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#955955false9551188932FAILURE1782393326885http://159.27.114.184:8080/jenkins/user/liuning/my-views/view/all/job/module-confname/955/multi_sim_logic/data/vehicle/imv_pose.cpp01eb562d2cd2b7abbca389318c9b6e5a15ff8ffd1782393276000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SC turn-in-place 旋转方向取反本仓库 IMV 偏航符号约定与 simulator 仓库相反(正常运动学里 beta 取负、 yaw_ -= ...), 原地转向分支此前直接照搬 simulator 的 yaw_ += ω·dt, 导致 SC 旋转方向与整车运动方向相反。改为 yaw_ -= ω·dt 并同步 angular_ 取负。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-25 21:14:36 +080001eb562d2cd2b7abbca389318c9b6e5a15ff8ffdfix: SC turn-in-place 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10:38:40 +08004de4986bc8bb6959f1d31983148bf959dd76640dfix: 统一pnc_debug_msg/ObserverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msgfa59a10a56ef4a39aa887ed0e9824a27bdf5f6751767667401000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 统一pnc_debug_msg/ObesrverDebug.msg 2026-01-06 10:43:21 +0800fa59a10a56ef4a39aa887ed0e9824a27bdf5f675fix: 统一pnc_debug_msg/ObesrverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgperipheral_msgs/msg/VehicleStatus.msg6895a9be22aef5e00689b15840fef864a12621631767690354000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加剩余续航里程字段 2026-01-06 17:05:54 +08006895a9be22aef5e00689b15840fef864a1262163feat_out:增加剩余续航里程字段editperipheral_msgs/msg/VehicleStatus.msgtos_msgs/msg/PeripheralCmd.msg3e9f6f0cd2346406b4879f68c4910996c8dc821c1769061366000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改外设cmd消息 2026-01-22 13:56:06 +08003e9f6f0cd2346406b4879f68c4910996c8dc821cfeat_out:修改外设cmd消息edittos_msgs/msg/PeripheralCmd.msgcloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msg76803290249f1a7498b77dac42c959f2385e72a81772273255000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息 2026-02-28 18:07:35 +080076803290249f1a7498b77dac42c959f2385e72a8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanning.msgaddcloud_msgs/msg/CloudPlanningResponse.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msgb1e42a87435fb81745d25a9d32411056734862b81772273322000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息 2026-02-28 18:08:42 +0800b1e42a87435fb81745d25a9d32411056734862b8feat_out:添加云端规划消息editcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanning.msgaddcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/msg/CloudPlanningResponse.msg23f556d99666ecfa4db447aff433ea4686f256861772520930000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:add cloud_planning_response 2026-03-03 14:55:30 +080023f556d99666ecfa4db447aff433ea4686f25686feat_out:add cloud_planning_responseeditcloud_msgs/msg/CloudPlanningResponse.msgperipheral_msgs/msg/VehicleStatus.msgb338fbf811a4f2c0c39e71ee62f18c35757f0b1d1773803625000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加续航里程字段 2026-03-18 11:13:45 +0800b338fbf811a4f2c0c39e71ee62f18c35757f0b1dfeat_out:增加续航里程字段editperipheral_msgs/msg/VehicleStatus.msgads_msgs/msg/HfsmState.msg9e61cf69319a9a472e75f01c8ed741aad6dc7a6f1773999979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg):添加是否越过当前边界的标志位 2026-03-20 17:46:19 +08009e61cf69319a9a472e75f01c8ed741aad6dc7a6fchore(msg):添加是否越过当前边界的标志位editads_msgs/msg/HfsmState.msgtos_msgs/msg/PncConfiguration.msg0daa1f7f08156df5a55cf90342da631b318e2d3d1775655112000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg): 添加距离阈值内不避让排队车辆的标志位 2026-04-08 21:31:52 +08000daa1f7f08156df5a55cf90342da631b318e2d3dchore(msg): 添加距离阈值内不避让排队车辆的标志位edittos_msgs/msg/PncConfiguration.msgcomm_msgs/msg/Traj.msgb34e00e37e0d3a5818ba0ebb75422c11ae3b6b281776064859000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-13 15:20:59 +0800b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msg4c96c8a35f2498ec41691f02e4e5b3f87104d8331776161260000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加沈汽环卫上装控制 2026-04-14 18:07:40 +08004c96c8a35f2498ec41691f02e4e5b3f87104d833feat_out:增加沈汽环卫上装控制edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg2762395f197d1dcc14647d4e7bca0c6a467b69b61776246597000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:补充外设字段 2026-04-15 17:49:57 +08002762395f197d1dcc14647d4e7bca0c6a467b69b6feat_out:补充外设字段editperipheral_msgs/msg/VehicleStatus.msgcomm_msgs/msg/Traj.msgaed54f80025d95dc2fa58fadb5f26bd1c46d4b0d1776396428000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-17 11:27:08 +0800aed54f80025d95dc2fa58fadb5f26bd1c46d4b0dfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgpnc_debug_msgs/msg/ObserverDebug.msge1ea7d61508080e52f9048605a18ef6c2037b49e1776776486000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:处理合并冲突 2026-04-21 21:01:26 +0800e1ea7d61508080e52f9048605a18ef6c2037b49efeat_out:处理合并冲突editpnc_debug_msgs/msg/ObserverDebug.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txt0bf8bca044aa2d9364b02efff468438ff651c1c21779358531000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 18:15:31 +08000bf8bca044aa2d9364b02efff468438ff651c1c2添加新消息——跨运车z向抱夹到位editalign_msgs/CMakeLists.txtaddalign_msgs/msg/TargetCarStatus.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txtb8f59b921d1a229a9a39dc06f08a35101d7102941779362634000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 19:23:54 +0800b8f59b921d1a229a9a39dc06f08a35101d710294添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtcomm_msgs/msg/Traj.msgbcbc5de637a9a70f2d4a3f32247a71a67dbfd4a01779678432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-05-25 11:07:12 +0800bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-05-25 16:20:41 +0800549daf0fc4e7c8f469ba1807acf334525ddb939bfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msg28d550621b9b5b7a5c1e61e58845772ff4c1525c1780369194000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-02 10:59:54 +080028d550621b9b5b7a5c1e61e58845772ff4c1525cfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msgeadbbf60c2f42f9cc816ea239eb5310f19bef0581780457575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-06-03 11:32:55 +0800eadbbf60c2f42f9cc816ea239eb5310f19bef058feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt876f0ac7f688fcb989d1343dc7bfac606a98615e1781229500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-12 09:58:20 +0800876f0ac7f688fcb989d1343dc7bfac606a98615efeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgalign_msgs/msg/TargetCarStatus.msg4a63c7fafd07ee96114547c4152c16c5b153898f1781236330000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 11:52:10 +08004a63c7fafd07ee96114547c4152c16c5b153898f添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgads_msgs/msg/Target.msg063d531a478250750e71384bff10ecd00da9d00f1782287750000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加货物分段长度字段和逃逸场景类型 2026-06-24 15:55:50 +0800063d531a478250750e71384bff10ecd00da9d00ffeat: 添加货物分段长度字段和逃逸场景类型editads_msgs/msg/Target.msggitdata/constrain/block_data.cpptasks/deciders/long_decider/constrain_decider.cppsink/ros_sink_cloud_trajectory.cppdata/app/reaction/app_reaction.hppsink/ros_sink_cloud_trajectory.hppdata/app/cmd/cmd_dead_lock.cppdata/config/cfg_long_plan.cppdata/app/cmd/cmd_dead_lock_force_park.cppdata/app/cmd/cmd_dead_lock_force_park.hppdata/ssep/into_yard_junction_ec.cppdata/app/app_data.hpphmi/draw/draw_ssep.cppdata/app/fsm/task_command_type.hpphmi/draw/draw_map.cppdata/app/app_data.cpphmi/node_hmi.cpp7cfd0f5a0a4831acb2c699e7feb04fd2c800b4041757385522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配dead lock force park 2025-09-09 10:38:42 +08007cfd0f5a0a4831acb2c699e7feb04fd2c800b404feat:适配dead lock force parkeditdata/app/cmd/cmd_dead_lock.cppeditdata/config/cfg_long_plan.cppeditdata/ssep/into_yard_junction_ec.cppeditsink/ros_sink_cloud_trajectory.cppeditdata/constrain/block_data.cppeditdata/app/fsm/task_command_type.hppedithmi/node_hmi.cppadddata/app/cmd/cmd_dead_lock_force_park.hppeditdata/app/app_data.hppadddata/app/cmd/cmd_dead_lock_force_park.cppedithmi/draw/draw_ssep.cppeditsink/ros_sink_cloud_trajectory.hppedithmi/draw/draw_map.cppeditdata/app/app_data.cppeditdata/app/reaction/app_reaction.hppedittasks/deciders/long_decider/constrain_decider.cppdata/common/trajectory.cppe0d9e3a37165a0aca857ff70874c1cebf9d81af01758633721000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:进堆场弯道禁停继续发送云端轨迹 2025-09-23 21:22:01 +0800e0d9e3a37165a0aca857ff70874c1cebf9d81af0feat:进堆场弯道禁停继续发送云端轨迹editdata/common/trajectory.cppdata/scenario/scenario_planner_condition.cppdata/scenario/scenario_planner_bt.cpp642c01dec961ffc0c39a5b55156b8ad74b12b1fd1758759266000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:完善变道触发的条件 2025-09-25 08:14:26 +0800642c01dec961ffc0c39a5b55156b8ad74b12b1fdfeat:完善变道触发的条件editdata/scenario/scenario_planner_condition.cppeditdata/scenario/scenario_planner_bt.cppdata/scenario/scenario_planner_bt.cpp4aa3eb182b35a15d454daf0be12a0ea27ed6db6d1758769633000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:变道场景切换的bug 2025-09-25 11:07:13 +08004aa3eb182b35a15d454daf0be12a0ea27ed6db6dfix:变道场景切换的bugeditdata/scenario/scenario_planner_bt.cppdata/config/cfg_topic.hpphmi/draw/draw_path.cppdata/config/cfg_topic.cppdata/common/trajectory.hppsink/ros_sink_trajectory_for_prediction.cppdata/common/trajectory_point.hppsink/ros_sink_cloud_trajectory.cppdata/lattice/trajectory_combiner.hppdata/plan/cloud_trajectory.hppdata/lattice/trajectory_combiner.cppdata/common/trajectory_point.cppplan/scenarios/prepare_scenario.cppdata/plan/cloud_trajectory.cppdata/plan_frame.hppsink/ros_sink_trajectory_for_prediction.hppdata/common/trajectory.cppdata/plan_frame.cppsink/module.cpp15068bbc537173a7fcfbe1b0aaee62f371059d721763602872000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:整理云端轨迹的数据结构 2025-11-20 09:41:12 +080015068bbc537173a7fcfbe1b0aaee62f371059d72feat:整理云端轨迹的数据结构editdata/plan_frame.hppeditsink/ros_sink_cloud_trajectory.cppedithmi/draw/draw_path.cppeditdata/lattice/trajectory_combiner.hppadddata/plan/cloud_trajectory.cppeditsink/module.cppeditdata/lattice/trajectory_combiner.cppeditdata/common/trajectory_point.cppeditdata/common/trajectory_point.hppeditplan/scenarios/prepare_scenario.cppeditdata/common/trajectory.cppdeletesink/ros_sink_trajectory_for_prediction.cppeditdata/config/cfg_topic.hppdeletesink/ros_sink_trajectory_for_prediction.hppeditdata/common/trajectory.hppeditdata/plan_frame.cppeditdata/config/cfg_topic.cppadddata/plan/cloud_trajectory.hppdata/lattice/trajectory_combiner.cppa05192db6a24b3348d74f7d50ce0d0bd6b8f7ebc1763639543000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:云端轨迹挂转角赋值错误的bug 2025-11-20 19:52:23 +0800a05192db6a24b3348d74f7d50ce0d0bd6b8f7ebcfix:云端轨迹挂转角赋值错误的bugeditdata/lattice/trajectory_combiner.cppdata/map/pnc_map/routing_extension/routing_data.cpp5b4878a114bd9b04f60443a02d5208c5478267951763702966000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:暂时关闭路口延长的逻辑 2025-11-21 13:29:26 +08005b4878a114bd9b04f60443a02d5208c547826795feat:暂时关闭路口延长的逻辑editdata/map/pnc_map/routing_extension/routing_data.cppdata/map/pnc_map/routing_extension/routing_data.cpp97808e8bad698ca80d77d28e8ee1c25b811d8abc1763706329000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:暂时关闭路口延长的逻辑 2025-11-21 14:25:29 +080097808e8bad698ca80d77d28e8ee1c25b811d8abcfeat:暂时关闭路口延长的逻辑editdata/map/pnc_map/routing_extension/routing_data.cppdata/plan/cloud_trajectory.hppdata/vehicle/vehicle_status.hppplan/scenarios/prepare_scenario.cppplan/prepare/prepare_status.cppdata/plan/guide_line_base.cppplan/prepare/prepare_status.hppdata/plan/cloud_trajectory.cppdata/plan/guide_line_base.hppdata/plan_frame.cppsink/ros_sink_cloud_trajectory.cpp51b7cd43464c5a1527bfb4fa65dd0971948c4b851763952487000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:功能基本ok 2025-11-24 10:48:07 +080051b7cd43464c5a1527bfb4fa65dd0971948c4b85feat:功能基本okeditdata/plan/guide_line_base.cppeditplan/prepare/prepare_status.hppeditdata/plan_frame.cppeditdata/plan/cloud_trajectory.cppeditdata/plan/guide_line_base.hppeditdata/plan/cloud_trajectory.hppeditplan/prepare/prepare_status.cppeditplan/scenarios/prepare_scenario.cppeditsink/ros_sink_cloud_trajectory.cppeditdata/vehicle/vehicle_status.hppdata/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpphmi/draw/draw_path.cppsink/ros_sink_cloud_trajectory.cpp6684ad1e264a2b994a7c551de3336034a5fad1f01763993334000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:完善云端轨迹v2 2025-11-24 22:08:54 +08006684ad1e264a2b994a7c551de3336034a5fad1f0feat:完善云端轨迹v2editdata/plan/cloud_trajectory.cppeditsink/ros_sink_cloud_trajectory.cppeditdata/plan/cloud_trajectory.hppedithmi/draw/draw_path.cppsink/ros_sink_cloud_trajectory.cppsink/ros_sink_cloud_trajectory.hpp81594b7b8e3091061176005152fdb465001061971764144080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复代码合并的bug 2025-11-26 16:01:20 +080081594b7b8e3091061176005152fdb46500106197fix:修复代码合并的bugeditsink/ros_sink_cloud_trajectory.cppeditsink/ros_sink_cloud_trajectory.hppdata/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpp8b0cb2a242ee6e2847bb9b3ce934a9199aeea02d1764257493000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值 2025-11-27 23:31:33 +08008b0cb2a242ee6e2847bb9b3ce934a9199aeea02dfeat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值editdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hppsink/ros_sink_cloud_trajectory.cpp207061ce9e0d5520d8e3aa25e71f15ab72f5af631765263178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:云端轨迹 is stop没有赋值的bug 2025-12-09 14:52:58 +0800207061ce9e0d5520d8e3aa25e71f15ab72f5af63fix:云端轨迹 is stop没有赋值的bugeditsink/ros_sink_cloud_trajectory.cppdata/plan/center_line_info.cppdata/config/cfg_long_plan.cppc296c42da1532160033f738dd3ac0e10b45fa7c51766588196000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复默认参数 2025-12-24 22:56:36 +0800c296c42da1532160033f738dd3ac0e10b45fa7c5fix:修复默认参数editdata/config/cfg_long_plan.cppeditdata/plan/center_line_info.cppdata/plan/cloud_trajectory.cppc90b3f396476d33e57593ea627bfe3b71617a86e1767076543000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:进堆场云端轨迹正常发送 2025-12-30 14:35:43 +0800c90b3f396476d33e57593ea627bfe3b71617a86efeat:进堆场云端轨迹正常发送editdata/plan/cloud_trajectory.cppssep/maps/ogm.ccssep/keb_optimizer/data_structure.hssep/keb_optimizer/keb_problem.cc14a332cffe102d32740e3b66d235c08f95b93deb1767516920000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复优化器中起点曲率没有初始化的问题 2026-01-04 16:55:20 +080014a332cffe102d32740e3b66d235c08f95b93debfix: SSEP: 修复优化器中起点曲率没有初始化的问题editssep/maps/ogm.cceditssep/keb_optimizer/data_structure.heditssep/keb_optimizer/keb_problem.ccdata/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hppc5fe56441cd4975be5cee5f679866cf8c242571e1768226688000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefeat:优化云端路径的赋值 2026-01-12 22:04:48 +0800c5fe56441cd4975be5cee5f679866cf8c242571erefeat:优化云端路径的赋值editdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cppsink/ros_sink_cloud_trajectory.cppae2c245997ab2cd20bb588d1c5d940c97882286e1769183008000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加忽略死锁标志位的反馈 2026-01-23 23:43:28 +0800ae2c245997ab2cd20bb588d1c5d940c97882286efeat:添加忽略死锁标志位的反馈editsink/ros_sink_cloud_trajectory.cppplan/prepare/prepare_status.cppdata/common/guide_path.hppdata/config/cfg_env_const.cppCMakeLists.txtssep/scenarios/imv_exit_parking_spot_planner.hdata/app/cmd/cmd_dead_lock.hppreplayer/logic.cppssep/keb_optimizer/keb_problem.ccdata/plan/start_point_data.cppssep/scenarios/imv_enter_yard_planner.hssep/offboard/generate_scene_data/CMakeLists.txtssep/coarse_search/legacy_searchers/hybrid_a_star_car.ccplan/prepare/prepare_objs.cpphmi/common/status_sign.hppmath/smoothing/fem_pos_deviation_interface.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.ccsource/ros_source_ads_command.cppssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/truck_general_planner.hssep/common/utils/path_utils.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/common/guide_path.cppdata/boundary/road_boundary.cppssep/keb_optimizer/keb_problem.hdata/app/app_data.cppdata/config/cfg_env_const.hppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtdata/other/flow_control.cppdata/app/cmd/cmd_fsm/ifsm.hpphmi/widget/distance.cppdata/ssep/ssep_common.hppssep/coarse_search/evaluator/heading_cost_computer.hdata/app/cmd/cmd_set_target.hpptasks/deciders/other_decider/replan_decider.cppssep/scenarios/imv_enter_station_planner.hssep/scenarios/tractor_trailer_enter_parking_spot_planner.hdata/app/cmd/cmd_remote.cppssep/coarse_search/evaluator/evaluator.hssep/data_structures/polyline.hhmi/draw/draw_perception.cppssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cctasks/plan/path_optimization_task.cppssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/truck_fuzzy_reversing_planner.hssep/scenarios/tractor_trailer_enter_yard_planner.hdata/vehicle/lock_station_data.cppssep/keb_optimizer/imv_keb_optimizer.ccdata/app/cmd/cmd_cancel_lock.hppdata/snapshot_data.hppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/scenario/scenario_manager.hppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/config/cfg_error.cppssep/scenarios/stitching_replanner.hssep/coarse_search/topology_analysis/candidate_goals_generator.ccdata/app/cmd/cmd_fsm/fsm_base.hppdata/app/cmd/cmd_remote_ctrl.cppssep/scenarios/truck_bulk_yark_in_out_planner.cccommon/behaviour_tree/bt_composite.hppssep/scenarios/truck_remote_guided_escape_planner.hdata/other/flow_control.hppalgorithm/plan/plot_st_graph.cppdata/config/cfg_long_plan.cppdata/app/cmd/cmd_set_target.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.htasks/other_tasks/create_reference_line.cppsource/ros_source_ads_target.cppssep/scenarios/legacy_planner.hreplayer/replayer_data_process/load_snap_data.cppdata/config/iconfig.hppssep/common/utils/map_element_utils.hppdata/ssep/forward_ec.cppdata/map/reference/reference_road_section.cppreplayer/replayer_data_process/replayer_data_extraction.cppdata/app/cmd/cmd_cancel_expand.hpptasks/deciders/long_decider/constrain_decider.cppmath/curve2d/curve2d.hppssep/test/gpu_ref_line_cost_test.ccdata/scenario/scenario_manager.cppssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map.cppdata/plan/reference_line_info.hppdata/app/cmd/cmd_cancel_safe.hppssep/CMakeLists.txtdata/obstacle/occupy_grid.hpphmi/node_hmi.hppdata/ssep/into_yard_junction_ec.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/scenarios/imv_pullover_planner.h.gitignoredata/constrain/longitude_constrain.cppssep/scenarios/tractor_trailer_exit_parking_spot_planner.hdata/vehicle/related_offset.cppssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/data_structures/map_element_polyline.ccssep/scenarios/truck_u_turn_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hdata/app/fsm/task_command_type.cppssep/coarse_search/evaluator/shortest_path_heur_table.hdata/ssep/reverse_ec.cppdata/plan/switch_data.cppssep/coarse_search/evaluator/cost_feature_computer.hdata/app/cmd/cmd_traffic_light.hppssep/scenarios/tractor_trailer_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/offboard/scene_replay/CMakeLists.txtmath/curve2d/icurve.hppssep/test/ssep_planner_test.ccssep/offboard/servers/CMakeLists.txtdata/map/pnc_map/pnc_map_path.cppssep/offboard/CMakeLists.txtdata/obstacle/obstacle_decider_attr.cppdata/app/cmd/cmd_align.cppdata/app/cmd/cmd_nstop.hppssep/coarse_search/legacy_searchers/hybrid_a_star_tt.ccssep/scenarios/tractor_trailer_single_segment_parking_planner.haab4a1bf245a53d537d67e15908e5537e67120901770043796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:merge 2026-02-02 22:49:56 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/hybrid_a_star_car.cceditssep/common/utils/map_element_utils.hppeditdata/ssep/into_yard_junction_ec.cppeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/legacy_planner.heditdata/app/cmd/cmd_dead_lock.hppedithmi/draw/draw_perception.cppdata/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hppab46030d67017aca4e24455acacfae894279573e1770363926000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:修改云端轨迹heading和theta的赋值 2026-02-06 15:45:26 +0800ab46030d67017aca4e24455acacfae894279573efeat:修改云端轨迹heading和theta的赋值editdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hppsink/ros_sink_cloud_trajectory.cpp3180b9168c3846ab175fc5900a26ae85dcbf1e5d1770367820000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复编译崩溃的bug 2026-02-06 16:50:20 +08003180b9168c3846ab175fc5900a26ae85dcbf1e5dfix:修复编译崩溃的bugeditsink/ros_sink_cloud_trajectory.cppssep/offboard/servers/scene_editor_server.ccssep/offboard/servers/CMakeLists.txtssep/offboard/servers/scene_editor_html_template.hssep/offboard/servers/scene_editor_html_template.cc7be6e8a3557675f4c2d6d633cedadbb2aa1782361770729120000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加场景编辑工具 2026-02-10 21:12:00 +08007be6e8a3557675f4c2d6d633cedadbb2aa178236feat: SSEP: 增加场景编辑工具addssep/offboard/servers/scene_editor_server.ccaddssep/offboard/servers/scene_editor_html_template.ccaddssep/offboard/servers/scene_editor_html_template.heditssep/offboard/servers/CMakeLists.txtssep/offboard/servers/scene_editor_server.cc14ae272916e84cc2b0c459eea328af1126f4037c1770794659000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: update scene editor server 2026-02-11 15:24:19 +080014ae272916e84cc2b0c459eea328af1126f4037cchore: SSEP: update scene editor servereditssep/offboard/servers/scene_editor_server.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc39d91da2688fad295f61b72e03343113f4b58bec1770794702000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。 2026-02-11 15:25:02 +080039d91da2688fad295f61b72e03343113f4b58becfix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/ssep_planner.ccssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccssep/ssep_planner.h202d8a3a5b87a2837990b959e7c9f6dc4ed919371770798047000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率 2026-02-11 16:20:47 +0800202d8a3a5b87a2837990b959e7c9f6dc4ed91937feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率editssep/ssep_planner.cceditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.heditssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/param_loader/param.h9eb6a23d27a51b50abc4551e2f77e805f5f31c2d1770805966000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: Fix mult-segment searching params. 2026-02-11 18:32:46 +08009eb6a23d27a51b50abc4551e2f77e805f5f31c2dchore: SSEP: Fix mult-segment searching params.editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/param_loader/param.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cccommon/util/express.cppsource/ros_source_offset.cppc4de19b7d9d140ad782aef87dc88d7bd43c07a891771990204000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:修改对准数据的打印 2026-02-25 11:30:04 +0800c4de19b7d9d140ad782aef87dc88d7bd43c07a89feat:修改对准数据的打印editcommon/util/express.cppeditsource/ros_source_offset.cppssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.hssep/test/CMakeLists.txtssep/common/utils/scene_frame_visualization.ccssep/coarse_search/conditions/node_level_condition.hssep/coarse_search/conditions/search_condition_interface.hssep/test/quintic_polynomial_sampler_test.ccssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/coarse_search/search_graph.hssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.ccssep/scenarios/tractor_trailer_lane_change_planner.hssep/test/ssep_planner_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.hssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.ccssep/coarse_search/stage_transition_controller.hssep/data_structures/ssep_scenario_type.hppssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.ha4a70c8cc13449cc12587345ac23584c4cf64b501772004467000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 使用多项式采样器生成变道路径 2026-02-25 15:27:47 +0800a4a70c8cc13449cc12587345ac23584c4cf64b50feat: SSEP: 使用多项式采样器生成变道路径editssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/common/utils/scene_frame_visualization.ccaddssep/scenarios/tractor_trailer_lane_change_planner.haddssep/test/quintic_polynomial_sampler_test.ccaddssep/coarse_search/conditions/node_level_condition.haddssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.heditssep/coarse_search/search_graph.heditssep/scenarios/scenario_planner_factory.haddssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.haddssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.ccaddssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cceditssep/test/ssep_planner_test.cceditssep/data_structures/ssep_scenario_type.hppeditssep/test/CMakeLists.txteditssep/protos/ssep_scenario_type.protoeditssep/coarse_search/conditions/search_condition_interface.heditssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.heditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.heditssep/coarse_search/stage_transition_controller.hdata/lattice/trajectory_evaluator.cppe20a48ccf907c172cd258badb80770444a39bdc51772006424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: lattice wbca velocity reference bug. 2026-02-25 16:00:24 +0800e20a48ccf907c172cd258badb80770444a39bdc5fix: lattice wbca velocity reference bug.editdata/lattice/trajectory_evaluator.cpptasks/deciders/long_decider/constrain_decider.cpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/other/flow_control.cppf08fc47daa4732107487be5e95cff6c7519c5e761772026830000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:杨浦堆场入口重搜索的bug 2026-02-25 21:40:30 +0800f08fc47daa4732107487be5e95cff6c7519c5e76fix:杨浦堆场入口重搜索的bugedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control.cppedittasks/deciders/other_decider/replan_decider.cpptasks/deciders/lat_decider/path_bounds_decider.cppdata/lattice/trajectory_evaluator.cpp346b3313849cd4c2a92ff2eae1281fefa17c6bdf1772026859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化打印日志 2026-02-25 21:40:59 +0800346b3313849cd4c2a92ff2eae1281fefa17c6bdfrefactor:优化打印日志edittasks/deciders/lat_decider/path_bounds_decider.cppeditdata/lattice/trajectory_evaluator.cpp.gitignoreefb4b5efff5051ea0cb101f63308b3cf96b24f901772080681000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加更多忽略文件到.gitignore 2026-02-26 12:38:01 +0800efb4b5efff5051ea0cb101f63308b3cf96b24f90feat: 添加更多忽略文件到.gitignoreedit.gitignoressep/scenarios/tractor_trailer_lane_change_planner.