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2026-10-13 10:56:56 +0000fed3c34683fe62747977ee93d8c1b1c55f2fce18Update yantai-gunzhuang-submodule.jenkinsfileeditparams/yantai-gunzhuang-submodule.jenkinsfilepython-scripts.jenkinsfile1437c1ddbc36ae53b976183a9a8d0ee9fb5cd70f1791889439000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile 2026-10-13 11:03:59 +00001437c1ddbc36ae53b976183a9a8d0ee9fb5cd70fUpdate python-scripts.jenkinsfileeditpython-scripts.jenkinsfileparams/yantai-gunzhuang-submodule.jenkinsfile4202040955aa5e4974abbb7b5f5b4dd5a0b7a9eb1791976542000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate yantai-gunzhuang-submodule.jenkinsfile 2026-10-14 11:15:42 +00004202040955aa5e4974abbb7b5f5b4dd5a0b7a9ebUpdate 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+0800eb7174c7617f4250b0c9e32690d5bc175616e585revert(peripheral_msgs): drop PD_TYPE_7 on Jiaxing brancheditperipheral_msgs/msg/PeripheralOperateStates.msgcloud_msgs/msg/CraneInfo.msgf81898909167f9f8c7dee4f7367c611c2268d1381792121529000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态 2026-10-16 11:32:09 +0800f81898909167f9f8c7dee4f7367c611c2268d138feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msggittools/wbca_debug/CMakeLists.txtalgorithm/wbca/reversing_truck_wbca_manager.hpptools/wbca_debug/plot_esdf_comparison.pyalgorithm/wbca/reversing_truck_wbca_manager.cpptools/wbca_debug/README.mdtools/wbca_debug/compare_ssep_esdf.cppTesting/reversing_path_wbca_test.cpp1084b7392cc4b7b48e68e532845c75782e04ab751791447535000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: fill reversing WBCA obstacle-to-corridor gaps Close effective SSEP obstacle segments to the outward corridor boundary and retain the connected reference-side free region. Keep filled occupancy even where it overlaps the reference envelope, preserving source obstacles and clearing rules. Add production SSEP-to-ESDF comparison and plotting tools, documentation, and regressions. Validated with distributed compilation and 46 passing WBCA tests. 2026-10-08 16:18:55 +08001084b7392cc4b7b48e68e532845c75782e04ab75feat: fill reversing WBCA obstacle-to-corridor gapsaddtools/wbca_debug/plot_esdf_comparison.pyedittools/wbca_debug/README.mdeditalgorithm/wbca/reversing_truck_wbca_manager.cppaddtools/wbca_debug/compare_ssep_esdf.cppedittools/wbca_debug/CMakeLists.txteditalgorithm/wbca/reversing_truck_wbca_manager.hppeditTesting/reversing_path_wbca_test.cppalgorithm/wbca/path_optimization/reversing_truck_path_optimizer.cpp1fab5aecef20d30f12ddebb95fbd1e9c7187eade1791464434000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: use readable timestamps for reversing WBCA snapshots 2026-10-08 21:00:34 +08001fab5aecef20d30f12ddebb95fbd1e9c7187eadefix: use readable timestamps for reversing WBCA snapshotseditalgorithm/wbca/path_optimization/reversing_truck_path_optimizer.cpptools/wbca_debug/README.mdtools/wbca_debug/static/app.jstools/wbca_debug/static/index.htmlc6d2c62428b7b2ea1bc71e6aa0823969d3c3d4501791464446000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: display trajectory bounding boxes in WBCA debug viewer 2026-10-08 21:00:46 +0800c6d2c62428b7b2ea1bc71e6aa0823969d3c3d450feat: display trajectory bounding boxes in WBCA debug vieweredittools/wbca_debug/README.mdedittools/wbca_debug/static/app.jsedittools/wbca_debug/static/index.htmltools/pnc_proto_mapper/schema_lint.pytools/pnc_proto_mapper/test_exact_numeric_codegen.pytools/pnc_proto_mapper/audit_compact_numeric_leaves.pytools/pnc_proto_mapper/generate_exact_numeric_codec.pytools/pnc_proto_mapper/descriptor_compat.py94aa9badce3aa7df9845d38bc381aa62bee4efd91791508711000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容 OTA 旧版 protobuf 的字段描述符 统一兼容读取 proto3_optional，旧版运行时从 wire 字段恢复标记，避免代码生成和审计检查崩溃并保留 optional 语义。 调整测试数据构造并覆盖旧版兼容分支；完整 check-generated 检查链及协议兼容检查通过。 2026-10-09 09:18:31 +080094aa9badce3aa7df9845d38bc381aa62bee4efd9fix: 兼容 OTA 旧版 protobuf 的字段描述符edittools/pnc_proto_mapper/generate_exact_numeric_codec.pyedittools/pnc_proto_mapper/schema_lint.pyedittools/pnc_proto_mapper/test_exact_numeric_codegen.pyaddtools/pnc_proto_mapper/descriptor_compat.pyedittools/pnc_proto_mapper/audit_compact_numeric_leaves.pyreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/compact_proto_codec.cppproto/pnc_scene/compact_replay_input.protoreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/config/cfg_ssep.cppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_ssep.hppconfig/config_truck/config_truck_reverse/ssep.yamlTesting/scene_replay_foundation_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdreplayer/scene_data/plan_frame_persistence_policy.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppreplayer/scene_data/generated/plan_frame_descriptor.pbaa3bfa60570332cfb0c9bf6719906a51bd605c2b1791513118000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: configure reverse-pickup goal heading offsets 2026-10-09 10:31:58 +0800aa3bfa60570332cfb0c9bf6719906a51bd605c2bfeat: configure reverse-pickup goal heading offsetseditproto/config.protoeditreplayer/scene_data/compact_numeric_policy.yamleditdata/ssep/forward_ec.cppeditreplayer/scene_data/plan_frame_field_roles.csveditconfig/config_truck/config_truck_reverse/ssep.yamleditproto/pnc_scene/compact_replay_input.