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同路口重搜先停稳并从当前定位构建起点
仅对当前路口内同任务重搜进入 TO_MOTIONLESS，连续搜索与 fallback 保留原流程。
等待请求跨输入异常与阶段重置保留，由停止线负责停车，停稳后再构造环境。
统一定位起点与轮角校验，同步状态编码、场景回放生成物及生命周期回归。
2026-09-10 19:36:37 +0800ffc82d3f0353a69ab1d90f9268c5f2aedeb37f56fix: 同路口重搜先停稳并从当前定位构建起点edittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/search_decider_lifecycle.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/deciders/search_decider/search_decider_lifecycle.hppeditdata/plan/ssep_data.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/routing_map_guard_test.cppeditdata/ssep/ssep_ec.hppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditreplayer/scene_data/generated/compact_typed_field_codec.hppeditTesting/search_decider_lifecycle_test.cppeditdata/ssep/into_yard_junction_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/seaside_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.cppeditcommon/util/express.cppeditdata/ssep/open_space_ec.cppeditproto/plan_data.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdocs/ssep_search_lifecycle.mdedittasks/other_tasks/stitch_trailer_path_to_ref_line.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppeditdata/vehicle/deviation_status.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppeditreplayer/scene_data/generated/plan_frame_encoder.hppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditdata/ssep/out_yard_junction_ec.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/bridge_junction_ec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_decoder.cppeditdata/ssep/ssep_ec.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppeditTesting/scene_replay_foundation_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cppeditdata/ssep/ssep_common.hppeditdata/ssep/seaside_junction_ec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/ssep/normal_junction_ec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_decoder.hpp
- Testing/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/stitch_path_to_reference_line.cppdocs/ssep_search_lifecycle.mdTesting/fixtures/stitch_52851_offset_replan.hpp2c9028f468748a19e17b8d322b8c23c2971ba8b71789040216000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留车后弯道并平滑拼接 SSEP 参考线
保持准确搜索首点与前方路径，优先沿历史和原参考线补足后视范围。
逐步调整车后连接锚点并校验去重后的实际接缝，移除整段搜索头切线兜底。
加入任务 52851 几何 fixture、大偏移、短历史、弯道及换头回归。
2026-09-10 19:36:56 +08002c9028f468748a19e17b8d322b8c23c2971ba8b7fix: 保留车后弯道并平滑拼接 SSEP 参考线editdocs/ssep_search_lifecycle.mdedittasks/other_tasks/stitch_path_to_reference_line.hppaddTesting/fixtures/stitch_52851_offset_replan.hppeditTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cpp
- Testing/ssep_path_corridor_test.cpptasks/plan/keb_path_optimize_task.hppdocs/ssep_search_lifecycle.mdtasks/plan/keb_path_optimize_task.cpp2d26dfb54d41917a06e60f1ab9c36ad017017bad1789040238000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP 重搜期间复用有效 KEB 历史路径
校验任务、方向、姿态及剩余长度，补齐车辆至优化首点的历史前缀后写回。
新 SSEP 完成但尚未成功接入时继续保持，接替后释放旧优化输出；失效时按原策略兜底。
补充连续等待、前缀接头、输入失效和新结果接替回归。
2026-09-10 19:37:18 +08002d26dfb54d41917a06e60f1ab9c36ad017017badfix: SSEP 重搜期间复用有效 KEB 历史路径editdocs/ssep_search_lifecycle.mdedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppedittasks/plan/keb_path_optimize_task.cpp
- ssep/scenarios/imv_general_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hTesting/imv_keb_start_derivatives_test.cppCMakeLists.txtdocs/ssep_search_lifecycle.mdssep/keb_optimizer/keb_problem.cc1124716aaedfe26f79f04c4f26944358b34426581789040258000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化 SSEP KEB 首段转向状态变化率
IMV General 保持既有首点姿态、曲率和 beta，允许首 pinch 与 beta_dot 在限值内优化。