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/curvature_cost_computer.hssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc680d711465338cdb7b63d2fbb55ac8231aa0522b1772085269000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。 2026-02-26 13:54:29 +0800680d711465338cdb7b63d2fbb55ac8231aa0522bchore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。editssep/scenarios/tractor_trailer_lane_change_planner.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cceditssep/coarse_search/evaluator/curvature_cost_computer.hdata/ssep/field_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp07eddc3b7ec1ad94417e2dc1bfac5d2a8b76c46d1772089370000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复边界约束逻辑并优化障碍物处理代码 2026-02-26 15:02:50 +080007eddc3b7ec1ad94417e2dc1bfac5d2a8b76c46dfix: 修复边界约束逻辑并优化障碍物处理代码editdata/ssep/field_junction_ec.cppeditdata/ssep/out_yard_junction_ec.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc5b23bc622f63cdeb7f9546641b51d620b2b35d221772097647000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: merge 集卡进堆场的新改动 2026-02-26 17:20:47 +08005b23bc622f63cdeb7f9546641b51d620b2b35d22chore: SSEP: merge 集卡进堆场的新改动editssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdata/ssep/out_yard_junction_ec.cpp54a568d284cc21044add53f825e13ffea0c16be01772108521000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 2026-02-26 20:22:01 +080054a568d284cc21044add53f825e13ffea0c16be0fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型editdata/ssep/out_yard_junction_ec.cppdata/obstacle/ogm.hppd868d505a77a1ca04d496f97347e1060ead1641f1772114583000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 2026-02-26 22:03:03 +0800d868d505a77a1ca04d496f97347e1060ead1641ffix: 优化OgmPoints序列化，过滤无效点并调整序列化方法editdata/obstacle/ogm.hppdata/ssep/into_yard_junction_ec.cpp3374681c6ddc84be7755c8ebf8e6854e61159f981772114709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 杨浦调整虚拟车道与第一排箱体的距离和左侧后退延伸长度 2026-02-26 22:05:09 +08003374681c6ddc84be7755c8ebf8e6854e61159f98fix: 杨浦调整虚拟车道与第一排箱体的距离和左侧后退延伸长度editdata/ssep/into_yard_junction_ec.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cppe347247ce0d00a200574cc5bb25112621e1935701772114771000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug 2026-02-26 22:06:11 +0800e347247ce0d00a200574cc5bb25112621e193570fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bugedittasks/deciders/search_decider/into_yard_junction_search_decider.cppssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h66056d9ff0da904e2072d9011666631d41cea52a1772171959000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复反向路径拖挂角度错误的问题 2026-02-27 13:59:19 +080066056d9ff0da904e2072d9011666631d41cea52afix: SSEP: 修复反向路径拖挂角度错误的问题editssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hhmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppreplayer/replayer_data_process/replayer_data_process.hpphmi/draw/draw_collision_detection.hpp29291b95199687e97991d9489d85fad6450456541772172502000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能 2026-02-27 14:08:22 +080029291b95199687e97991d9489d85fad645045654feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能edithmi/draw/draw_collision_detection.hppedithmi/draw/draw_collision_detection.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditreplayer/replayer_data_process/replayer_data_process.hpptasks/deciders/lat_decider/side_pass_decider.cppc72005d662d95de7153c7a15d40b4505c7b697711772189364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉日志记录代码以减少输出干扰 2026-02-27 18:49:24 +0800c72005d662d95de7153c7a15d40b4505c7b69771fix: 注释掉日志记录代码以减少输出干扰edittasks/deciders/lat_decider/side_pass_decider.cppdata/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.cppssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.ccssep/offboard/servers/scene_vis_html_template.hb9e7010a6647b88f2d1b7ccbf0a107796c00420d1772249468000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。 2026-02-28 11:31:08 +0800b9e7010a6647b88f2d1b7ccbf0a107796c00420dfeat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_html_template.heditssep/offboard/servers/scene_vis_server.ccdata/config/cfg_env_const.hppdb6b2998c7b19ac262faae5ce406b6bb1c0300f61772264869000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build bug 2026-02-28 15:47:49 +0800db6b2998c7b19ac262faae5ce406b6bb1c0300f6fix: build bugeditdata/config/cfg_env_const.hppdata/common/trajectory_point.cpp857f4abd0e008f86dea5d5880f2a4ab903f6110b1772264950000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: Trajectory MatchByt bug. 2026-02-28 15:49:10 +0800857f4abd0e008f86dea5d5880f2a4ab903f6110bfix: Trajectory MatchByt bug.editdata/common/trajectory_point.cppssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/common/utils/path_utils.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/common/utils/path_utils.ccssep/scenarios/truck_bulk_yark_in_out_planner.ccb3d8e7f1b8a0f4f404506eb060e6f56f37d35cae1772281718000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。 2026-02-28 20:28:38 +0800b3d8e7f1b8a0f4f404506eb060e6f56f37d35caechore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/common/utils/path_utils.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdac7c89094f1f75b409fb7ea12870735e8c44f3e1772443581000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 2026-03-02 17:26:21 +0800dac7c89094f1f75b409fb7ea12870735e8c44f3echore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率editssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h3300e1a9daf69673daac19ea5fbe0039afcbc1151772454906000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 处理掉头场景终点在standby_guideline上的情况 2026-03-02 20:35:06 +08003300e1a9daf69673daac19ea5fbe0039afcbc115chore: SSEP: 处理掉头场景终点在standby_guideline上的情况editssep/scenarios/scenario_planner_factory.hhmi/draw/draw_ego.cppdata/config/cfg_static.hppdata/config/cfg_static.cppec15472120f3d67d5bcf92713ca0ab7847c5809f1772455242000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加镜子配置和绘制功能 2026-03-02 20:40:42 +0800ec15472120f3d67d5bcf92713ca0ab7847c5809ffeat: 添加镜子配置和绘制功能editdata/config/cfg_static.hppeditdata/config/cfg_static.cppedithmi/draw/draw_ego.cppplan/prepare/prepare_status.cpp17c3f62191f31f60680819b599f7c257ba28af421772455688000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 2026-03-02 20:48:08 +080017c3f62191f31f60680819b599f7c257ba28af42feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑editplan/prepare/prepare_status.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cpp8baf0a211150128214102de2d4e3261838b099441772455982000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性 2026-03-02 20:53:02 +08008baf0a211150128214102de2d4e3261838b09944feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性edittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.cppdata/lattice/trajectory_combiner.cpp51180b0d25c6387ef489de1a8ff39f49bcb37f581772455995000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的日志警告，优化代码逻辑 2026-03-02 20:53:15 +080051180b0d25c6387ef489de1a8ff39f49bcb37f58fix: 移除不必要的日志警告，优化代码逻辑editdata/lattice/trajectory_combiner.cppssep/scenarios/tractor_trailer_enter_yard_planner.h828b79a882767843680f05395f4f8cc73f01d28e1772457315000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 掉头进堆场时增加参考线权重 2026-03-02 21:15:15 +0800828b79a882767843680f05395f4f8cc73f01d28echore: SSEP: 掉头进堆场时增加参考线权重editssep/scenarios/tractor_trailer_enter_yard_planner.hsink/ros_sink_ctrl_reference.cppb49664473025df194c4e99e8a5922839333511831772461251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:20:51 +0800b49664473025df194c4e99e8a592283933351183refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/ssep/into_yard_junction_ec.cpp06f00af19d0f07a9c4ebfb1a14a0adf834e0725e1772462010000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 2026-03-02 22:33:30 +080006f00af19d0f07a9c4ebfb1a14a0adf834e0725efix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0editdata/ssep/into_yard_junction_ec.cppsink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/ssep/into_yard_junction_ec.cpp1ae44720a335293b49d9d198cd6dee924fa281381772514670000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正右侧车道拉直点阈值为2.0度 2026-03-03 13:11:10 +08001ae44720a335293b49d9d198cd6dee924fa28138fix: 修正右侧车道拉直点阈值为2.0度editdata/ssep/into_yard_junction_ec.cppdata/ssep/into_yard_junction_ec.cpp422d0cd121bf66362cb39f51b2a52a4de90020381772520703000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场终点距离计算的bug 2026-03-03 14:51:43 +0800422d0cd121bf66362cb39f51b2a52a4de9002038fix:进堆场终点距离计算的bugeditdata/ssep/into_yard_junction_ec.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_path_optimize_task.cpptasks/plan/keb_path_optimize_task.hppdata/config/cfg_stage.cppssep/data_structures/path.htasks/task_factory.cppssep/keb_optimizer/keb_problem.ccdata/config/cfg_stage.hpp8949f783ad1beb73ef96d65dafc77bf62970853e1772523724000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。 2026-03-03 15:42:04 +08008949f783ad1beb73ef96d65dafc77bf62970853efeat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。editssep/keb_optimizer/keb_problem.ccedittasks/task_factory.cppeditssep/data_structures/path.haddtasks/plan/keb_path_optimize_task.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddtasks/plan/keb_path_optimize_task.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppdata/map/envelop/map_envelop.cppdata/ssep/online_region_contour_creator.cppc224b5b2ad8ef6113c9c822ea496bde7e9219ea31772541631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题 2026-03-03 20:40:31 +0800c224b5b2ad8ef6113c9c822ea496bde7e9219ea3fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题editdata/ssep/online_region_contour_creator.cppeditdata/map/envelop/map_envelop.cpphmi/draw/draw_collision_detection.cpped0b322e870556662db2c272f6cca28d3b2505cf1772541736000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 2026-03-03 20:42:16 +0800ed0b322e870556662db2c272f6cca28d3b2505cffix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cpphmi/draw/draw_constrain.cpphmi/draw/draw_ego.cppalgorithm/plan/ego_expanding.cppdata/lattice/collision_checker.cppalgorithm/wbca/truck_wbca_manager.cppcommon/util/crash_helper.cppdata/config/cfg_static.hppdata/obstacle/ogm.cppdata/boundary/road_boundary.cppalgorithm/plan/sweep_area.cppdata/ssep/ssep_activation.cppalgorithm/vehicle_model/kinematic_bicycle_model.cppdata/config/cfg_static.cpp9958c4fb244203a16577ebb183946313ac4902b31772549136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加挂车的上层纵向参数 2026-03-03 22:45:36 +08009958c4fb244203a16577ebb183946313ac4902b3feat:添加挂车的上层纵向参数edithmi/draw/draw_ego.cppeditdata/obstacle/ogm.