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/config/cfg_ssep.cppeditreplayer/scene_data/plan_frame_persistence_policy.yamleditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/compact_proto_codec.cppeditdata/config/cfg_ssep.hppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/forward_ec.cppconfig/config_truck/config_truck_reverse/ssep.yamldocs/pnc_algorithm_replay/plan_frame_field_workflow.md3cd7db960d7c2210d84a027b4522156a4e5ca1c01791517639000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: apply goal heading offsets to multi-segment parking 2026-10-09 11:47:19 +08003cd7db960d7c2210d84a027b4522156a4e5ca1c0fix: apply goal heading offsets to multi-segment parkingeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/forward_ec.cppeditconfig/config_truck/config_truck_reverse/ssep.yamleditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdhmi/draw/draw_perception.cppTesting/CMakeLists.txtTesting/cloud_obstacle_label_test.cppa01f5c2ccda9de3ea28485564a5e30811279d96b1791525306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复无界面模式下桥吊标注的 Qt 字体崩溃风险 云端和本地界面统一复用 OpenCV 绘制虚拟桥吊标注，移除 QPainter 及其 GUI 字体依赖。使用 ASCII 标注显示障碍物 ID、绑定状态、动静状态和停止确认状态。 新增独立进程回归，覆盖无 application、QCoreApplication 和 QApplication 三种环境，以及虚拟岸桥、场桥、空集合和其他障碍物。三项 CTest 通过，pnc_node 分布式构建通过。 2026-10-09 13:55:06 +0800a01f5c2ccda9de3ea28485564a5e30811279d96bfix: 修复无界面模式下桥吊标注的 Qt 字体崩溃风险edithmi/draw/draw_perception.cppaddTesting/cloud_obstacle_label_test.cppeditTesting/CMakeLists.txtTesting/scene_replay_foundation_test.cppdata/vehicle/deviation_status.cpp0a71c2d4aecbb9034ed993a33df9bb11b5aa71ea1791530310000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: restrict straightening triggers to final reversing segment 2026-10-09 15:18:30 +08000a71c2d4aecbb9034ed993a33df9bb11b5aa71eafix: restrict straightening triggers to final reversing segmenteditTesting/scene_replay_foundation_test.cppeditdata/vehicle/deviation_status.cppTesting/CMakeLists.txtdata/ssep/forward_ec.cppTesting/bulk_goal_obstacle_filter_test.cpp2ae401026d8e4d92144f624531ffe6209dc328b11791616627000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤 BulkIn 固定终点重叠障碍物 根据现有场景、目标引导线和末端直线距离判断终点是否固定， 过滤与终点完整头挂车身重叠的静态对象，并关联过滤对应头挂。 关联仅扩展一层，保留可调整终点场景的对象，避免跨帧残留障碍标志。 增加 15 项回归测试，覆盖车身姿态、头挂关联及固定终点判断边界。 分布式编译和过滤回归测试通过。 2026-10-10 15:17:07 +08002ae401026d8e4d92144f624531ffe6209dc328b1fix: 过滤 BulkIn 固定终点重叠障碍物editTesting/CMakeLists.txteditdata/ssep/forward_ec.cppaddTesting/bulk_goal_obstacle_filter_test.cppssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.hssep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/keb_problem.cc6251c424ee411adf5b3af4a815f18b0df524d0361791617122000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 约束牵引车停车路径的端点控制曲率 对每个行驶方向段增加四点端点曲率残差，与控制路径首尾外推公式一致，避免三点曲率合规但导出控制曲率超限。 保留换向点共用及固定尾段边界约束，覆盖非均匀采样、正负曲率和自动微分回归。 验证：128 项运动学与曲率测试通过，现场失败帧及相邻场景回放通过。 2026-10-10 15:25:22 +08006251c424ee411adf5b3af4a815f18b0df524d036fix: 约束牵引车停车路径的端点控制曲率editssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/test/tractor_trailer_kinematic_weight_test.ccssep/test/bounded_priority_queue_test.ccssep/coarse_search/bounded_priority_queue.hssep/test/CMakeLists.txtd48112ba60721d6e10f0df8d4e3353e25a6c50bb1791617138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定 GPU 搜索候选队列的优先级顺序 有界队列的读取、删除和淘汰统一遵循搜索器传入的比较器，同代价按节点生成顺序处理，避免哈希表遍历顺序改变搜索分支。 补充等代价排序、自定义比较器及单项与批量操作一致性测试。 验证：RTX 4060 上目标帧重复 10 次均为一前一倒，输出路径完全一致；队列回归通过。 2026-10-10 15:25:38 +0800d48112ba60721d6e10f0df8d4e3353e25a6c50bbfix: 稳定 GPU 搜索候选队列的优先级顺序addssep/test/bounded_priority_queue_test.cceditssep/test/CMakeLists.txteditssep/coarse_search/bounded_priority_queue.hssep/test/ssep_planner_test.ccssep/test/bidirectional_candidate_validation_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc7a597f7c839fda04da7c8b747b8350013e0cfb8b1791617202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优先完成停车单次换向搜索再回退多段调整 一次换向搜索在单侧队列耗尽后允许另一侧继续连接已访问节点；参考点附近搜索失败后先放宽换向位置，再启用多段调整。 保留方向、连接碰撞及整段验收，并补充超时与匹配拒绝分类日志。 覆盖三种队列、两种扩展策略和任一侧先耗尽的回归，以及参考位置放宽后仍只换向一次的场景。 2026-10-10 15:26:42 +08007a597f7c839fda04da7c8b747b8350013e0cfb8bfix: 优先完成停车单次换向搜索再回退多段调整editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/bidirectional_candidate_validation_test.cceditssep/test/ssep_planner_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/test/ssep_planner_test.ccssep/test/parking_history_collision_test.ccssep/test/CMakeLists.txtssep/scenarios/stitching_replanner.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/ssep_planner.cc067d54ce4ae9e7baa511b58e0a94333a5c953b031791617213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 换向后优先接续有效倒车路径并保留调整回退 有效纯倒车历史先在当前环境下重新优化验收，失败后优先纯倒车搜索，再按配置允许前进调整；各尝试共享请求截止时间并保留参考引导线。 历史路径补验显式搜索与优化前方包络，保持完整运动学、端点、曲率和扫掠碰撞检查。 补充当前障碍变化、重复规划、禁止调整和截止时间回归。 2026-10-10 15:26:53 +0800067d54ce4ae9e7baa511b58e0a94333a5c953b03fix: 换向后优先接续有效倒车路径并保留调整回退editssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/scenarios/stitching_replanner.heditssep/scenarios/scenario_planner_factory.heditssep/test/CMakeLists.txteditssep/ssep_planner.cceditssep/test/ssep_planner_test.ccaddssep/test/parking_history_collision_test.ccAGENTS.md6f24df7ce3639516a96dd06b98fd69e734a3f9a31791617221000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 记录 GPU 测试服务器及验证约定 记录已授权的 GPU 测试入口、独立工作目录要求和 CPU/GPU 后端结果区分，凭据不进入仓库。 2026-10-10 15:27:01 +08006f24df7ce3639516a96dd06b98fd69e734a3f9a3docs: 记录 GPU 测试服务器及验证约定editAGENTS.mdtasks/deciders/lat_decider/path_bounds_decider.cppTesting/pjpo_bag_regression_test.cppTesting/path_bounds_reference_test.cppTesting/CMakeLists.txttasks/deciders/lat_decider/path_bounds_decider.hpp35331d19db1606b201da8507d1bc1ea9dba5ce231791630063000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留正向 DP 参考并约束历史边界融合 正向 PJPO 使用 DP 已选参考，避免通道变宽时被边界中点牵引横移；短缺或无效 DP 保留引导线及通道中点回退。 