纳入静态缓存，增加地图切换及 lane 变化时的低频原始值日志。
2026-08-13 22:52:20 +08004fd7c00186ed64807a54203a435c9748a8540c04feat: 按弯道车道属性处理路口灯控edithmi/draw/draw_map.hppeditdata/vehicle/traffic_light_data.hppedittasks/deciders/long_decider/constrain_decider.cppeditcommon/util/hdmap_namespace.hppeditdata/constrain/disable_stop_range.cppedithmi/draw/draw_map.cppeditdata/vehicle/traffic_light_data.cpp
- data/map/pnc_map/routing_extension/routing_data.cppa6322e523cd0004ce198239a2fc3eeb8b42f3ea61786676627000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复出库阶段重复搜索
出库更新当前路由状态后，继续初始化下一段待转换路由，避免 standby 路由索引保持为 -1 导致参考线周期性失效。\n\n同时修正通过点投影范围判断中的逗号表达式，避免判断结果恒为真。\n\n验证：pnc_node 编译通过；pnc_routing_map_guard_test 6/6 通过。
2026-08-14 11:03:47 +0800a6322e523cd0004ce198239a2fc3eeb8b42f3ea6fix: 修复出库阶段重复搜索editdata/map/pnc_map/routing_extension/routing_data.cpp
- data/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/long_target.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/constrain/longitude_constrain.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放
在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。
2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.hppadddata/constrain/obstacle_stop_constraint_stabilizer.hppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/constrain/long_target.cppeditdata/constrain/constrain_data.cppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/constrain/constrain_data.hppeditdata/plan_frame.hpp
- Testing/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景
增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。
2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpp
- hmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断
在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。
2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cpp
- ssep/offboard/main_test/main_ssep_input.ccssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtcd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建
适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。
2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/main_test/main_ssep_input.cceditssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txt
- ssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial.
2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/search-engines.htmladdssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/css/style.css
- data/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定
指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。
新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。
2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.cpp
- data/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束
WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。
2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cpp
- ssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器
2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器editssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccaddssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
- plan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层
HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。
规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。
2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/hmi_virtual_obs.hppadddata/ssep/hmi_virtual_obs_line.hppeditplan/prepare/prepare_hmi_virtual_obs.cppedithmi/widget/pnc_mat_shared.cppeditplan/prepare/prepare_ogm.cppeditdata/ssep/forward_ec.cppedithmi/common/pnc_graphics_view.cppedithmi/common/pnc_graphics_view.hppedithmi/widget/pnc_mat.cppedithmi/common/drag_image.hppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cppeditdata/ssep/reverse_ec.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/into_yard_junction_ec.cpp
- common/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示
为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。
2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpp
- hmi/widget/map.cpphmi/widget/map.hpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度
HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。
2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.cppedithmi/widget/map.hpp
- ssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定
使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。
2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/test/CMakeLists.txteditssep/scenarios/planner_utils.cc
- ssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial
2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/vehicle-types.html
- tasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定
指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。
新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。
2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定edittasks/deciders/search_decider/forward_search_decider.hppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cpp
- data/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束
WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。
2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cpp
- plan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hppdata/ssep/open_space_ec.cpphmi/common/pnc_graphics_view.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层
HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。
规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。
2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层adddata/ssep/hmi_virtual_obs_line.hppedithmi/widget/pnc_mat_shared.cppeditdata/config/cfg_func_sw.hppedithmi/common/drag_image.hppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/config/cfg_func_sw.cppedithmi/widget/pnc_mat.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/reverse_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/hmi_virtual_obs.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditplan/prepare/prepare_ogm.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/forward_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/out_yard_junction_ec.cppedithmi/common/pnc_graphics_view.cpp
- Testing/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出
重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。
2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editTesting/ssep_path_corridor_test.cppeditdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
- scenarios/stage.cppscenarios/scenario.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别
以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。
2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/stage.cppeditscenarios/scenario.cpp
- scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段
移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。
2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpphmi/draw/draw_keb_debug.cppdata/plan_frame.hpptasks/plan/keb_path_optimize_task.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断
新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。
补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。