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditcommon/util/crash_helper.cppeditalgorithm/vehicle_model/kinematic_bicycle_model.cppeditdata/boundary/road_boundary.cppeditdata/lattice/collision_checker.cppedithmi/draw/draw_constrain.cppeditdata/config/cfg_static.cppeditalgorithm/wbca/truck_wbca_manager.cppeditalgorithm/plan/ego_expanding.cppeditalgorithm/plan/sweep_area.cppeditdata/config/cfg_static.hppeditdata/ssep/ssep_activation.cppdata/plan/switch_data.cpp9236dd6181e0b7c771e63db307356296e789dbf21772549149000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 2026-03-03 22:45:49 +08009236dd6181e0b7c771e63db307356296e789dbf2fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑editdata/plan/switch_data.cppdata/ssep/into_yard_junction_ec.cpp1500480102eebfe23dc08f22baee8e8a5e45c0381772552555000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 2026-03-03 23:42:35 +08001500480102eebfe23dc08f22baee8e8a5e45c038fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿editdata/ssep/into_yard_junction_ec.cppdata/map/envelop/map_envelop.cppdata/ssep/online_region_contour_creator.cpp1b3e1d627380950b922bf794cd8f9b9160f4a6e01772604746000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理 2026-03-04 14:12:26 +08001b3e1d627380950b922bf794cd8f9b9160f4a6e0fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理editdata/ssep/online_region_contour_creator.cppeditdata/map/envelop/map_envelop.cppssep/data_structures/path_utils.htasks/plan/keb_path_optimize_task.cpp978096f8d9bd68740c1cc23d1d60ea5ce1fa09e41772613897000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb optimizer task 单线程功能完成 2026-03-04 16:44:57 +0800978096f8d9bd68740c1cc23d1d60ea5ce1fa09e4feat: Keb optimizer task 单线程功能完成editssep/data_structures/path_utils.hedittasks/plan/keb_path_optimize_task.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp9e61440a54d4a4d9ba5f6d79d76bc84ef225b5e71772618721000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb path optimize task 支持异步（多线程）模式。 2026-03-04 18:05:21 +08009e61440a54d4a4d9ba5f6d79d76bc84ef225b5e7feat: Keb path optimize task 支持异步（多线程）模式。edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_path_optimize_task.hppCMakeLists.txtab65d3bc4ea9b19ca8a03e9090432de03b66bc731772624860000http://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 2026-03-04 19:47:40 +0800ab65d3bc4ea9b19ca8a03e9090432de03b66bc73feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txthmi/common/pnc_graphics_view.cpphmi/common/image_viewer.cpphmi/widget/pnc_mat.hpphmi/widget/pnc_mat.cpphmi/common/pnc_graphics_view.hpphmi/widget/replayer_pnc_mat.cppCMakeLists.txthmi/widget/replayer_pnc_mat.hpphmi/node_hmi.cpphmi/replayer_hmi.cpp8c79ea9cf0d58a434b38c9fd839eba62571b8eeb1772635326000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage 2026-03-04 22:42:06 +08008c79ea9cf0d58a434b38c9fd839eba62571b8eebfeat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImageedithmi/common/image_viewer.cppaddhmi/common/pnc_graphics_view.hppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedithmi/widget/pnc_mat.hppeditCMakeLists.txtedithmi/widget/replayer_pnc_mat.hppedithmi/widget/pnc_mat.cppaddhmi/common/pnc_graphics_view.cppedithmi/widget/replayer_pnc_mat.cppdata/ssep/open_space_ec.cpp596962e10fec144af58b2e0fd7b089fca86614401772637022000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0 2026-03-04 23:10:22 +0800596962e10fec144af58b2e0fd7b089fca8661440fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0editdata/ssep/open_space_ec.cppdata/map/reference/reference_segment.cppf6df47fe7a095d203cffc46df3eec573039156431772637272000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 2026-03-04 23:14:32 +0800f6df47fe7a095d203cffc46df3eec57303915643fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑editdata/map/reference/reference_segment.cpphmi/common/pnc_graphics_view.cpphmi/draw/draw_ssep.cpphmi/common/pnc_graphics_view.hpphmi/replayer_hmi.cpp6c6c78a4cb5ad24627297a27ec668ab5e3913a371772675948000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量 2026-03-05 09:59:08 +08006c6c78a4cb5ad24627297a27ec668ab5e3913a37feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量edithmi/common/pnc_graphics_view.cppedithmi/replayer_hmi.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep.cpphmi/draw/draw_ssep.cpp174fffc20a252707cccc80f830bd65304bdef1691772678549000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 2026-03-05 10:42:29 +0800174fffc20a252707cccc80f830bd65304bdef169fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑edithmi/draw/draw_ssep.cppalgorithm/plan/ego_expanding.cppalgorithm/vehicle_model/kinematic_bicycle_model.cpp65a7777d7c662ac049366c24e60b684062dae23d1772686158000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式 2026-03-05 12:49:18 +080065a7777d7c662ac049366c24e60b684062dae23dfix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式editalgorithm/plan/ego_expanding.cppeditalgorithm/vehicle_model/kinematic_bicycle_model.cppdata/plan/cloud_trajectory.cpp2a3c11f3986d0c8c71aea388f19bb0cc1ef032301772686189000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在CreateTrajInfo函数中添加continue语句以优化逻辑 2026-03-05 12:49:49 +08002a3c11f3986d0c8c71aea388f19bb0cc1ef03230fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑editdata/plan/cloud_trajectory.cppdata/plan/start_point_data.hppdata/plan/start_point_data.cpp993c574f08c46cf65f6b891f0e920b196809a7f31772689353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca path fluctuation problem. 2026-03-05 13:42:33 +0800993c574f08c46cf65f6b891f0e920b196809a7f3fix: wbca path fluctuation problem.editdata/plan/start_point_data.cppeditdata/plan/start_point_data.hppdata/common/trajectory_point.cpp8724ebfc9392edaa35d0827ba5f4eeea7642e3161772690113000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误 2026-03-05 13:55:13 +08008724ebfc9392edaa35d0827ba5f4eeea7642e316fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误editdata/common/trajectory_point.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp19551aed1c4d603d6af3351db48ca4c83b6c67cf1772693700000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. 2026-03-05 14:55:00 +080019551aed1c4d603d6af3351db48ca4c83b6c67cfchore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy.edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_path_optimize_task.hppdata/plan/start_point_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cppca574be78a4a5b22d2531926384d5f1ece21d0ee1772695755000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add wbca min_start_velocity 2026-03-05 15:29:15 +0800ca574be78a4a5b22d2531926384d5f1ece21d0eefix: add wbca min_start_velocityeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppeditdata/plan/start_point_data.hppdata/plan/reference_line_info.cppdata/map/pnc_map/pnc_map_path.cppdata/plan/switch_data.cppdata/map/pnc_map/pnc_map_path.hpp64250345071c2bdf4003a45d557cab9fb0e31f7a1772699926000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题 2026-03-05 16:38:46 +080064250345071c2bdf4003a45d557cab9fb0e31f7afeat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题editdata/map/pnc_map/pnc_map_path.cppeditdata/plan/switch_data.cppeditdata/map/pnc_map/pnc_map_path.hppeditdata/plan/reference_line_info.cppssep/scenarios/imv_enter_station_planner.hbbcd70c8e3cfc961046a945890a08281ecd185711772713681000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 2026-03-05 20:28:01 +0800bbcd70c8e3cfc961046a945890a08281ecd18571fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。editssep/scenarios/imv_enter_station_planner.hplan/prepare/prepare_ogm.cppssep/data_structures/polyline.ccssep/data_structures/polyline.hssep/data_structures/path_utils.htasks/plan/keb_path_optimize_task.cpp8101d8ebf6ca8142278ca0d1491c2ce9622bba6c1772714353000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。 2026-03-05 20:39:13 +08008101d8ebf6ca8142278ca0d1491c2ce9622bba6cchore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。editssep/data_structures/path_utils.hedittasks/plan/keb_path_optimize_task.cppeditssep/data_structures/polyline.cceditssep/data_structures/polyline.heditplan/prepare/prepare_ogm.cppdata/ssep/ex_lane_change_ec.cppdata/ssep/field_junction_ec.cppdata/ssep/ssep_util.cppdata/ssep/seaside_junction_ec.cppdata/ssep/online_region_contour_creator.hppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/map/envelop/map_envelop.cppdata/boundary/road_boundary.cpphmi/draw/draw_map_envelpos.cppdata/map/envelop/map_envelops.hppdata/map/envelop/map_envelops.cppdata/ssep/ssep_ec.cppd2c0739f3014c96356d8396559abdf5bd64918121772718540000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化包略框的合并，以及优化耗时 2026-03-05 21:49:00 +0800d2c0739f3014c96356d8396559abdf5bd6491812refactor:优化包略框的合并，以及优化耗时editdata/ssep/online_region_contour_creator.cppeditdata/map/envelop/map_envelop.cppeditdata/map/envelop/map_envelops.cppeditdata/map/envelop/map_envelops.hppeditdata/boundary/road_boundary.cppeditdata/ssep/ex_lane_change_ec.cppeditdata/ssep/seaside_junction_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/field_junction_ec.cppedithmi/draw/draw_map_envelpos.cppeditdata/ssep/ssep_util.cppeditdata/ssep/online_region_contour_creator.hppeditdata/ssep/ssep_ec.cppdata/ssep/online_region_contour_creator.cpp43f11b859819fd7f30c9c0dbfc7d138350fe30861772725610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在CreateContour中添加时间记录，优化轮廓构建过程 2026-03-05 23:46:50 +080043f11b859819fd7f30c9c0dbfc7d138350fe3086feat: 在CreateContour中添加时间记录，优化轮廓构建过程editdata/ssep/online_region_contour_creator.cppdata/ssep/open_space_ec.cppdata/plan/guide_line.cpp5c4212a16790c1e956baf2553bece33826d8e6991772725674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算 2026-03-05 23:47:54 +08005c4212a16790c1e956baf2553bece33826d8e699feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算editdata/ssep/open_space_ec.cppeditdata/plan/guide_line.cppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cpp743127a9723c20065292b4105dcdb172f6c5eff31772771369000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备 2026-03-06 12:29:29 +0800743127a9723c20065292b4105dcdb172f6c5eff3feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppssep/scenarios/tractor_trailer_general_planner.h6751b29aa1f63012d68615b08fd675060fe76c281772779288000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 2026-03-06 14:41:28 +08006751b29aa1f63012d68615b08fd675060fe76c28chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点editssep/scenarios/tractor_trailer_general_planner.hdata/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0 2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_general_planner.hd725454ddae3355ba0c05e4ed9600f230ab6153b1772783173000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 2026-03-06 15:46:13 +0800d725454ddae3355ba0c05e4ed9600f230ab6153bfix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_general_planner.h5da516f1b19b13f65a0d9c3f6041cdb4c9226f111772783829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 2026-03-06 15:57:09 +08005da516f1b19b13f65a0d9c3f6041cdb4c9226f11fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.hdata/lattice/piecewise_acc_traj1d.hppmath/curve1d/curve1d.hppdata/lattice/trajectory_combiner.cppdata/lattice/piecewise_acc_traj1d.cpp4a08ca557e16b33f5b439f97aeed655588af18ca1772784483000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加IsAvailable方法以验证轨迹数据的有效性 2026-03-06 16:08:03 +08004a08ca557e16b33f5b439f97aeed655588af18cafeat: 添加IsAvailable方法以验证轨迹数据的有效性editdata/lattice/piecewise_acc_traj1d.hppeditmath/curve1d/curve1d.hppeditdata/lattice/piecewise_acc_traj1d.cppeditdata/lattice/trajectory_combiner.cpptasks/other_tasks/stitch_path_to_reference_line.cpp6c3476ae1785ffcc0e72a44ab5a39ec14f9262341772784496000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 2026-03-06 16:08:16 +08006c3476ae1785ffcc0e72a44ab5a39ec14f926234fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑edittasks/other_tasks/stitch_path_to_reference_line.cppplan/prepare/prepare_status.cpp6edf9f81cfd8d34ef20271ac92b2c4e0b3a486cc1772784616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进充电桩场景切换的bug 2026-03-06 16:10:16 +08006edf9f81cfd8d34ef20271ac92b2c4e0b3a486ccfix:进充电桩场景切换的bugeditplan/prepare/prepare_status.cpphmi/common/pnc_graphics_view.cpphmi/common/pnc_graphics_view.hpp.clangdc8e821186992f60df26f209fe665bd2582a060f31772792515000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加角度显示功能，增强PncGraphicsView的交互性 2026-03-06 18:21:55 +0800c8e821186992f60df26f209fe665bd2582a060f3feat: 添加角度显示功能，增强PncGraphicsView的交互性edithmi/common/pnc_graphics_view.cppedit.clangdedithmi/common/pnc_graphics_view.hppdata/map/pnc_map/routing_extension/routing_data.cpp140041f723b7605ba0c3f541cf93137b952dcb5b1773059151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复误进入openspace的bug 2026-03-09 20:25:51 +0800140041f723b7605ba0c3f541cf93137b952dcb5bfix:修复误进入openspace的bugeditdata/map/pnc_map/routing_extension/routing_data.cppdata/other/flow_control.cpp937254808f46c55561908ecdcb1bc38c60fc631f1773061636000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 2026-03-09 21:07:16 +0800937254808f46c55561908ecdcb1bc38c60fc631ffix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppdata/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 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.cppCMakeLists.