将历史边界投影到当前引导线法向后融合，只收紧当前边界，并跳过方向变化、无效或不相交历史。 验证：17 项路径参考及边界专项测试通过；249 帧现场记录输入的 CPU DP/PJPO 独立帧对照均求解成功。新增可选 bag 回归入口，结果不作为闭环验证。 2026-10-10 19:01:03 +080035331d19db1606b201da8507d1bc1ea9dba5ce23fix: 保留正向 DP 参考并约束历史边界融合addTesting/pjpo_bag_regression_test.cppedittasks/deciders/lat_decider/path_bounds_decider.cppeditTesting/CMakeLists.txtedittasks/deciders/lat_decider/path_bounds_decider.hppaddTesting/path_bounds_reference_test.cppssep/test/ssep_planner_test.ccssep/test/CMakeLists.txtssep/test/parking_search_stages_test.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/scenarios/search_guide_fallback_planner.ha384e9210a1979458ac5b374906e9f6aa7308cb91791630223000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 剩余停车优先纯倒车并统一历史回退预算 无途经点的剩余停车依次尝试带引导纯倒车、普通纯倒车和允许前进调整的兜底，缺少历史时同样生效。构建、搜索与优化共享请求绝对截止时间。 历史重优化最多占三分之一预算；失败后按剩余预算重建阶段，避免搜索尚未开始就过期。保留显式禁止调整、OrderedVia 和碰撞验收语义。 验证：停车相关 114 项测试通过；六帧 GPU 版本回放成功，18:04:32 从三段变为一段倒车。剩余倒车分支实际采用 CPU 搜索。预算分配仍可能压缩复杂调整场景的搜索时间。 2026-10-10 19:03:43 +0800a384e9210a1979458ac5b374906e9f6aa7308cb9fix: 剩余停车优先纯倒车并统一历史回退预算editssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/ssep_planner.cceditssep/test/ssep_planner_test.ccaddssep/test/parking_search_stages_test.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/search_guide_fallback_planner.heditssep/test/CMakeLists.txtssep/test/ssep_planner_test.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/bidirectional_candidate_validation_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.cce4d57b5c54ce7716fb347acefd0bffb296ec64401791630226000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在单次停车换向中择优主挂车姿态 以输入途经点主挂车朝向及换向附近曲率变化评价粗搜索候选，限定额外时间、迭代和候选数量；多次调整兜底仍沿用首解策略。 评分前排除几何换向无效或绕圈路径，超时保留已验证粗候选，停止条件满足后不再扩展当前批次；单树终点命中时清理旧双树连接。 验证：114 项停车测试通过，六帧 GPU 版本回放及独立碰撞、机械曲率检查通过。18:01:54 实际 GPU 换向夹角从约 14.6 度降至 2.4 度，保留一前一倒；11:32:46 保持原四次换向。未提高平滑权重或放宽物理验收。 2026-10-10 19:03:46 +0800e4d57b5c54ce7716fb347acefd0bffb296ec6440fix: 在单次停车换向中择优主挂车姿态editssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/test/bidirectional_candidate_validation_test.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/bounded_priority_queue_test.ccssep/coarse_search/bounded_priority_queue.hssep/test/bidirectional_candidate_validation_test.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccdea1739cc22e2186ef4ed491af976e6193fed47a1791792781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 为双向 Beam 搜索保留可恢复候选 增加可选备用队列，在活动队列耗尽或快速尝试期限到达时恢复未扩展候选。 恢复沿用原搜索图、已访问状态及总截止时间，默认 Beam 行为保持不变。 覆盖同格更新、终点优先、清理生命周期和不重复根扩展等回归测试。 2026-10-12 16:13:01 +0800dea1739cc22e2186ef4ed491af976e6193fed47afeat: 为双向 Beam 搜索保留可恢复候选editssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/test/bounded_priority_queue_test.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/test/bidirectional_candidate_validation_test.ccssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/parking_reference_region.hdata/ssep/forward_ec.cppssep/coarse_search/evaluator/trailer_search_guide.hssep/test/trailer_search_guide_test.ccssep/coarse_search/evaluator/trailer_search_guide.ccssep/scenarios/scenario_planner_factory.hssep/common/utils/search_guide_body_sweep.hssep/scenarios/search_guide_fallback_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h00aa2bf3aa1f4c22e17dce1aa96c606508df2be01791792804000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化停车引导匹配并约束换向搜索 在配置的换向区域内匹配引导入口，并校验最终任务换向位置。 仅过滤与本次匹配引导车身扫掠范围重叠的静态对象，过滤后要求阶段与引导一致。 按作业约定忽略静态行人；换向姿态采用相对参考的软排序，保留必要夹角。 GPU 简单搜索使用有预算上限的 Beam 候选恢复及完整队列兼容兜底。 引导与普通分支比较共享搜索、优化和验收截止时间，到期保留已有可行解。 验证：PNC 与 GPU 回放编译通过，56 项相关 C++ 测试通过。 当前配置 21 例通过 18 例，3 个既有问题保持记录；35 个原输入均有解且段数与坐标不变。 2026-10-12 16:13:24 +080000aa2bf3aa1f4c22e17dce1aa96c606508df2be0fix: 优化停车引导匹配并约束换向搜索editdata/ssep/forward_ec.cppeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/evaluator/trailer_search_guide.heditssep/coarse_search/evaluator/trailer_search_guide.cceditssep/test/ssep_planner_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/test/trailer_search_guide_test.ccaddssep/scenarios/parking_reference_region.heditssep/scenarios/search_guide_fallback_planner.haddssep/common/utils/search_guide_body_sweep.hssep/test/local_regression/tt_guide_filtered_gpu_manifest.tsvssep/test/local_regression/tt_recent_parking_adjustment_quality.jsonssep/test/local_regression/tt_recent_parking_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/test_configured_regression.pyssep/test/local_regression/tt_recent_parking_cases.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_recent_regression_backend.pyssep/test/local_regression/test_remote_replay_cli.pyssep/test/local_regression/tt_recent_parking_two_segments_quality.jsonssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvssep/test/local_regression/test_tt_recent_parking_quality.pyssep/test/local_regression/tt_recent_parking_cpu_manifest.tsvssep/test/local_regression/test_tt_parking_regression.pyssep/test/local_regression/tt_recent_parking_pure_reverse_quality.jsonssep/test/local_regression/tt_recent_parking_cusp_cpu_quality.jsonssep/test/local_regression/tt_recent_parking_cusp_gpu_quality.jsonssep/test/local_regression/remote_replay_cli.pyssep/test/local_regression/tt_current_15m_input_overlay.jsonc5759f0ea4257941b03b86f319ec01f04396fc491791792878000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 固化停车场景回归并完善远端超时清理 新增 CPU、GPU 和当前 15 米配置清单，原始输入引用指定 NAS 回归目录。 