初始导数收紧到合法范围，其他调用默认保留首点全固定行为。
仅调整 KEB 优化，不修改轮角传输、操作头转换或粗搜索接口，并覆盖正反向及默认兼容测试。
2026-09-10 19:37:38 +08001124716aaedfe26f79f04c4f26944358b3442658fix: 优化 SSEP KEB 首段转向状态变化率addTesting/imv_keb_start_derivatives_test.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditCMakeLists.txteditssep/keb_optimizer/keb_problem.heditssep/scenarios/imv_general_planner.heditdocs/ssep_search_lifecycle.mdeditssep/keb_optimizer/keb_problem.cc
- ssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.hssep/test/CMakeLists.txtssep/offboard/ssep_planner_wrapper.ccreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/data_structures/ssep_input.cctasks/deciders/search_decider/forward_search_decider.cppssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccTesting/search_decider_lifecycle_test.cppconfig/config_truck/ssep_port_scenarios_jinxi.yamlssep/keb_optimizer/tractor_trailer_keb_optimizer.hdata/ssep/ssep_ec.hppssep/test/parking_collision_provenance_test.ccssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.hssep/scenarios/tractor_trailer_parking_curvature.hssep/scenarios/tractor_trailer_parking_maneuver.hssep/scenarios/tractor_trailer_parking_collision.hdata/ssep/forward_ec.cppssep/maps/ogm.hssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccdocs/ssep_scenario_config_lifecycle.mdssep/test/ssep_planner_test.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/ssep_planner.ccssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.hTesting/ssep_scenario_config_lifecycle_test.cppd75778feffec805a3ef4323aede4f58cb33feed91789095167000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增可配置的倒车优先拖挂停车策略
通过 ReversePriority 显式启用独立搜索器和规划器，修复假途经点、零米及短距离拉直、短路径起点偏移。
首轮允许双向搜索且不限制前进调整次数，换向代价逐次翻倍，按累计代价和换向次数进行支配剪枝。
保持用户倒车曲率限制，加强优化几何约束，并在输出前检查完整车头和挂车的连续扫掠碰撞。
区分原始线段、独立栅格占用和 access 清除语义，保留旧场景默认行为。
验证：56 项 C++ 测试通过，pnc_node 和离线回放程序构建通过，两份现场及短距离回放通过。
2026-09-11 10:52:47 +0800d75778feffec805a3ef4323aede4f58cb33feed9feat: 新增可配置的倒车优先拖挂停车策略addssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.haddssep/scenarios/tractor_trailer_parking_curvature.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/keb_optimizer/keb_problem.cceditTesting/search_decider_lifecycle_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonaddssep/scenarios/tractor_trailer_parking_maneuver.heditssep/data_structures/ssep_input.cceditssep/keb_optimizer/keb_problem.heditssep/maps/ogm.ccaddssep/scenarios/tractor_trailer_reverse_priority_parking_planner.haddconfig/config_truck/ssep_port_scenarios_jinxi.yamleditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditdata/ssep/forward_ec.cppaddssep/test/parking_collision_provenance_test.ccaddssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.hedittasks/deciders/search_decider/forward_search_decider.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/offboard/ssep_planner_wrapper.cceditssep/test/CMakeLists.txteditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.cceditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.haddssep/scenarios/tractor_trailer_parking_collision.heditdata/ssep/ssep_ec.hppeditssep/test/ssep_planner_test.cceditssep/maps/ogm.heditdocs/ssep_scenario_config_lifecycle.mdeditssep/maps/ogm_builder.cc