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.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.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.hppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.cppdata/map/pnc_map/routing_extension/routing_data.cppbcbdf46ad462f619475c1fdf3fb71e834a30d7781773149344000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug 2026-03-10 21:29:04 +0800bcbdf46ad462f619475c1fdf3fb71e834a30d778fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bugeditdata/map/pnc_map/routing_extension/routing_data.cppssep/data_structures/path.cctasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/keb_problem.cc4b50a49607424665f8acfd256ac9e1dbd1baea941773153523000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。 2026-03-10 22:38:43 +08004b50a49607424665f8acfd256ac9e1dbd1baea94fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。edittasks/plan/keb_path_optimize_task.cppeditssep/data_structures/path.cceditssep/keb_optimizer/keb_problem.ccdata/map/reference/reference_segment.cppb4c8509dc59d5b832c6f297fbea4cb11611127721773154506000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整RefMatch匹配条件的范围以增强灵活性 2026-03-10 22:55:06 +0800b4c8509dc59d5b832c6f297fbea4cb1161112772fix: 调整RefMatch匹配条件的范围以增强灵活性editdata/map/reference/reference_segment.cppdata/constrain/block_data.cppa73b8f4d7d8f7e5659d3be56c8f20f13c3e3ba9b1773156502000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 2026-03-10 23:28:22 +0800a73b8f4d7d8f7e5659d3be56c8f20f13c3e3ba9bfix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区editdata/constrain/block_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_enter_station_planner.h676d5a425b2d7245cc5964a500bba444c3e2007e1773158302000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决西联IMV进停车位搜索失败的问题 2026-03-10 23:58:22 +0800676d5a425b2d7245cc5964a500bba444c3e2007efix: SSEP: 解决西联IMV进停车位搜索失败的问题editssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccthirdparty/lbfgs/lbfgs.hpp54642a4d385953f418422c708d1c011a5b7cd8d61773220603000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: l_bfgs optimization. 2026-03-11 17:16:43 +080054642a4d385953f418422c708d1c011a5b7cd8d6fix: l_bfgs optimization.editthirdparty/lbfgs/lbfgs.hppnode/main.cppreplayer/main.cppCMakeLists.txtcommon/other/version.hpp8fb3e52371e6b397cdf014eb49b6bd06c8a3651d1773243413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出 2026-03-11 23:36:53 +08008fb3e52371e6b397cdf014eb49b6bd06c8a3651dfeat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出editnode/main.cppeditCMakeLists.txteditcommon/other/version.hppeditreplayer/main.cppscenarios/scenario_interface.hppscenarios/scenario.cpptasks/plan/keb_path_optimize_task.hppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpptasks/plan/keb_path_optimize_task.cppa7d725fc7c38581e5d41df1e9a44e812be9fdc511773243557000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口 2026-03-11 23:39:17 +0800a7d725fc7c38581e5d41df1e9a44e812be9fdc51feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口editscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/scenario.cppedittasks/plan/keb_path_optimize_task.hppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hppedittasks/plan/keb_path_optimize_task.cppeditscenarios/scenario_interface.hppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hpp0ccd53b38e6cf5b4986459323cfb5fc3bce2d87c1773244632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 2026-03-11 23:57:12 +08000ccd53b38e6cf5b4986459323cfb5fc3bce2d87cfeat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑editscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.htasks/plan/keb_path_optimize_task.cpp26f67573d71e96ade8fcb594cdcff81a75d1e0061773245917000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: keb-path-optimize-task 优化低贝位挂车不直的问题 2026-03-12 00:18:37 +080026f67573d71e96ade8fcb594cdcff81a75d1e006fix: keb-path-optimize-task 优化低贝位挂车不直的问题editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_enter_yard_planner.hedittasks/plan/keb_path_optimize_task.cppeditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdata/map/reference/reference_road_section.cppdata/map/reference/reference_segment.cpp8daab03cfcdd70c6d39cd7a41c0042f2e24d87281773247225000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 2026-03-12 00:40:25 +08008daab03cfcdd70c6d39cd7a41c0042f2e24d8728fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑editdata/map/reference/reference_road_section.cppeditdata/map/reference/reference_segment.cpptasks/plan/keb_path_optimize_task.cpp771e068e36b299ceb0ee0718cd9eb38dda67c5e71773249134000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb-path-optimize-task finetune. 2026-03-12 01:12:14 +0800771e068e36b299ceb0ee0718cd9eb38dda67c5e7chore: keb-path-optimize-task finetune.edittasks/plan/keb_path_optimize_task.cppdata/constrain/block_data.cppdata/map/pnc_map/pnc_map_path.cpphmi/draw/draw_map.cppdata/constrain/disable_stop_range.cppdata/map/pnc_map/path_overlap.hppdata/map/pnc_map/path_overlap.cppbdf1ef7712f7e5b5ed7747856466c73e81e907651773291254000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 2026-03-12 12:54:14 +0800bdf1ef7712f7e5b5ed7747856466c73e81e90765feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能editdata/map/pnc_map/path_overlap.cppedithmi/draw/draw_map.cppeditdata/constrain/block_data.cppeditdata/map/pnc_map/path_overlap.hppeditdata/map/pnc_map/pnc_map_path.cppeditdata/constrain/disable_stop_range.cppdata/config/cfg_lat_plan.hppdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppssep/scenarios/tractor_trailer_enter_yard_planner.h68884d9316d33b45fc13365f4ffaf29e9a7e481e1773294886000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: 优化keb-path-optimize-task进堆场效果 2026-03-12 13:54:46 +080068884d9316d33b45fc13365f4ffaf29e9a7e481echore: 优化keb-path-optimize-task进堆场效果edittasks/plan/keb_path_optimize_task.cppeditssep/scenarios/tractor_trailer_enter_yard_planner.heditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppdata/app/reaction/app_reaction.hppdata/config/cfg_long_plan.cppdata/constrain/longitude_constrain.cppdata/app/app_data.hppdata/app/cmd/cmd_reduce_safe_distance.hpptasks/deciders/long_decider/constrain_decider.cppdata/app/fsm/task_command_type.hppdata/app/reaction/app_reaction.cppdata/app/app_data.cppdata/app/cmd/cmd_reduce_safe_distance.cpp823980e823db5df3c886893d6f87f528f9fb2db61773299573000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 2026-03-12 15:12:53 +0800823980e823db5df3c886893d6f87f528f9fb2db6feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能editdata/app/reaction/app_reaction.cppeditdata/app/reaction/app_reaction.hppadddata/app/cmd/cmd_reduce_safe_distance.cppadddata/app/cmd/cmd_reduce_safe_distance.hppeditdata/config/cfg_long_plan.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/app/app_data.hppeditdata/app/fsm/task_command_type.hppeditdata/constrain/longitude_constrain.cppeditdata/app/app_data.cpptasks/plan/keb_path_optimize_task.cppaafa159991f4a48c9ef692f1a8e047e7c424afb61773300620000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb param adjust 2026-03-12 15:30:20 +0800aafa159991f4a48c9ef692f1a8e047e7c424afb6chore: keb param adjustedittasks/plan/keb_path_optimize_task.cppdata/ssep/into_yard_junction_ec.cppde884128bc0875b3d57de275946de95f2cd8b3e01773304647000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 2026-03-12 16:37:27 +0800de884128bc0875b3d57de275946de95f2cd8b3e0feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断editdata/ssep/into_yard_junction_ec.cppdata/ssep/into_yard_junction_ec.cpp1bd0449b5f8dcfa94fec6c7945fe60d974d9ad321773304705000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 2026-03-12 16:38:25 +08001bd0449b5f8dcfa94fec6c7945fe60d974d9ad32feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断editdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.cpp721aad94a7dfbc0f93058ae6450a28f2dd0434891773307055000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: keb task finetune 2026-03-12 17:17:35 +0800721aad94a7dfbc0f93058ae6450a28f2dd043489fix: keb task finetuneedittasks/plan/keb_path_optimize_task.cppdata/config/cfg_lat_plan.hpptasks/plan/keb_path_optimize_task.hppdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cpp0b608a2fa4fd2c989e96867676775c39bae760601773324727000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb task 关键参数提取 2026-03-12 22:12:07 +08000b608a2fa4fd2c989e96867676775c39bae76060chore: keb task 关键参数提取editdata/config/cfg_lat_plan.hppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_path_optimize_task.hppeditdata/config/cfg_lat_plan.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc9c5c170342494671d0cf0ac64b8a6e7f4b2af70d1773381491000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 进堆场优化用终点硬约束 2026-03-13 13:58:11 +08009c5c170342494671d0cf0ac64b8a6e7f4b2af70dfix: SSEP: 进堆场优化用终点硬约束editssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cctasks/plan/keb_path_optimize_task.cpp84ff4a2e3dde08f3d0742036d1c94610e9ab1d441773382207000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb-task 使用终点约束 2026-03-13 14:10:07 +080084ff4a2e3dde08f3d0742036d1c94610e9ab1d44chore: keb-task 使用终点约束edittasks/plan/keb_path_optimize_task.cppdata/ssep/open_space_ec.cppreplayer/replayer_data_process/replayer_data_process.cppdata/ssep/online_region_contour_creator.cppdata/ssep/open_space_ec.hppdata/map/envelop/map_envelops.hppdata/plan_frame.hppdata/map/envelop/map_envelops.cppplan/prepare/prepare_map_related.cpp8eafd16a9aeb91372cbbeb9b45ed48da8f9af4e31773383875000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 2026-03-13 14:37:55 +08008eafd16a9aeb91372cbbeb9b45ed48da8f9af4e3feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理editdata/ssep/open_space_ec.cppeditdata/ssep/online_region_contour_creator.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/map/envelop/map_envelops.hppeditdata/plan_frame.hppeditplan/prepare/prepare_map_related.cppeditdata/map/envelop/map_envelops.cppeditdata/ssep/open_space_ec.hppdata/app/fsm/task_command_type.hpp88d62ee670ee5f633ebb48441a4bd2b2404fef601773411132000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整指令的类别 2026-03-13 22:12:12 +080088d62ee670ee5f633ebb48441a4bd2b2404fef60feat:调整指令的类别editdata/app/fsm/task_command_type.hppdata/map/reference/reference_segment.cpp03b3cf39f7b16511a2dbe122e5ad34392670a5161773628294000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:暂时关闭参考线拼接 theta重新计算的逻辑 2026-03-16 10:31:34 +080003b3cf39f7b16511a2dbe122e5ad34392670a516feat:暂时关闭参考线拼接 theta重新计算的逻辑editdata/map/reference/reference_segment.cppssep/keb_optimizer/keb_problem.htasks/plan/keb_path_optimize_task.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.htasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/keb_problem.ccc41eddb38ef7f1a2e7bbc7435935def0d072d8251773657394000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹 2026-03-16 18:36:34 +0800c41eddb38ef7f1a2e7bbc7435935def0d072d825feat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹editssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/state_constraint.h9dc2ca95d9ba598e7a465c92cb78be52a34592dc1773722240000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复集卡优化器终点可能超过拖挂角度限制的问题 2026-03-17 12:37:20 +08009dc2ca95d9ba598e7a465c92cb78be52a34592dcfix: 修复集卡优化器终点可能超过拖挂角度限制的问题editssep/keb_optimizer/cost_features/state_constraint.hdata/constrain/block_data.cppdata/map/pnc_map/pnc_map_path.cppdata/constrain/disable_stop_range.cpphmi/draw/draw_map.cppdata/map/pnc_map/path_overlap.hppdata/map/pnc_map/path_overlap.cpp8d32b4930266f35ff301b6030bec4cccc04d7aa01773723921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 2026-03-17 13:05:21 +08008d32b4930266f35ff301b6030bec4cccc04d7aa0feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能editdata/map/pnc_map/path_overlap.hppeditdata/constrain/disable_stop_range.