显式记录配置覆盖及输入哈希，校验实际搜索后端、新策略日志和终点航向。 远端回放使用独立进程组与截止时间，覆盖传输超时、取消及子孙进程清理。 本地执行器有界清理进程组，避免继承输出管道导致超时后永久等待。 记录场景质量、已知失败及归档路径，不放宽原有验收条件。 验证：Python 运行 129 项测试，1 项因缺少本地数据跳过，其余通过。 21 例当前配置与35例原始输入均完成 GPU 服务器对照，实际后端分别记录。 2026-10-12 16:14:38 +0800c5759f0ea4257941b03b86f319ec01f04396fc49test: 固化停车场景回归并完善远端超时清理editssep/test/local_regression/test_tt_parking_regression.pyaddssep/test/local_regression/remote_replay_cli.pyaddssep/test/local_regression/test_tt_recent_parking_quality.pyaddssep/test/local_regression/tt_recent_parking_adjustment_quality.jsonaddssep/test/local_regression/tt_recent_parking_gpu_manifest.tsveditssep/test/local_regression/README.mdaddssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvaddssep/test/local_regression/tt_recent_parking_quality.pyaddssep/test/local_regression/tt_recent_parking_cpu_manifest.tsvaddssep/test/local_regression/tt_recent_parking_two_segments_quality.jsonaddssep/test/local_regression/tt_recent_parking_pure_reverse_quality.jsonaddssep/test/local_regression/test_remote_replay_cli.pyaddssep/test/local_regression/tt_current_15m_input_overlay.jsoneditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/tt_guide_filtered_gpu_manifest.tsvaddssep/test/local_regression/test_recent_regression_backend.pyaddssep/test/local_regression/tt_recent_parking_cusp_cpu_quality.jsonaddssep/test/local_regression/tt_recent_parking_cusp_gpu_quality.jsonaddssep/test/local_regression/test_configured_regression.pyaddssep/test/local_regression/tt_recent_parking_cases.jsonssep/scenarios/tractor_trailer_multi_segment_parking_planner.hf399a832e9fdcc31eda810061591a7a15d85f3851791797691000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充停车兼容搜索的起点半曲率采样 在引导匹配且限制换向范围的 GPU 完整队列重试中，将起点前进曲率从三档补充为五档，改善离散采样对初始航向的敏感性。搜索结束后清除临时采样器，保持后续扩展、碰撞验收和总搜索预算。 22:23:50 场景在当前 15 米配置下由五段降为一前一倒，换向夹角约 1.26 度。24 例配置回归无新增失败，保留三例既有失败；相关 C++ 和 Python 测试及 PNC、GPU 回放编译通过。 2026-10-12 17:34:51 +0800f399a832e9fdcc31eda810061591a7a15d85f385fix: 补充停车兼容搜索的起点半曲率采样editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvssep/test/local_regression/README.mdssep/test/local_regression/tt_recent_parking_cases.jsonssep/test/local_regression/test_configured_regression.pyssep/test/local_regression/tt_recent_parking_gpu_manifest.tsve63f42ff881e1ab34895c79561c80c52fbd814be1791797708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 固化津西夜间停车场景及起点采样回归 新增 22:50:56、22:51:50 和 22:23:50 的原始文件来源及哈希，固定当前配置套件的两段、单段倒车和连续单换向验收要求。原始数据引用持久 NAS 目录。 配置套件扩为 24 例，21 例质量通过、23 例搜索成功，三例既有失败保留。文档记录路径净空变化、GPU 实际执行后端及结果归档位置，并明确异常例的原始参数不属于已修复验收范围。 2026-10-12 17:35:08 +0800e63f42ff881e1ab34895c79561c80c52fbd814betest: 固化津西夜间停车场景及起点采样回归editssep/test/local_regression/README.mdeditssep/test/local_regression/tt_recent_parking_cases.jsoneditssep/test/local_regression/test_configured_regression.pyeditssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsveditssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_audit_html.hssep/offboard/servers/scene_vis_html_template.ccssep/test/local_regression/README.mdssep/test/local_regression/test_scene_audit.pyssep/test/local_regression/test_scene_audit_ui.pyssep/offboard/servers/scene_audit.h34e4130ef1a4f64b5b09047a3504b1123540b0a31791803196000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 SSEP 全天场景巡检与多条件筛选界面 在可视化服务中增加目录巡检入口，按实际场景类型分类，支持多类别、状态、时间、换向次数、夹角及关键词组合筛选。逐例保留失败证据、未知状态与覆盖范围，复用嵌入模式查看完整路径。 支持导出所选原始场景及来源清单，供本地 skill 深入分析；车端仅执行只读初筛。增加独立端口启动选项、缺失输入和异常文件保护，以及接口、筛选、分析包和嵌入模式测试。 验证：275 个现场场景完成初筛；可视化程序编译通过，13 项相关测试及真实浏览器筛选与路径展示检查通过。 2026-10-12 19:06:36 +080034e4130ef1a4f64b5b09047a3504b1123540b0a3feat: 增加 SSEP 全天场景巡检与多条件筛选界面addssep/offboard/servers/scene_audit_html.heditssep/offboard/servers/scene_vis_server.cceditssep/test/local_regression/README.mdaddssep/test/local_regression/test_scene_audit.pyeditssep/offboard/servers/scene_vis_html_template.ccaddssep/offboard/servers/scene_audit.haddssep/test/local_regression/test_scene_audit_ui.pytasks/plan/keb_utils.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/boundary/driving_corridor_test.cppf08a4edd489ccc91c4ad2797d5d25a2ad8bca1421791808313000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复障碍物与凸包切换导致的绕行占用中断 复用静止证据缓存，在 obj、TYPE_CLUSTER 和感知 ID 切换时保留当前观测与固定历史区域的交集。 支持拆框、合框的多片占用续期，DP 与 KEB 分片消费；严格的一对一策略恢复和未初始化限制保持独立。 复用凸包 tracker 的运动确认迟滞，并处理量化后的微小凹角；运动冲突同时禁止旧缓存续期和新缓存重建。 补充真实现场几何、运动撤销、缓存生命周期及 DP/KEB 回归，同步缓存合同说明与生成审计指纹。 验证：211 项决策、走廊和 KEB 测试通过，生成文件与 Proto 兼容性检查通过。 2026-10-12 20:31:53 +0800f08a4edd489ccc91c4ad2797d5d25a2ad8bca142fix: 修复障碍物与凸包切换导致的绕行占用中断editdata/boundary/driving_corridor.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/boundary/driving_corridor_test.cppeditdata/obstacle/decision/obstacle_decision.cppedittasks/plan/keb_utils.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditdata/obstacle/decision/obstacle_decision.hppTesting/compact_driving_corridor_restore_test.cpp4b77e7e1763020ab188ac2d24fe674b3fc0d8bbd1791808328000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加静止占用跨帧续接的场景回归 顺序重算时从历史推进障碍物决策和 runtime cluster tracker，避免每帧录制缓存掩盖续接问题。 增加帧范围选择、指定静止锚点逐帧续期断言，以及缓存、运动证据和占用片诊断输出。 使用现场 bag 与精确津西地图验证问题区间 246 帧，锚点持续续期且无占用中断。 该入口保留其他录制规划输入，用于局部决策和边界回归，不作为完整闭环验证。 2026-10-12 20:32:08 +08004b77e7e1763020ab188ac2d24fe674b3fc0d8bbdtest: 增加静止占用跨帧续接的场景回归editTesting/compact_driving_corridor_restore_test.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision_test.cpp7a56b34c30768cc83b9987c83da571d0d30351c41791811848000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复静止绕行证据匹配中的非凸轮廓崩溃 统一校验 cluster 观测与跟踪轮廓，在计算 IoU 前重建非凸轮廓的凸包， 并检查凸性、有限坐标和有效面积，避免 ComputeOverlap 断言退出。 