- ssep/test/local_regression/parking_collision_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/tt_parking_quality.pydocs/ssep_jinxi_20260911_parking.mdssep/test/local_regression/run_tt_single_parking_case.pyssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/tt_reverse_priority_tail0_quality.jsonssep/test/local_regression/tt_reverse_priority_manifest.tsvssep/test/local_regression/tt_reverse_priority_tail1_quality.jsonssep/test/local_regression/test_parking_maneuver.pyssep/test/local_regression/test_parking_geometric_curvature.pyssep/test/local_regression/tt_reverse_priority_cases.jsonssep/test/local_regression/test_parking_collision_quality.pyssep/test/local_regression/test_tt_parking_regression.pyf33a41d5c3a2946198b43893290ca8246a18ea2e1789095192000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 收录金玺拖挂停车场景并完善物理质量回归
将两份现场记录和两个短距离合成场景登记为正式回归清单，按共享数据目录保存原始文件及 SHA-256 来源记录。
扩展统一运行器，显式应用场景参数且保持源数据不变，支持不限路径段数的 TT 停车验收。
独立检查运动方向、起终点两航向、曲率及完整车身扫掠碰撞，修复近直线微小转角的数值退化。
增加参数覆盖、源文件校验、异常输出和旧运行器兼容性测试，并记录运行方式。
验证：全部 50 项 Python 测试及统一清单 4 个场景回放通过，归档文件 SHA-256 前后保持一致。
2026-09-11 10:53:12 +0800f33a41d5c3a2946198b43893290ca8246a18ea2etest: 收录金玺拖挂停车场景并完善物理质量回归addssep/test/local_regression/tt_reverse_priority_tail0_quality.jsonaddssep/test/local_regression/tt_reverse_priority_manifest.tsvaddssep/test/local_regression/test_parking_maneuver.pyeditssep/test/local_regression/README.mdaddssep/test/local_regression/parking_collision_quality.pyaddssep/test/local_regression/tt_parking_quality.pyaddssep/test/local_regression/tt_reverse_priority_tail1_quality.jsonadddocs/ssep_jinxi_20260911_parking.mdaddssep/test/local_regression/run_tt_single_parking_case.pyaddssep/test/local_regression/test_parking_collision_quality.pyaddssep/test/local_regression/test_tt_parking_regression.pyaddssep/test/local_regression/test_parking_geometric_curvature.pyeditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/tt_reverse_priority_cases.json
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoplan/prepare/prepare_status.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/generated/compact_typed_field_codec.cppconfig/config_imv/plan.yamlreplayer/scene_data/generated/plan_frame_decoder.hppdata/config/cfg_safe_const.hppreplayer/scene_data/generated/compact_typed_field_codec.hppreplayer/scene_data/generated/config_schema_inputs.jsondata/config/cfg_safe_const.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_encoder.hppreplayer/scene_data/generated/plan_frame_descriptor.pb12bb70597490c8c5d24c3fa732b290224948b3551789106395000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置低安全阈值区域前后余量
低安全阈值区域交集判定默认向车头前方扩展 5 米、车尾后方扩展 0.5 米，支持独立 ROS 参数配置，负值按 0 使用。
同步 Full 与 Compact 配置合同、编解码和生成产物，确保 Recorded 与 Candidate 回放恢复相同余量；补充默认值与非默认值回放测试。
验证：工程任务入口编译通过，生成物及 Proto 兼容性检查通过；回放基础测试合计 241 项通过，1 项因缺少可选 bag 跳过。
2026-09-11 13:59:55 +080012bb70597490c8c5d24c3fa732b290224948b355feat: 支持配置低安全阈值区域前后余量editreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/compact_typed_field_codec.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/config/cfg_safe_const.hppeditreplayer/scene_data/generated/plan_frame_encoder.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_decoder.hppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditplan/prepare/prepare_status.cppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditconfig/config_imv/plan.yamleditdata/config/cfg_safe_const.cppeditproto/config.protoeditreplayer/scene_data/generated/compact_typed_field_codec.cpp
- data/app/fsm/task_fsm/task_fsm.cppb413d88eaddcf42f4cfa888ec9f8a63298a0728e1789106523000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许无途径点的充电任务从行驶进入对准
Travel2Align 不再无条件排除 TO_CHARGE；充电任务存在 parking 或 bulk 途径点时继续禁止进入，均不存在时按原有目标有效性、对准距离等条件判断。
验证：通过工程 task 指定的 pnc-build.sh 构建 pnc_node，暂存 diff 检查通过。
2026-09-11 14:02:03 +0800b413d88eaddcf42f4cfa888ec9f8a63298a0728efix: 允许无途径点的充电任务从行驶进入对准editdata/app/fsm/task_fsm/task_fsm.cpp
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