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/constrain/block_data.cppedithmi/draw/draw_map.cppeditdata/map/pnc_map/path_overlap.cppdata/app/reaction/app_reaction.hppdata/config/cfg_long_plan.cppdata/constrain/longitude_constrain.cppdata/app/app_data.hppdata/app/fsm/task_command_type.hppdata/app/cmd/cmd_reduce_safe_distance.hpptasks/deciders/long_decider/constrain_decider.cppdata/app/reaction/app_reaction.cppdata/app/app_data.cppdata/app/cmd/cmd_reduce_safe_distance.cppb0b06927dbaffd63819509d96b0a48e95a23a1731773723921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 2026-03-17 13:05:21 +0800b0b06927dbaffd63819509d96b0a48e95a23a173feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能editdata/app/reaction/app_reaction.hppadddata/app/cmd/cmd_reduce_safe_distance.cppeditdata/app/fsm/task_command_type.hppadddata/app/cmd/cmd_reduce_safe_distance.hppeditdata/app/app_data.hppeditdata/app/app_data.cppeditdata/app/reaction/app_reaction.cppeditdata/config/cfg_long_plan.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppdata/ssep/open_space_ec.cppreplayer/replayer_data_process/replayer_data_process.cppdata/ssep/online_region_contour_creator.cppdata/ssep/open_space_ec.hppdata/map/envelop/map_envelops.hppdata/plan_frame.hppdata/map/envelop/map_envelops.cppplan/prepare/prepare_map_related.cppfe45ba157988b615c24bae4fe43d8b33022549181773723922000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 2026-03-17 13:05:22 +0800fe45ba157988b615c24bae4fe43d8b3302254918feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理editdata/map/envelop/map_envelops.cppeditdata/map/envelop/map_envelops.hppeditdata/plan_frame.hppeditdata/ssep/online_region_contour_creator.cppeditplan/prepare/prepare_map_related.cppeditdata/ssep/open_space_ec.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/ssep/open_space_ec.hppdata/plan/guide_line.cppdata/common/path.cpp58293034061f9aa3edd075764961740dcf23e6c81773723922000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复guidelien 中 overlap计算的bug 2026-03-17 13:05:22 +080058293034061f9aa3edd075764961740dcf23e6c8fix:修复guidelien 中 overlap计算的bugeditdata/plan/guide_line.cppeditdata/common/path.cppalgorithm/wbca/imv_wbca_manager.cppdata/wbca/grid_map/esdf_map.hppalgorithm/wbca/occupancy_grid_map/data_render.cppdata/wbca/grid_map/esdf_map.cpptasks/plan/path_optimization_task.cpp419f75f12ec66fbea96fb469cb3cd0e5e4c742c31773727237000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv smooth_mode bug 2026-03-17 14:00:37 +0800419f75f12ec66fbea96fb469cb3cd0e5e4c742c3fix: imv smooth_mode bugeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/occupancy_grid_map/data_render.cppeditdata/wbca/grid_map/esdf_map.cppedittasks/plan/path_optimization_task.cppeditdata/wbca/grid_map/esdf_map.hppdata/plan/start_point_data.cpp2026f2b99af4241f05203d6d6a354eafc69ebbe91773742201000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv start_pt bug 2026-03-17 18:10:01 +08002026f2b99af4241f05203d6d6a354eafc69ebbe9fix: imv start_pt bugeditdata/plan/start_point_data.cppdata/map/pnc_map/pnc_map_path.cppbfc992cbf1652ca99e8bfd0ef9cc690b4f5958151773750641000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复拼接ssep结果后，junction overlap 生成的bug 2026-03-17 20:30:41 +0800bfc992cbf1652ca99e8bfd0ef9cc690b4f595815fix:修复拼接ssep结果后，junction overlap 生成的bugeditdata/map/pnc_map/pnc_map_path.cppdata/ssep/into_yard_junction_ec.hppdata/other/flow_control.hppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cpp251ad648d7b5958a23e670eebf6d15769d94309d1773755983000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加实时的终点边界约束和拉值约束，然后终点约束使用使用实时约束 2026-03-17 21:59:43 +0800251ad648d7b5958a23e670eebf6d15769d94309dfeat: 添加实时的终点边界约束和拉值约束，然后终点约束使用使用实时约束editdata/other/flow_control.cppeditdata/other/flow_control.hppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hppreplayer/logic.cpphmi/replayer_hmi.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.editdata/config/cfg_hmi.cppeditreplayer/logic.cppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.hppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditCMakeLists.txtedit.gitignoreeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/decide/decide_reaction.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/other_decider/replan_decider.hppdata/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.cppdata/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.cppplan/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.cppdata/boundary/road_boundary.cppf2e9dde3e2a7a459695b595cd8cc740d5d924eb71773811607000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 注释掉低贝位作业相关的代码逻辑 2026-03-18 13:26:47 +0800f2e9dde3e2a7a459695b595cd8cc740d5d924eb7refactor: 注释掉低贝位作业相关的代码逻辑editdata/boundary/road_boundary.cppdata/boundary/road_boundary.cpp06ce627159426497944ccf43a460d672bea1611b1773811694000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 注释掉低贝位作业相关的代码逻辑 2026-03-18 13:28:14 +080006ce627159426497944ccf43a460d672bea1611brefactor: 注释掉低贝位作业相关的代码逻辑editdata/boundary/road_boundary.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/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.cppdata/config/cfg_static.cppa9c9de3aebb610e9e0c105d0a9edb79f48aab9c81773840942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新镜子相关参数的命名空间前缀为/pnc_node 2026-03-18 21:35:42 +0800a9c9de3aebb610e9e0c105d0a9edb79f48aab9c8fix: 更新镜子相关参数的命名空间前缀为/pnc_nodeeditdata/config/cfg_static.cppdata/other/flow_control.cpp75ace1b4dce8a4dddcf1d6d3ceecc7810c0137421773840969000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复崩溃的bug 2026-03-18 21:36:09 +080075ace1b4dce8a4dddcf1d6d3ceecc7810c013742fix:修复崩溃的bugeditdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp42eda6dd35e959268a2c138d1e7f238bb63f02e61773841010000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加自动获取大谢终点约束的功能 2026-03-18 21:36:50 +080042eda6dd35e959268a2c138d1e7f238bb63f02e6feat: 添加自动获取大谢终点约束的功能editdata/ssep/into_yard_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 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.hpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cpp09680d0ab04914754cc2ad5548709fa7a67060211773901680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加搜索起点框的功能并优化车辆框生成逻辑 2026-03-19 14:28:00 +080009680d0ab04914754cc2ad5548709fa7a6706021feat: 添加搜索起点框的功能并优化车辆框生成逻辑editdata/ssep/open_space_ec.cppeditdata/map/pnc_map/routing_extension/routing_data.cppdata/plan/start_point_data.cppb04d7ce3f4cd18f062c3a4d858cf4ad39f3b1ab21773909776000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新GetLatPoint函数以考虑LKA控制模式 2026-03-19 16:42:56 +0800b04d7ce3f4cd18f062c3a4d858cf4ad39f3b1ab2fix: 更新GetLatPoint函数以考虑LKA控制模式editdata/plan/start_point_data.cpphmi/draw/draw_guide_line.cppdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppd4b8b915fc9ba0e5f6f01e879c815c72750a0b121773922268000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:虚拟停止线构建的bug 2026-03-19 20:11:08 +0800d4b8b915fc9ba0e5f6f01e879c815c72750a0b12fix:虚拟停止线构建的bugeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppedithmi/draw/draw_guide_line.cpphmi/draw/draw_ego.cpp965f5fede6e0d702f94fc03e5949631fa39c590b1773931583000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正DrawUpperHead函数中镜子高度计算错误 2026-03-19 22:46:23 +0800965f5fede6e0d702f94fc03e5949631fa39c590bfix: 修正DrawUpperHead函数中镜子高度计算错误edithmi/draw/draw_ego.cppdata/ssep/into_yard_junction_ec.cpp9e80ba1dd25ec991530e8a553d3091634c647c0f1773975585000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑 2026-03-20 10:59:45 +08009e80ba1dd25ec991530e8a553d3091634c647c0ffix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑editdata/ssep/into_yard_junction_ec.cppdata/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.cppssep/data_structures/path.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/test/ssep_planner_test.ccssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.hssep/common/utils/reference_line_stitcher.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/data_structures/path.hssep/common/utils/reference_line_stitcher.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h883b412a5a96493f584d7058fabe6533c8e1c4981773978457000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 2026-03-20 11:47:37 +0800883b412a5a96493f584d7058fabe6533c8e1c498feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。editssep/scenarios/tractor_trailer_enter_yard_planner.haddssep/common/utils/reference_line_stitcher.cceditssep/data_structures/path.haddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.heditssep/data_structures/path.cceditssep/test/ssep_planner_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/common/utils/reference_line_stitcher.hssep/data_structures/path.ccssep/ssep_planner.ccssep/common/utils/reference_line_stitcher.ccssep/data_structures/path.hssep/scenarios/tractor_trailer_enter_yard_planner.h33080cb2d7b4baef6313b23ed6f72c926954f8291773978467000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: SSEP: 进堆场跑通无搜索规划 2026-03-20 11:47:47 +080033080cb2d7b4baef6313b23ed6f72c926954f829feat: SSEP: 进堆场跑通无搜索规划editssep/ssep_planner.cceditssep/data_structures/path.cceditssep/common/utils/reference_line_stitcher.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/path.htasks/plan/keb_path_optimize_task.hppssep/common/utils/path_utils.hssep/common/utils/path_utils.cctasks/plan/keb_path_optimize_task.cppff3983e85440eec20a8d71008f9c044361eed42b1773978478000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: keb task 修复路径被og点阻挡时轨迹异常的问题 2026-03-20 11:47:58 +0800ff3983e85440eec20a8d71008f9c044361eed42bfix: keb task 修复路径被og点阻挡时轨迹异常的问题editssep/common/utils/path_utils.hedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditssep/common/utils/path_utils.ccssep/data_structures/path.ccssep/data_structures/path.htasks/plan/keb_path_optimize_task.cppd10baa56499a6a39ce844c37382b8dcb7886e5b51773978484000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复keb task碰撞检测使用路径长度过长的问题 2026-03-20 11:48:04 +0800d10baa56499a6a39ce844c37382b8dcb7886e5b5fix: 修复keb task碰撞检测使用路径长度过长的问题editssep/data_structures/path.cceditssep/data_structures/path.hedittasks/plan/keb_path_optimize_task.cppdata/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.cppdata/map/pnc_map/pnc_map.cpp6602d54db962af381c83bd63f4d23cecef6f96421773979352000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 12:02:32 +08006602d54db962af381c83bd63f4d23cecef6f9642fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp5ea473b606083edbe4736f0a0cb6fbf6bb1417621773979363000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:02:43 +08005ea473b606083edbe4736f0a0cb6fbf6bb141762refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppssep/common/utils/reference_line_stitcher.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_enter_yard_planner.hc423432f6f465d4814e1b8c6f5f102c54d077d0a1773980505000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复无搜索模式可能崩溃的问题 2026-03-20 12:21:45 +0800c423432f6f465d4814e1b8c6f5f102c54d077d0afix: SSEP: 修复无搜索模式可能崩溃的问题editssep/common/utils/reference_line_stitcher.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/scenario_planner_factory.hssep/data_structures/path.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/test/ssep_planner_test.ccssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.hssep/common/utils/reference_line_stitcher.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/data_structures/path.hssep/common/utils/reference_line_stitcher.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h3fb22d781dee9b445918726ac70ab53834e032cf1773982356000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 2026-03-20 12:52:36 +08003fb22d781dee9b445918726ac70ab53834e032cffeat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。editssep/test/ssep_planner_test.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.heditssep/data_structures/path.cceditssep/data_structures/path.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_enter_yard_planner.haddssep/common/utils/reference_line_stitcher.haddssep/common/utils/reference_line_stitcher.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/data_structures/path.ccssep/ssep_planner.ccssep/common/utils/reference_line_stitcher.ccssep/data_structures/path.hssep/scenarios/tractor_trailer_enter_yard_planner.hc3a7a1c91bcb80596ed9371ab46d60af714681a31773982376000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 进堆场跑通无搜索规划 2026-03-20 12:52:56 +0800c3a7a1c91bcb80596ed9371ab46d60af714681a3feat: SSEP: 进堆场跑通无搜索规划editssep/common/utils/reference_line_stitcher.cceditssep/data_structures/path.heditssep/ssep_planner.