无效轮廓跳过静止证据匹配并限频记录，保留成熟度、IoU 阈值及唯一匹配约束。 补充观测、跟踪及双方非凸，以及空轮廓、零面积、NaN、Inf 回归。 验证：29 项静止绕行证据测试通过；津西 AT001 复现 bag 修复前触发同一断言， 修复后全部 610 帧 CPU 障碍物决策重算通过；pnc_node 构建通过。 2026-10-12 21:30:48 +08007a56b34c30768cc83b9987c83da571d0d30351c4fix: 修复静止绕行证据匹配中的非凸轮廓崩溃editdata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/decision/obstacle_decision.cppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cppTesting/ogm_distance_equivalence_test.cppdata/obstacle/ogm.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/state_schema_inputs.jsonreplayer/scene_data/generated/container_schema_inputs.jsondata/boundary/driving_corridor_test.cppb497f7f479b7d1322a192cb791e6ad9bf6371dd51791812078000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复侧避栅格越界导致的走廊末端假收缩 按完整走廊扫描范围和道路墙扩展独立侧避栅格，并重画原始占用； 修正默认栅格宽度计算，避免转弯后走廊超出原感知范围。 距离与来源查询统一检查覆盖范围，图外返回 0/NONE，停止重复读取边缘道路墙。 扩容前检查像素索引及面积，异常几何清空当前图，避免溢出及旧图残留。 补充四向扩容、原图外真实点云/实体占用、异常几何和查询边界回归； 同步 OGM 头文件注释对应的生成审计指纹，不改变序列化字段。 验证：68 槽位 Icecream 集群编译通过；216 项走廊测试和 19 项 OGM/恢复测试通过。 AT001 2026-10-11 场景 960 帧 CPU 走廊/DP 回放通过；截图帧末端 27 个断面 假分隔消失，s=116～125 m 的真实障碍约束保持一致。 2026-10-12 21:34:38 +0800b497f7f479b7d1322a192cb791e6ad9bf6371dd5fix: 修复侧避栅格越界导致的走廊末端假收缩editdata/boundary/driving_corridor.cppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/obstacle/ogm.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/container_schema_inputs.jsoneditTesting/ogm_distance_equivalence_test.cppeditdata/boundary/driving_corridor_test.cppeditdata/obstacle/ogm.cppdata/ssep/forward_ec.cppTesting/bulk_goal_obstacle_filter_test.cpp42db84b5c336772d0bbac5ebc3178d1c6587182d1791817391000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止前向搜索障碍过滤触发退化多边形崩溃 前向搜索直接过滤聚类障碍，避免使用其可能退化的包围盒。对其余候选静态障碍在重叠过滤前统一校验尺寸、有限坐标和实际面积；无效时记录限频诊断并拒绝本轮环境构建，避免断言退出或误删实体障碍。 补充聚类过滤、零尺寸、非有限坐标、面积阈值、大坐标退化及失败恢复回归。项目分布式构建通过，BulkGoalObstacleFilterTest 的 22 项测试全部通过。 2026-10-12 23:03:11 +080042db84b5c336772d0bbac5ebc3178d1c6587182dfix: 防止前向搜索障碍过滤触发退化多边形崩溃editTesting/bulk_goal_obstacle_filter_test.cppeditdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.cpp702c7f224ec69a8214a30645c1874c33f1bff59e1791817611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正倒车对象停车线位置偏移 在 CreateStGraphConstrain 中按路径方向选择车头或车尾偏移， 修正倒车对象停车线仍使用车头偏移导致的位置错误。 沿用已有匹配点计算与 HMI 绘制流程，保留负停车余量和路径边界检查。 验证：pnc_node、pnc_replayer 分布式编译通过； obstacle_stop_constraint_stabilizer_test 回归通过。 2026-10-12 23:06:51 +0800702c7f224ec69a8214a30645c1874c33f1bff59efix: 修正倒车对象停车线位置偏移edittasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/plan/cloud_trajectory.cppdata/config/cfg_env_const.hppTesting/CMakeLists.txtTesting/cloud_trajectory_test.cpp61c6c6cc095a165dc8ac730fb4338b2fd6238a641791861603000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端短轨迹平滑补接引导线 保持代码默认长度为 64 米，按配置目标长度延伸不足的云端轨迹。 使用五次曲线衔接位置、切向和曲率，按几何弧长插值，支持倒车并保留停车限长。 修正挂车配对点插值并续算延长段航向；当前位置兜底、无效数据和生成失败不保留补接结果。 回退时清空历史车道与长度信息，刷新配置头文件对应的序列化审计摘要。 验证：19 项轨迹生成回归通过；使用 Icecream 三节点、68 槽编译。 2026-10-13 11:20:03 +080061c6c6cc095a165dc8ac730fb4338b2fd6238a64feat: 云端短轨迹平滑补接引导线editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonaddTesting/cloud_trajectory_test.cppeditTesting/CMakeLists.txteditdata/plan/cloud_trajectory.cppeditdata/config/cfg_env_const.hppsink/ros_sink_cloud_trajectory.hppsink/ros_sink_cloud_trajectory.cppTesting/CMakeLists.txtTesting/cloud_search_indices_test.cpp5f32e34a4aff5812353716ac70ae4e18fde3571a1791861628000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 上报 SSEP 搜索起终点的云端轨迹下标 使用 reserved_uint8s[0/1] 保存当前搜索起终点在主云端轨迹中的下标。 255 表示无效，254 表示已驶过、超出展示范围或超过可编码下标范围。 按实际发布坐标匹配，结合 ego 位置与完整引导线处理历史保留点、倒车及 U 形弯道越界。 保护 float32 边界、无效消息和主备轨迹分隔，并清除失效搜索留下的旧下标。 验证：14 项下标编码回归通过；完整 33 项专项回归通过。 2026-10-13 11:20:28 +08005f32e34a4aff5812353716ac70ae4e18fde3571afeat: 上报 SSEP 搜索起终点的云端轨迹下标editsink/ros_sink_cloud_trajectory.cppeditsink/ros_sink_cloud_trajectory.hppeditTesting/CMakeLists.txtaddTesting/cloud_search_indices_test.cppTesting/CMakeLists.txtTesting/median_filter_test.cppmath/filter/median_filter.hpp810084baed68775234dd2852410f72b7bab545961791870301000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理中值滤波器重置时遗留的删除记录 重置 DualHeap 时同步清空 delayed_，避免历史删除标记误删新窗口样本，造成滤波结果错误及空堆访问风险。 新增独立回归测试，覆盖重置后重复样本、跨帧复制、反复重置恢复及不同窗口的连续输入，并逐帧对照排序窗口中值。原实现对照用例失败，修复后 4 项测试通过，pnc_node 分布式构建通过。 2026-10-13 13:45:01 +0800810084baed68775234dd2852410f72b7bab54596fix: 清理中值滤波器重置时遗留的删除记录editmath/filter/median_filter.hppeditTesting/CMakeLists.txtaddTesting/median_filter_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/plan/keb_utils.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppc3109a22f4f6b3aac46840c71d0580f26e76614d1791875299000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 排除 KEB 的 cut-in 障碍物实体框 KEB 障碍物准入复用普通走廊筛选，移除 cut-in 对象的特殊准入，避免切入让速场景施加横向实体框约束。 更新注释及头文件审计指纹，补充历史绕行承诺、成熟度旁路和退出 cut-in 后恢复准入的回归断言。分布式编译通过，43 项相关回归测试通过。 2026-10-13 15:08:19 +0800c3109a22f4f6b3aac46840c71d0580f26e76614dfix: 排除 KEB 的 cut-in 障碍物实体框editdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/plan/keb_utils.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppdata/plan/ssep_data.cppssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hdata/ssep/field_junction_ec.cppssep/test/bidirectional_candidate_validation_test.