2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断editalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hppeditdata/plan/keb_visualize_data.hppaddhmi/draw/draw_keb_debug.hppedittasks/plan/keb_lane_follow_path_task.hppedithmi/node_hmi.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_lane_follow_path_task.cppeditdata/config/cfg_hmi.cppedittasks/plan/keb_path_optimize_task.cppaddhmi/draw/draw_keb_debug.cppedithmi/draw/draw_all.cppeditdata/plan_frame.hppeditscenarios/scenario.cppeditdata/plan_frame.cppedithmi/widget/pnc_mat_shared.cppeditdata/config/cfg_hmi.hppedithmi/replayer_hmi.cppedithmi/widget/diagnose.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hpp
- tasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值
2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cpp
- data/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应
取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。
让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。
2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应adddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_decide.hppeditdata/dp_poly_path/trajectory_cost.cppeditconfig/config_imv/plan.yamleditdata/config/cfg_lat_decide.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_plan.cppeditCMakeLists.txteditdata/dp_poly_path/trajectory_cost.hppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hpp
- replayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断
记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。
2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cpp
- docs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案
规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。
2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.html
- data/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划
默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。
保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。
2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- data/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级
已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。
同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。
2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/plan/side_pass_data.cpp
- plan/prepare/prepare_ogm.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测
通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。
将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。
2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测edithmi/draw/draw_map.hppeditplan/prepare/prepare_ogm.cppeditcommon/util/hdmap_wrapper.hppeditplan/prepare/prepare_ogm.hppeditcommon/util/hdmap_wrapper.cppedithmi/draw/draw_map.cpp
- tasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值
2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpp
- tasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理
将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。
同步更新类型说明，保持注释与处理逻辑一致。
2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用
成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。
同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。
2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cpp
- data/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展
叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。
2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cpp
- Testing/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常
合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。
恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。
2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cppeditTesting/routing_map_guard_test.cpp
- tasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续
- standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数
- 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期
- 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界
- 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形
2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppedittasks/plan/pjpo_task.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/plan/switch_data.cppeditdata/plan/start_point_data.cpp
- math/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性
- 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置
- 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算
- 普通路径规划继续沿用历史默认设置
2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditalgorithm/plan/pjpo.cpp
- data/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围
- 非货叉部件障碍物的前后扩展距离由5米调整为3米
- 货叉头尾部件继续保持2米扩展距离
2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cpp
- ssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cctasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换
2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换editoffboard/keb_path_opt_cli/keb_simulator.hppeditdata/plan/start_point_data.cppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditcommon/log/log_config.cppedittasks/plan/keb_utils.cppeditssep/data_structures/path.cceditssep/protos/path.protoeditcommon/log/log_config.hppeditdata/plan/start_point_data.hppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccedittasks/plan/keb_utils.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.cpp
- data/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/constrain/disable_stop_range.cpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关
新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。
2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppeditdata/constrain/disable_stop_range.cpp
- data/config/cfg_lat_plan.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车
基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。
新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。
2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/config/cfg_lat_plan.hpp
- ssep/data_structures/ssep_input.hppssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放
在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。
统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。
2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/offboard/ssep_planner_wrapper.cceditdata/ssep/ssep_activation.cppeditssep/protos/scene.protoeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hpp
- ssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化
增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。
完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。
2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.cc
- ssep/scenarios/imv_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hdata/ssep/ssep_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.htasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力
修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。
为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。
2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/ssep_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_general_planner.heditssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_multi_segment_parking_planner.hedittasks/deciders/search_decider/forward_search_decider.cpp
- ssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判
为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。
保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。
2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.h
- data/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器
新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。
2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.cpp
- ssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集
新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。
回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。
2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集editssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.cceditssep/offboard/scene_replay/README.mdaddssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/.gitignoreaddssep/test/local_regression/imv_multisegment_manifest.tsv
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染
首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。
贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。
2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hpp
- data/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车
接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。
2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditCMakeLists.txteditdata/map/pnc_map/path_overlap.hppeditdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/other/flow_control.cppeditconfig/config_imv/plan.yamleditdata/constrain/longitude_constrain.cppeditdata/other/flow_control.hppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line.cppadddata/other/flow_control_test.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hpp
- data/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云
依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。
2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.hppeditconfig/config_imv/plan.yamleditdata/other/flow_control_test.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cpp
- hmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写
沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。
2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hpp
- data/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持
新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。
2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/config/cfg_region.cppeditdata/ssep/forward_ec.cppeditdata/config/cfg_region.hpp
- data/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败
当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。
2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效
倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。
2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持
新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。
调整进出场景的起终点直线延伸距离，以适配现场作业空间。
2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/config/cfg_region.hpp
- hmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车
绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。
2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cpp
- ssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断
场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。
网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。
2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/ssep_planner.heditssep/ssep_planner.cceditssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/offboard/servers/scene_vis_html_template.cceditssep/scenarios/scenario_planner_interface.heditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_activation.hpp
- ssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/imv_general_keb_manifest.tsvssep/test/local_regression/README.mdssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配
按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。
补充正向、倒车斜行单测及两个现场场景的正式回归清单。
2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/scenarios/imv_general_planner.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.ccaddssep/test/local_regression/imv_general_keb_manifest.tsveditssep/test/local_regression/README.mdeditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem.heditssep/test/ssep_planner_test.cc
- tasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围
仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。
2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cpp
- data/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离
将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。
2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cpp
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2026-08-28 11:25:22 +0800b9e590a6783bed2c4c623f5c21f76e50909c6f9fAdd platoon leader obstacle conversionaddsource/ros_source_platoon_vehicle_info.cppeditsource/module.cppeditCMakeLists.txteditpackage.xmleditdata/plan_frame.hppadddata/platoon/vehicle_info.hppeditplan/prepare/prepare_objs.hppaddsource/ros_source_platoon_vehicle_info.hppaddalgorithm/platoon/vehicle_info_to_obstacle.cppadddata/platoon/vehicle_info.cppeditdata/config/cfg_topic.cppaddalgorithm/platoon/vehicle_info_to_obstacle.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_topic.hpp
- algorithm/platoon/vehicle_info_to_obstacle.cppalgorithm/platoon/vehicle_info_to_obstacle.hppf69bb8a4b967ce92dd350d3ab7450352770c98e01787896656000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoSet platoon obstacle ID and trajectory type
2026-08-28 13:57:36 +0800f69bb8a4b967ce92dd350d3ab7450352770c98e0Set platoon obstacle ID and trajectory typeeditalgorithm/platoon/vehicle_info_to_obstacle.cppeditalgorithm/platoon/vehicle_info_to_obstacle.hpp
- data/plan/predict_path.cppdata/obstacle/obstacle.cpphmi/draw/draw_perception.cppalgorithm/platoon/vehicle_info_to_obstacle.cppdata/obstacle/perception_obstacle.hppdata/obstacle/obstacle_decider_attr.cppalgorithm/decision/semantic_set_transformation_2.cppc2e252d8bdee8a198bd9f3719327b8ce02d47faf1787903318000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoAdd V2V leader obstacle handling
2026-08-28 15:48:38 +0800c2e252d8bdee8a198bd9f3719327b8ce02d47fafAdd V2V leader obstacle handlingeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/perception_obstacle.hppeditalgorithm/decision/semantic_set_transformation_2.cppeditalgorithm/platoon/vehicle_info_to_obstacle.cppeditdata/plan/predict_path.cppedithmi/draw/draw_perception.cppeditdata/obstacle/obstacle.cpp
- data/platoon/vehicle_info.hpphmi/widget/diagnose.cppplan/prepare/prepare_objs.cppalgorithm/platoon/vehicle_info_to_obstacle.hpp42399ec66085236e3138c482e9a2da908beb12091787909898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoAdd platoon leader gap diagnostics
2026-08-28 17:38:18 +080042399ec66085236e3138c482e9a2da908beb1209Add platoon leader gap diagnosticsedithmi/widget/diagnose.cppeditalgorithm/platoon/vehicle_info_to_obstacle.hppeditdata/platoon/vehicle_info.hppeditplan/prepare/prepare_objs.cpp
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