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/path.cctasks/plan/keb_path_optimize_task.hppssep/common/utils/path_utils.hssep/common/utils/path_utils.cctasks/plan/keb_path_optimize_task.cpp943dbcf65482786bf0ae78eea7f6d02eca589b851773982391000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: keb task 修复路径被og点阻挡时轨迹异常的问题 2026-03-20 12:53:11 +0800943dbcf65482786bf0ae78eea7f6d02eca589b85fix: keb task 修复路径被og点阻挡时轨迹异常的问题edittasks/plan/keb_path_optimize_task.cppeditssep/common/utils/path_utils.cceditssep/common/utils/path_utils.hedittasks/plan/keb_path_optimize_task.hppssep/data_structures/path.hssep/data_structures/path.cctasks/plan/keb_path_optimize_task.cppd46b28a4575ad474b7b4fc9acf007636214fdaf61773982419000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复keb task碰撞检测使用路径长度过长的问题 2026-03-20 12:53:39 +0800d46b28a4575ad474b7b4fc9acf007636214fdaf6fix: 修复keb task碰撞检测使用路径长度过长的问题editssep/data_structures/path.heditssep/data_structures/path.ccedittasks/plan/keb_path_optimize_task.cppssep/common/utils/reference_line_stitcher.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_enter_yard_planner.h55d35d7507cd3c3d289168dac7882b5db37d7bfb1773982442000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复无搜索模式可能崩溃的问题 2026-03-20 12:54:02 +080055d35d7507cd3c3d289168dac7882b5db37d7bfbfix: SSEP: 修复无搜索模式可能崩溃的问题editssep/common/utils/reference_line_stitcher.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/scenario_planner_factory.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/common/utils/path_utils.hssep/common/utils/path_utils.ccssep/scenarios/tractor_trailer_enter_yard_planner.h40be2a376bfdeb10ac8ac64ea311727ec8779caf1773992161000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升新版进堆场搜索的成功率 2026-03-20 15:36:01 +080040be2a376bfdeb10ac8ac64ea311727ec8779caffix: SSEP: 提升新版进堆场搜索的成功率editssep/common/utils/path_utils.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/common/utils/path_utils.hssep/common/utils/path_utils.ccssep/scenarios/tractor_trailer_enter_yard_planner.h1bdae8ae7d8ca3cd49b96dab5d54998d211a6f8c1773992218000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升新版进堆场搜索的成功率 2026-03-20 15:36:58 +08001bdae8ae7d8ca3cd49b96dab5d54998d211a6f8cfix: SSEP: 提升新版进堆场搜索的成功率editssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/common/utils/path_utils.cceditssep/common/utils/path_utils.hssep/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.h8f68653b9d125843b6051233fc17eaaff5b7d41b1773998478000http://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 2026-03-20 17:21:18 +08008f68653b9d125843b6051233fc17eaaff5b7d41bfeat: 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.heditssep/scenarios/planner_utils.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ctrl/lka_start_up.cpphmi/widget/diagnose.cppdata/ctrl/lka_start_up.hppdata/boundary/road_boundary.cpp935d321f793e198615189b481385443adda4536a1773999405000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: lka deviation after crane 2026-03-20 17:36:45 +0800935d321f793e198615189b481385443adda4536afeat: lka deviation after craneeditdata/ctrl/lka_start_up.cppeditdata/ctrl/lka_start_up.hppeditdata/boundary/road_boundary.cppedithmi/widget/diagnose.cppssep/scenarios/tractor_trailer_lane_change_planner.h2a4a3514b4d6189f853259a0bb514c214ed333811774000578000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复变道路径可能有碰撞的问题 2026-03-20 17:56:18 +08002a4a3514b4d6189f853259a0bb514c214ed33381fix: SSEP: 修复变道路径可能有碰撞的问题editssep/scenarios/tractor_trailer_lane_change_planner.hssep/scenarios/tractor_trailer_lane_change_planner.hfd557192f4bb94e7e7313318315cfd0bd92abbde1774000698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复变道路径可能有碰撞的问题 2026-03-20 17:58:18 +0800fd557192f4bb94e7e7313318315cfd0bd92abbdefix: SSEP: 修复变道路径可能有碰撞的问题editssep/scenarios/tractor_trailer_lane_change_planner.hssep/scenarios/tractor_trailer_lane_change_planner.hf86bed86caa62e3d5c1390726a2b301711f4f61c1774001151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复变道路径可能有碰撞的问题 2026-03-20 18:05:51 +0800f86bed86caa62e3d5c1390726a2b301711f4f61cfix: SSEP: 修复变道路径可能有碰撞的问题editssep/scenarios/tractor_trailer_lane_change_planner.htasks/plan/keb_path_optimize_task.cpp5c74f7713ddb7866d189e49484343f797d0ea0081774107434000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb task 增加最大转向角余量 2026-03-21 23:37:14 +08005c74f7713ddb7866d189e49484343f797d0ea008chore: keb task 增加最大转向角余量edittasks/plan/keb_path_optimize_task.cpptasks/plan/keb_path_optimize_task.cpp848e7e9667e7e592c8ed63ddffe0a6fe77666f131774107589000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: keb task 增加最大转向角余量 2026-03-21 23:39:49 +0800848e7e9667e7e592c8ed63ddffe0a6fe77666f13chore: keb task 增加最大转向角余量edittasks/plan/keb_path_optimize_task.cpptasks/plan/keb_path_optimize_task.cpp3e1daf4d64dbd6153996f3473694c915343be10d1774107664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: keb task 增加最大转向角余量 2026-03-21 23:41:04 +08003e1daf4d64dbd6153996f3473694c915343be10dchore: keb task 增加最大转向角余量edittasks/plan/keb_path_optimize_task.cppdata/config/cfg_lat_plan.hpptasks/plan/keb_path_optimize_task.hppdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cpp0ba658ed3f927a6d0b3dee0373a90b1c010865741774252291000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb实时优化将转向角余量提取为配置参数 2026-03-23 15:51:31 +08000ba658ed3f927a6d0b3dee0373a90b1c01086574chore: keb实时优化将转向角余量提取为配置参数editdata/config/cfg_lat_plan.hppedittasks/plan/keb_path_optimize_task.hppeditdata/config/cfg_lat_plan.cppedittasks/plan/keb_path_optimize_task.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (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 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.cppssep/scenarios/tractor_trailer_general_planner.h781cd4cf9b7ce57bc5c663fbdca5d7e6b0ce556c1774271308000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 2026-03-23 21:08:28 +0800781cd4cf9b7ce57bc5c663fbdca5d7e6b0ce556cchore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹editssep/scenarios/tractor_trailer_general_planner.htasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp70d37c4b05efead9836daae68422a009780d7c021774272913000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 2026-03-23 21:35:13 +080070d37c4b05efead9836daae68422a009780d7c02feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppdata/map/pnc_map/pnc_map_path.cppe728ba79f6b5a2662364a9ec29e3b0d0f1cb99e21774274811000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化overlap s重计算，增加起始和结束点的有效性检查 2026-03-23 22:06:51 +0800e728ba79f6b5a2662364a9ec29e3b0d0f1cb99e2feat: 优化overlap s重计算，增加起始和结束点的有效性检查editdata/map/pnc_map/pnc_map_path.cpptasks/plan/keb_path_optimize_task.cpp4759524e88de1ad03ab5db3fd72d4c61c2d1b3521774328752000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: keb task ssep_end_s_ 赋值错误 2026-03-24 13:05:52 +08004759524e88de1ad03ab5db3fd72d4c61c2d1b352fix: keb task ssep_end_s_ 赋值错误edittasks/plan/keb_path_optimize_task.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp4d8e13ea46ae52a342d5c9c904776950f10f37c31774329136000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 2026-03-24 13:12:16 +08004d8e13ea46ae52a342d5c9c904776950f10f37c3feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cpptasks/plan/keb_path_optimize_task.cpp84511bc52b02c727f9da034c0684d9bdc6f35ac01774329144000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: keb task ssep_end_s_ 赋值错误 2026-03-24 13:12:24 +080084511bc52b02c727f9da034c0684d9bdc6f35ac0fix: keb task ssep_end_s_ 赋值错误edittasks/plan/keb_path_optimize_task.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h270076048affadcc2efda531703271bf59bdf9341774342395000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 16:53:15 +0800270076048affadcc2efda531703271bf59bdf934fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/maps/ogm_builder.hssep/ssep_planner.ccssep/maps/ogm_builder.cc4c5d87ca4d81f80b640ece8b32e0037bd9d2907a1774352175000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 集卡搜索时滤除起点和终点车挂内部的og点 2026-03-24 19:36:15 +08004c5d87ca4d81f80b640ece8b32e0037bd9d2907afix: 集卡搜索时滤除起点和终点车挂内部的og点editssep/ssep_planner.cceditssep/maps/ogm_builder.heditssep/maps/ogm_builder.ccdata/vehicle/spreader_protect.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppbb8ff43e7286899e0c671a7550fb06a6b551c13d1774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加状态机切换时间参数并优化相关逻辑 2026-03-24 23:28:08 +0800bb8ff43e7286899e0c671a7550fb06a6b551c13dfeat: 添加状态机切换时间参数并优化相关逻辑editdata/config/cfg_safe_const.cppeditdata/vehicle/spreader_protect.cppeditdata/config/cfg_safe_const.hppsink/ros_sink_pnc_status.cpp9276281ddd0799eed3e58febe0b78a605e0fc1791774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加根据堆场内的车道名称扩展安全阈值 2026-03-24 23:28:08 +08009276281ddd0799eed3e58febe0b78a605e0fc179feat: 添加根据堆场内的车道名称扩展安全阈值editsink/ros_sink_pnc_status.cppdata/config/cfg_lat_plan.hpptasks/plan/keb_path_optimize_task.hppdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppb47fe07fc71e78f3f8434b8744c9dc847d63eba11774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: keb实时优化将转向角余量提取为配置参数 2026-03-24 23:28:08 +0800b47fe07fc71e78f3f8434b8744c9dc847d63eba1chore: keb实时优化将转向角余量提取为配置参数editdata/config/cfg_lat_plan.cppedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/config/cfg_lat_plan.hppssep/scenarios/tractor_trailer_general_planner.ha02846152de185a088c757d3986eb904e1a4e17a1774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 2026-03-24 23:28:08 +0800a02846152de185a088c757d3986eb904e1a4e17achore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹editssep/scenarios/tractor_trailer_general_planner.hdata/constrain/block_data.cppbd3a0cd23b9935933c797ca80fb7e28c8dbabe971774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 2026-03-24 23:28:08 +0800bd3a0cd23b9935933c797ca80fb7e28c8dbabe97feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列editdata/constrain/block_data.cppplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp489a31b19ece7734f23e580bd9daf4025f81ad721774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 2026-03-24 23:28:08 +0800489a31b19ece7734f23e580bd9daf4025f81ad72feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算editplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/obstacle/obstacle.cppplan/prepare/prepare_objs.cppe47c3c07b6831723cd6fcec51d822e6a93b9c6861774366088000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化转场场桥的判断，以及场桥是否进行判断碰撞检测的逻辑 2026-03-24 23:28:08 +0800e47c3c07b6831723cd6fcec51d822e6a93b9c686feat: 优化转场场桥的判断，以及场桥是否进行判断碰撞检测的逻辑editdata/obstacle/obstacle.cppeditplan/prepare/prepare_objs.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.hb1675dfe8c52a2bf186d6788cc254920710cd40d1774366156000http://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 23:29:16 +0800b1675dfe8c52a2bf186d6788cc254920710cd40dfix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_enter_station_planner.hssep/maps/ogm_builder.hssep/maps/ogm_builder.ccssep/ssep_planner.ccc3c9fddb6caedd6c3f73c42b6fc14e9e6bb619981774366164000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 集卡搜索时滤除起点和终点车挂内部的og点 2026-03-24 23:29:24 +0800c3c9fddb6caedd6c3f73c42b6fc14e9e6bb61998fix: 集卡搜索时滤除起点和终点车挂内部的og点editssep/maps/ogm_builder.cceditssep/ssep_planner.cceditssep/maps/ogm_builder.hdata/constrain/block_data.cpp63ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b21774366248000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 2026-03-24 23:30:48 +080063ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b2feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列editdata/constrain/block_data.cppdata/obstacle/obstacle.cppplan/prepare/prepare_objs.cpp259f597964ce71051e685f9b61fa3a14f95403031774366259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化转场场桥的判断，以及场桥是否进行判断碰撞检测的逻辑 2026-03-24 23:30:59 +0800259f597964ce71051e685f9b61fa3a14f9540303feat: 优化转场场桥的判断，以及场桥是否进行判断碰撞检测的逻辑editdata/obstacle/obstacle.cppeditplan/prepare/prepare_objs.cppdata/config/cfg_safe_const.cpp57789ddab86ba54d6cfba72af2518081b6b5d5091774367261000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 2026-03-24 23:47:41 +080057789ddab86ba54d6cfba72af2518081b6b5d509fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径editdata/config/cfg_safe_const.cppdata/config/cfg_safe_const.cpp394231d157e32897752b57338f4ce7005c15cbba1774367294000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 2026-03-24 23:48:14 +0800394231d157e32897752b57338f4ce7005c15cbbafix: 修正堆垛机特殊区域的横向扩展长度参数加载路径editdata/config/cfg_safe_const.cppssep/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/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_enter_station_planner.htasks/deciders/long_decider/constrain_decider.cppdata/plan/path_direction_data.cppbc071e41f2a92b8798ca568a10d6d7ebe6a4cb021774404953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: align move 状态下，假如挂的角度大于一定值，不倒车。