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/scenarios/forward_collision_check_params.hssep/test/truck_parking_retry_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hdata/ssep/ssep_ec.cppssep/scenarios/forward_clearance_check.hssep/scenarios/rigid_truck_parking_validation.hTesting/ssep_path_corridor_test.cppssep/scenarios/truck_accurate_reversing_planner.hssep/test/parking_history_collision_test.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccdata/ssep/forward_ec.cppssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/test/rigid_truck_parking_validation_test.ccssep/test/rigid_truck_tail_connection_test.ccssep/test/ssep_planner_test.ccTesting/parking_pass_progress_test.cppssep/test/forward_clearance_check_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/scenarios/stitching_replanner.hssep/coarse_search/motion_primitive_sampler/straight_line_motion_primitive_sampler.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccssep/scenarios/tail_straight_distance.hTesting/ssep_scenario_config_lifecycle_test.cppdocs/ssep_stop_collision_extension.md28230b82a8c5993e6e496a19bd193bb400736af41791989231000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善停车重规划的拉直与碰撞验收 统一货车多段停车、精准倒车和历史路径重规划的任务途经点与拉直参数生命周期。 补充实际运动曲率、末段倒车顺序及搜索/优化前向净空验收，避免无效候选占据搜索状态。 显式短尾段缩短搜索硬直线，保留长距离软拉直语义和统一请求预算。 补齐边界、连续重规划和历史复用测试，移除逐点优化结果绑定，外部录制测试改为显式数据目录。 验证：PNC 主程序及相关测试编译通过；SSEP 387 项通过、13 项外部数据测试跳过；PNC 路径与配置测试 262 项通过。 2026-10-14 22:47:11 +080028230b82a8c5993e6e496a19bd193bb400736af4fix: 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绘制场景起终点的车头航向箭头 起点使用红色箭头、终点使用绿色箭头，并伸出车头边缘以区分 IMV 前后方向。 按车身 heading 绘制，不叠加斜行 beta，与对应车框共用显示开关。 验证：可视化服务编译通过，JavaScript 语法、方向几何与既有绘制检查通过。 2026-10-14 22:47:11 +08008f77173b5181b56020e7d30c0a1e68533b9d6fe8feat: 绘制场景起终点的车头航向箭头editssep/offboard/servers/scene_vis_html_template.ccssep/test/local_regression/tt_ordered_pose_results.jsonssep/test/local_regression/manual_review_quality.pyssep/test/local_regression/selection_review_20261014_cases.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_recent_regression_backend.pyssep/test/local_regression/run_full_regression.pyssep/test/local_regression/tt_ordered_via_manifest.tsvssep/test/local_regression/rigid_parking_quality.pyssep/test/local_regression/test_manual_review_quality.pyssep/test/local_regression/tt_ordered_via_quality.jsonssep/test/local_regression/tt_reverse_priority_cases.jsonssep/test/local_regression/prepare_full_regression.pyssep/test/local_regression/test_regression_report_artifacts.pyssep/test/local_regression/tt_multi_ratio_manifest.tsvssep/test/local_regression/rigid_parking_collision_quality.pyssep/test/local_regression/test_rigid_parking_quality.pyssep/test/local_regression/test_rigid_parking_collision_quality.pyssep/test/local_regression/generate_pose_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/test_full_regression_report.pyssep/test/local_regression/render_full_regression_report.pyssep/test/local_regression/recorded_20261013_14_cases.jsonssep/test/local_regression/test_gpu_regression_eligibility.pyssep/test/local_regression/tt_ordered_feasibility_manifest.tsvssep/test/local_regression/recorded_rigid_parking_quality.jsonssep/test/local_regression/render_regression_report.pyssep/test/local_regression/tt_reverse_priority_tail0_quality.jsonssep/test/local_regression/tt_heading_cases.jsondocs/ssep_continuous_kinematic_correction.mdssep/test/local_regression/tt_ordered_via_cases.jsonssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvssep/test/local_regression/tt_reference_cusp_quality.pyssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/gpu_regression_eligibility.pyssep/test/local_regression/test_tt_reference_cusp_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/render_exploration_report.pyssep/test/local_regression/planning_success_quality.pyssep/test/local_regression/tt_exit_feasibility_manifest.tsvssep/test/local_regression/tt_reverse_priority_manifest.tsvssep/test/local_regression/tt_daily_20261011_reviewed_cases.jsonssep/test/local_regression/path_quality.pyssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvdocs/reverse_pickup_search.mdssep/test/local_regression/tt_heading_manifest.tsvssep/test/local_regression/recorded_20261013_14_manifest.tsvssep/test/local_regression/test_recorded_regression.pyssep/test/local_regression/test_rigid_parking_motion_quality.pyssep/test/local_regression/tt_reference_cusp_manifest.tsvssep/test/local_regression/tt_recent_parking_cpu_manifest.tsvssep/test/local_regression/tt_ordered_pose_cases.jsonssep/test/local_regression/test_pose_regression.pyssep/test/local_regression/selection_review_20261014_manifest.tsvssep/test/local_regression/test_full_regression_runner.pyssep/test/local_regression/tt_multi_collision_manifest.tsvssep/test/local_regression/bulkout_initial_quality.jsonssep/test/local_regression/tt_ordered_pose_manifest.tsvssep/test/local_regression/imv_bulkout_manifest.tsv634b996d1685cb3d5c31ca93b749a9f1ce9d08ef1791989231000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 更新人工回归规则并精简测试工具 按人工选择反馈移除无效场景及空清单，登记删除决策和来源，补充运动方向、物理车头及 15 m 任务换向距离验收。 CPU/GPU 按同案例及有效输入并排展示；原输入不适用 GPU 时直接跳过，不补跑 CPU。 批量执行隔离单例预检查异常，续跑核验超时、并发、远端及依赖条件。 清理已退出的姿态派生工具、重复测试和无引用配置，保留有效碰撞与运动学覆盖。 验证：Python 回归工具运行 196 项，无失败，缺少数据/服务的项目明确跳过；17 份有效清单共 129 个条目，配置引用完整，diff 检查通过。 2026-10-14 22:47:11 +0800634b996d1685cb3d5c31ca93b749a9f1ce9d08eftest: 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完善 IMV 换向搜索和历史重规划验收 按换向区域生成并比较候选，保留真实搜索及车辆运动学约束；统一末端直线、碰撞与前向净空验收，并让候选搜索和暖启动回退共用时间预算。 打通历史倒车路径重优化与任务换向完成标记，避免反向操作头误判。暖启动仅固定终点，补验原固定尾段的运动学，并让短余段和极短首尾边回退搜索。 补充候选、碰撞、预算、路径记录和生命周期测试。提交前 104 项算法测试、52 项路径生命周期测试和 41 项场景配置测试通过，回放 CLI 与 pnc_node 构建通过。 2026-10-16 09:42:09 +0800b375d9576b98675e783b852e3238865fc807d7b2fix: 完善 IMV 换向搜索和历史重规划验收editssep/scenarios/imv_search_extra_params.heditdata/plan/ssep_data.cppaddssep/test/imv_enter_station_candidate_test.cceditssep/scenarios/stitching_replanner.heditdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/test/forward_clearance_check_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/coarse_search/conditions/range_tolerance_condition.heditssep/test/CMakeLists.txteditssep/scenarios/imv_multi_segment_parking_planner.haddssep/test/direction_switch_point_cost_test.cceditssep/offboard/scene_replay/CMakeLists.txteditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/test/bidirectional_stop_collision_test.cceditdata/other/parking_pass_progress.cppeditdata/ssep/ssep_activation.cppaddssep/scenarios/imv_turnaround_reference.heditssep/coarse_search/conditions/search_condition_interface.heditssep/keb_optimizer/keb_problem.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditTesting/ssep_path_corridor_test.cppeditssep/offboard/scene_replay/README.mdeditssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccaddssep/test/imv_turnaround_reference_test.cceditssep/test/search_guide_scene_test.cceditdata/ssep/ssep_ec.cppaddssep/scenarios/imv_parking_validation.heditssep/keb_optimizer/imv_keb_optimizer.heditTesting/parking_pass_progress_test.cppaddssep/data_structures/imv_terminal_straight.haddssep/scenarios/imv_parking_optimizer_params.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/keb_optimizer/cost_features/direction_switch_point_cost.heditssep/scenarios/imv_enter_station_planner.haddssep/scenarios/imv_enter_station_candidate.heditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/common/utils/imv_pass_point.haddssep/test/imv_parking_history_test.cceditssep/keb_optimizer/keb_problem.cceditssep/scenarios/forward_clearance_check.hoffboard/keb_vis_server/test_heading_diagnostics.jsssep/offboard/servers/scene_vis_html_template.ccssep/test/local_regression/test_scene_vis_geometry.pyssep/offboard/servers/test_heading_diagnostics.jsssep/test/local_regression/render_regression_report.pyssep/test/local_regression/test_render_terminal_entrance.pyoffboard/keb_vis_server/keb_vis_html_template.cc6ef678521eceefc34b3e1faee36a965174c3bbc21792114947000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 区分 IMV 车体与速度航向并展示终点约束 使用保存的 beta 诊断速度方向几何偏差，旧文件缺少 beta 时明确标注；按车体 heading 绘制车身与航向。 显示终点约束、固定直线入口及碰撞证据，区分地图与障碍物颜色。补充 JavaScript 和离线绘图回归测试。 2026-10-16 09:42:27 +08006ef678521eceefc34b3e1faee36a965174c3bbc2fix: 区分 IMV 车体与速度航向并展示终点约束editoffboard/keb_vis_server/keb_vis_html_template.cceditssep/test/local_regression/render_regression_report.pyeditssep/offboard/servers/scene_vis_html_template.cceditoffboard/keb_vis_server/test_heading_diagnostics.jseditssep/test/local_regression/test_scene_vis_geometry.pyeditssep/offboard/servers/test_heading_diagnostics.jsaddssep/test/local_regression/test_render_terminal_entrance.pyssep/test/local_regression/render_full_regression_report.pyssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.jsonssep/test/local_regression/imv_jiaxing_20261015_terminal_overlay.jsonssep/test/local_regression/README.mdssep/test/local_regression/test_recent_regression_backend.pyssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/prepare_imv_jiaxing_regression.pyssep/test/local_regression/imv_jiaxing_20261015_provenance.jsonssep/test/local_regression/imv_jiaxing_20261015_quality.jsonssep/test/local_regression/imv_jiaxing_20261015_cases.jsonssep/test/local_regression/prepare_full_regression.pyssep/test/local_regression/test_prepare_scenario_filter.pyssep/test/local_regression/imv_jiaxing_20261015_manifest.tsvssep/test/local_regression/materialize_imv_jiaxing_regression.pyssep/test/local_regression/test_full_regression_report.py5026bedbbbf78d1e4ed2f4c8ca92b1a99c9b759b1792114975000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 纳入东方特钢精简回归集并固定测试范围 保留 234 个输入的来源链和场景分类路径，以 13 个严格相似组覆盖 18 项，登记 216 项待人工验收用例；保留问题、失败、预算及暖启动专项和原有排除决策。 加入库存恢复和专用准备入口，通过 SHA 范围清单防止共享根混入其他批次，同时保留旧清单的验收规则。按 Proto 类型过滤 Legacy，补齐历史复用后端识别和碰撞证据缓存失效。 归档输入位于共享回归目录，不提交大数据文件。更新使用说明，并验证 Python 范围过滤、报告缓存和后端识别测试。 2026-10-16 09:42:55 +08005026bedbbbf78d1e4ed2f4c8ca92b1a99c9b759btest: 纳入东方特钢精简回归集并固定测试范围editssep/test/local_regression/README.mdaddssep/test/local_regression/prepare_imv_jiaxing_regression.pyaddssep/test/local_regression/imv_jiaxing_20261015_terminal_overlay.jsonaddssep/test/local_regression/imv_jiaxing_20261015_provenance.jsonaddssep/test/local_regression/imv_jiaxing_20261015_quality.jsoneditssep/test/local_regression/render_full_regression_report.pyeditssep/test/local_regression/test_recent_regression_backend.pyaddssep/test/local_regression/imv_jiaxing_20261015_cases.jsonaddssep/test/local_regression/imv_jiaxing_20261015_manifest.tsvaddssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.jsonaddssep/test/local_regression/materialize_imv_jiaxing_regression.pyeditssep/test/local_regression/test_full_regression_report.pyeditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_prepare_scenario_filter.pyeditssep/test/local_regression/prepare_full_regression.pyTesting/ssep_path_corridor_test.cppTesting/bulk_speed_limit_test.cppdata/vehicle/vehicle_destination.cpp9f9ba6a076302295e25e8fac3c92e6cd050afd261792121439000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复双向 IMV 的 SSEP 末端停止线缺失 双向 IMV 在搜索方向与当前车辆方向不一致时，仍按 SSEP 分段索引识别末段，避免静态约束跳过终点停止线。普通车型保留方向一致性检查。 补充正反向末段、非末段、普通车型及实际停止线创建回归；23 项相关测试通过，并核对现场 bag 的 27 帧方向与约束数据。 2026-10-16 11:30:39 +08009f9ba6a076302295e25e8fac3c92e6cd050afd26fix: 修复双向 IMV 的 SSEP 末端停止线缺失editTesting/bulk_speed_limit_test.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppdata/ssep/forward_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp7a74cb6fe7cfdefd48e3a30e8c810669e1b8a9921792121475000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 多段停车重搜索方向门禁 起终点均背向进场轴线时，仅对 IMV 多段停车按当前操作方向初始化环境，避免旧三模式分类阻止重搜索。保留未完成的任务途经点，并拒绝非有限朝向与轴线坐标。 补充任务 84539 的录制参数回归，覆盖操作方向切换、途经点保留、其他场景门禁及无效输入。场景与停车走廊回归共 277 项通过，pnc_node 分布式编译通过；未执行完整场景搜索回放。 2026-10-16 11:31:15 +08007a74cb6fe7cfdefd48e3a30e8c810669e1b8a992fix: 修复 IMV 多段停车重搜索方向门禁editdata/ssep/forward_ec.cppeditTesting/ssep_scenario_config_lifecycle_test.cpptasks/plan/keb_lane_follow_path_task.cppdata/dp_poly_path/trajectory_cost.hppdata/boundary/driving_corridor.cppdata/constrain/longitude_constrain.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/lat_decider/side_pass_decider.cppTesting/data/tsjx_meeting_20261016.jsonTesting/bulk_speed_limit_test.cppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hppdata/plan/side_pass_data.cppTesting/narrow_meeting_recorded_test.cppTesting/meeting_curve_longitudinal_test.cppdata/dp_poly_path/dp_road_graph_test.cppdata/obstacle/decision/obstacle_decision_test.cpptasks/deciders/long_decider/constrain_decider.cppTesting/keb_gate_filter_test.cppdata/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/obstacle/decision/obstacle_decision.cppdata/dp_poly_path/dp_road_graph.hppTesting/data/tsjx_meeting_20261015.jsonreplayer/scene_data/generated/state_schema_inputs.jsondata/dp_poly_path/trajectory_cost_test.cppTesting/CMakeLists.txttasks/plan/keb_lane_follow_path_task.hpp15f80c59cc41cef09a6ed57532f20a5aec0e0bda1792132343000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正弯道会车避让并统一绕行状态退出 区分直道窄会车与弯口普通动态避让，弯中及跨核心交互交由纵向处理，保留静态障碍和切入安全约束。 撤销动态会车的陈旧绕行承诺，校验历史路径额外侧偏，统一总开关对 DP、走廊、KEB 写回和纵向专项的控制，并修正 SidePassData 状态发布。 补充两天录制组件及状态、边界、缓存回归。258 项横向测试和 19 项纵向测试通过，pnc_node 分布式编译及协议检查通过；尚未完成原地图整段 bag 闭环验证。 2026-10-16 14:32:23 +080015f80c59cc41cef09a6ed57532f20a5aec0e0bdafix: 修正弯道会车避让并统一绕行状态退出editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/CMakeLists.txteditTesting/keb_gate_filter_test.cppeditdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/generated/state_schema_inputs.jsonaddTesting/narrow_meeting_recorded_test.cppeditTesting/bulk_speed_limit_test.cppaddTesting/data/tsjx_meeting_20261015.jsoneditdata/boundary/driving_corridor.cppaddTesting/meeting_curve_longitudinal_test.cppedittasks/plan/keb_lane_follow_path_task.cppeditdata/dp_poly_path/dp_road_graph.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/dp_poly_path/trajectory_cost_test.cppeditdata/plan/side_pass_data.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/deciders/lat_decider/side_pass_decider.cppeditCMakeLists.txteditdata/dp_poly_path/dp_road_graph.cppaddTesting/data/tsjx_meeting_20261016.jsonedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor_test.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/obstacle/decision/obstacle_decision_test.cppadddata/dp_poly_path/dp_road_graph_test.cppdocs/side_pass_function.mde13830df3b088da91890a8c85291db92b331bbb21792132361000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充 SidePass 横向避让功能说明 详细说明障碍策略、承诺、SidePassData 状态机、DP 搜索和历史复用、DrivingCorridor、会车及超车生命周期。 补充总开关恢复行为、纵向约束、配置默认值、场景行为和回归入口，并关联对应实现版本。 2026-10-16 14:32:41 +0800e13830df3b088da91890a8c85291db92b331bbb2docs: 补充 SidePass 横向避让功能说明adddocs/side_pass_function.mddata/ssep/forward_ec.cppae1ca4f445f4d7ae2de99c94087121116ed1de061792137100000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 振石前向搜索跳过默认末端虚拟通道 将振石场景加入不构造默认末端通道的分支，避免落入潍坊散货场景的 ConstructWfBulkEndTunnel。标定模式及其他虚拟障碍构造保持原流程。 已审查分支与通道清理逻辑；当前构建已包含该改动，尚未执行振石专项场景回放。 2026-10-16 15:51:40 +0800ae1ca4f445f4d7ae2de99c94087121116ed1de06fix: 振石前向搜索跳过默认末端虚拟通道editdata/ssep/forward_ec.cppTesting/search_decider_lifecycle_test.cppdata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.md89b0887f1d570a0753925390a1a6addad5b897c41792137117000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索跨任务复用规则 修复岸桥等路口执行 SSEP 时，同路线新任务触发重复搜索的问题。 普通、进场、出场、桥和岸桥统一核验有效目标、区域、地图更新及标定条件， 保留同路口、同连接和目标车道的已生效搜索路径。 岸桥单独检查阻挡状态；桥与出场启用短路口连续搜索时核验完整选线路径和 后续路口目标决策，避免默认车道回退或下一路口换线导致错误复用。 补充五类路口任务交接、条件变化、无效目的地和跨路口边界回归并更新文档。 验证：Icecream 分布式编译通过；pnc_reference_line_replan_test 405 项通过、0 失败、61 项跳过。未执行完整 bag 或 GPU 搜索回放。 2026-10-16 15:51:57 +080089b0887f1d570a0753925390a1a6addad5b897c4fix: 统一路口搜索跨任务复用规则editdata/plan/ssep_task_context.cppeditdocs/ssep_search_lifecycle.mdeditTesting/search_decider_lifecycle_test.cppssep/coarse_search/conditions/always_true_condition.hssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-engines.htmlssep/test/CMakeLists.txtssep/test/search_condition_identity_test.ccssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc84103d6512eb05f173df0d8877faac2496810b531792160209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复搜索条件重名导致的变道崩溃 将搜索侧无条件判定类重命名为 AlwaysTrueSearchCondition，消除与历史路径状态匹配类的 ODR 冲突，避免阶段切换调用错误虚函数表。同步变道构建器和教程，新增两类条件共存、虚调用与阶段转换回归。 验证：pnc_node 分布式构建通过，3 项 SearchConditionIdentityTest 回归全部通过。现场苏溪 T04 的 5 份 dump 已核对同源，修复尚未部署车端。 2026-10-16 22:16:49 +080084103d6512eb05f173df0d8877faac2496810b53fix: 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