倒车的时候限制速度 2026-03-25 10:15:53 +0800bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02feat: align move 状态下，假如挂的角度大于一定值，不倒车。倒车的时候限制速度edittasks/deciders/long_decider/constrain_decider.cppeditdata/plan/path_direction_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/path_direction_data.cpp64d386ad766bd636bab93766fb2da25c04a453781774405052000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: align move 状态下，假如挂的角度大于一定值，不倒车。倒车的时候限制速度 2026-03-25 10:17:32 +080064d386ad766bd636bab93766fb2da25c04a45378feat: align move 状态下，假如挂的角度大于一定值，不倒车。倒车的时候限制速度edittasks/deciders/long_decider/constrain_decider.cppeditdata/plan/path_direction_data.cppssep/maps/ogm_builder.hssep/ssep_planner.ccssep/maps/ogm_builder.ccb4d00b792d4bb9e71da250164808250583acf73c1774405100000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 集卡搜索时滤除起点和终点车挂内部的og点 2026-03-25 10:18:20 +0800b4d00b792d4bb9e71da250164808250583acf73cfix: 集卡搜索时滤除起点和终点车挂内部的og点editssep/maps/ogm_builder.heditssep/ssep_planner.cceditssep/maps/ogm_builder.ccssep/scenarios/tractor_trailer_general_planner.hb99a6ef817f1b8c94f2aea6df788b676e1a3bdc31774405136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 2026-03-25 10:18:56 +0800b99a6ef817f1b8c94f2aea6df788b676e1a3bdc3chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹editssep/scenarios/tractor_trailer_general_planner.htasks/plan/keb_path_optimize_task.hppssep/common/utils/path_utils.hssep/common/utils/path_utils.cctasks/plan/keb_path_optimize_task.cpp66fa765b858984a42c41669ae4b2c8ee600e000d1774405211000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: keb task 修复路径被og点阻挡时轨迹异常的问题 2026-03-25 10:20:11 +080066fa765b858984a42c41669ae4b2c8ee600e000dfix: keb task 修复路径被og点阻挡时轨迹异常的问题edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditssep/common/utils/path_utils.heditssep/common/utils/path_utils.ccdata/ssep/into_yard_junction_ec.cpp9da2dbb539fbd9991221ecec7ed1b5ab5dcf57561774407862000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 杨浦 B003 B004适配 2026-03-25 11:04:22 +08009da2dbb539fbd9991221ecec7ed1b5ab5dcf5756feat: 杨浦 B003 B004适配editdata/ssep/into_yard_junction_ec.cppssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cca55b1d4a04856902abcc98cb26e679a7322b40311774419945000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 自卸车进出散货堆场搜索使用软约束 2026-03-25 14:25:45 +0800a55b1d4a04856902abcc98cb26e679a7322b4031chore: SSEP: 自卸车进出散货堆场搜索使用软约束editssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.ccdata/ctrl/lka_start_up.cppc184036c04cbd54cbf2d38a50522c261f87a91bc1774422743000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: yard name verification. 2026-03-25 15:12:23 +0800c184036c04cbd54cbf2d38a50522c261f87a91bcfeat: yard name verification.editdata/ctrl/lka_start_up.cppssep/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/planner_utils.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/path_direction_data.cpp678aa94ed48bdae8222f00caa2159d3a4f765e931774425704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整对拖车姿态有效性的角度判断阈值 2026-03-25 16:01:44 +0800678aa94ed48bdae8222f00caa2159d3a4f765e93fix: 调整对拖车姿态有效性的角度判断阈值editdata/plan/path_direction_data.cppdata/plan/path_direction_data.cpp14b080ef741e8924a6badc3e3895b8fcadb83c991774427998000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整对拖车姿态有效性的角度判断阈值 2026-03-25 16:39:58 +080014b080ef741e8924a6badc3e3895b8fcadb83c99fix: 调整对拖车姿态有效性的角度判断阈值editdata/plan/path_direction_data.cppssep/scenarios/tractor_trailer_enter_yard_planner.h7d345fe068388c5cfcafa2b5146f647344bd42391774428029000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 2026-03-25 16:40:29 +08007d345fe068388c5cfcafa2b5146f647344bd4239fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题editssep/scenarios/tractor_trailer_enter_yard_planner.hplan/prepare/prepare_objs.cpp6150b7d1445ee5be72794b493d46d708742e1b2f1774428072000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中 2026-03-25 16:41:12 +08006150b7d1445ee5be72794b493d46d708742e1b2ffeat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中editplan/prepare/prepare_objs.cppssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.ccf73f14c1abecb7d72ead16573ba2801d4688ec3b1774428098000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: SSEP: 自卸车进出散货堆场搜索使用软约束 2026-03-25 16:41:38 +0800f73f14c1abecb7d72ead16573ba2801d4688ec3bchore: SSEP: 自卸车进出散货堆场搜索使用软约束editssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.ccssep/scenarios/tractor_trailer_enter_yard_planner.h83543a38fe864a91b8574d0637c45ef2d8533bfe1774428106000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 2026-03-25 16:41:46 +080083543a38fe864a91b8574d0637c45ef2d8533bfefix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题editssep/scenarios/tractor_trailer_enter_yard_planner.hssep/common/utils/path_utils.cccf69665bcc958500349e2fa758f961203e97ac621774434684000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 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 18:31:24 +0800cf69665bcc958500349e2fa758f961203e97ac62fix: 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.ccssep/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.ccdata/map/pnc_map/pnc_map_path.cpp989199e3abcea69d8f2c3a5b02eea5fed4b5f2e51774493913000http://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 10:58:33 +0800989199e3abcea69d8f2c3a5b02eea5fed4b5f2e5fix: 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.cppdata/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.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/config/cfg_env_const.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.hppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cpptasks/plan/keb_lane_follow_path_task.cppdata/config/cfg_stage.cppssep/ssep_planner.cctasks/task_factory.cpptasks/plan/keb_lane_follow_path_task.hppdata/config/cfg_stage.hpp219b35a8cff152c0d01f914ba16d1ee88c9c26dc1774506390000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Add Keb-Lane-Follow Task 2026-03-26 14:26:30 +0800219b35a8cff152c0d01f914ba16d1ee88c9c26dcfeat: Add Keb-Lane-Follow Taskeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppedittasks/task_factory.cppaddtasks/plan/keb_lane_follow_path_task.cppeditssep/ssep_planner.ccaddtasks/plan/keb_lane_follow_path_task.hppssep/common/utils/path_utils.ccssep/scenarios/imv_enter_station_planner.hfb9f4cef0ec26de180bbc86b8707a4d98ffa9aaf1774506596000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 西联进充电桩压线问题修复 2026-03-26 14:29:56 +0800fb9f4cef0ec26de180bbc86b8707a4d98ffa9aaffix: SSEP: 西联进充电桩压线问题修复editssep/scenarios/imv_enter_station_planner.heditssep/common/utils/path_utils.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_general_planner.h6f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f01774508233000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 普通卡车搜索增加“final_straight_distance”参数配置项 2026-03-26 14:57:13 +08006f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f0feat: SSEP: 普通卡车搜索增加“final_straight_distance”参数配置项editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_general_planner.hdata/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.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hb53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd51774515792000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:03:12 +0800b53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd5feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.hdata/ssep/into_yard_junction_ec.cppd7b38ac92fd4feea0f081ba7b8d1bdf9ef6d74c41774516827000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:杨浦低贝位适配 2026-03-26 17:20:27 +0800d7b38ac92fd4feea0f081ba7b8d1bdf9ef6d74c4feat:杨浦低贝位适配editdata/ssep/into_yard_junction_ec.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.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.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cppssep/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/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_exit_parking_spot_planner.h0ac0111c82d8bb79499fdd3ea8f5ae49ea41a38d1774527570000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题 2026-03-26 20:19:30 +08000ac0111c82d8bb79499fdd3ea8f5ae49ea41a38dfix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.hplan/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.cppssep/scenarios/truck_multi_segment_parking_planner.h98ceb2ee4254cb399a4a3bb1901cc13987cfbbc81774579451000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题 2026-03-27 10:44:11 +080098ceb2ee4254cb399a4a3bb1901cc13987cfbbc8fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题editssep/scenarios/truck_multi_segment_parking_planner.hssep/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/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.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/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/ssep_planner.cceditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/truck_general_planner.hssep/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.ccplan/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.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/common/utils/path_utils.ccssep/scenarios/imv_exit_parking_spot_planner.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.h78b03829ca619e234632e08ef4a2fec031ee502a1774590339000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep更改 2026-03-27 13:45:39 +080078b03829ca619e234632e08ef4a2fec031ee502afeat:合并ssep更改editssep/common/utils/path_utils.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/ssep_planner.cccd4d9dd354b21917814376879733624be88f3dbd1774590403000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 精确倒车时不使用历史路径 2026-03-27 13:46:43 +0800cd4d9dd354b21917814376879733624be88f3dbdfix: SSEP: 精确倒车时不使用历史路径editssep/ssep_planner.cchmi/widget/pnc_mat.cpphmi/common/pnc_graphics_view.cpphmi/common/pnc_graphics_view.hpphmi/widget/replayer_pnc_mat.cpp0790824356c822d73ea7452ea501676bdf42445f1774591753000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 2026-03-27 14:09:13 +08000790824356c822d73ea7452ea501676bdf42445ffeat: 添加车辆姿态设置功能并更新测量和角度显示逻辑edithmi/widget/replayer_pnc_mat.cppedithmi/common/pnc_graphics_view.hppedithmi/widget/pnc_mat.cppedithmi/common/pnc_graphics_view.cppssep/scenarios/truck_general_planner.hf2e8e1e7d82d9f4cfa9d95d99fac30edcd26d9611774591964000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复普通卡车搜索拉直段失效的问题 2026-03-27 14:12:44 +0800f2e8e1e7d82d9f4cfa9d95d99fac30edcd26d961fix: SSEP: 修复普通卡车搜索拉直段失效的问题editssep/scenarios/truck_general_planner.hssep/scenarios/truck_general_planner.h2bf315098c6338d37740c7d9754ae76a47e91a511774592074000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 修复普通卡车搜索拉直段失效的问题 2026-03-27 14:14:34 +08002bf315098c6338d37740c7d9754ae76a47e91a51fix: SSEP: 修复普通卡车搜索拉直段失效的问题editssep/scenarios/truck_general_planner.hdata/ssep/forward_ec.cppdata/ssep/forward_ec.hppe77b10f61749b6e9afd05a75fdfafd11a38f7b371774592448000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配友谊关进停车的拉正距离 2026-03-27 14:20:48 +0800e77b10f61749b6e9afd05a75fdfafd11a38f7b37feat:适配友谊关进停车的拉正距离editdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppdata/ctrl/lka_start_up.cppe6b92869883057da0681b03f5113122025ef09831774592549000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable default LKA deviation. 2026-03-27 14:22:29 +0800e6b92869883057da0681b03f5113122025ef0983fix: disable default LKA deviation.editdata/ctrl/lka_start_up.cppssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/offboard/servers/path_repository_vis_server.ccssep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/protos/path_repository.proto882808fccb8e2b57410240ce996fd01f871924aa1774602300000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化） 2026-03-27 17:05:00 +0800882808fccb8e2b57410240ce996fd01f871924aafeat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化）addssep/protos/path_repository.protoeditssep/offboard/servers/CMakeLists.txtaddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/offboard/servers/path_repository_vis_html_template.haddssep/offboard/generate_path_repository/CMakeLists.txtaddssep/protos/state_match_condition.protoaddssep/offboard/servers/path_repository_vis_server.cceditssep/CMakeLists.txtdata/ctrl/lka_start_up.cppdata/ctrl/lka_start_up.hppfa455161c9a61091ea7b4aa829a89ce4ac9fed361774602812000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lka deviation bug 2026-03-27 17:13:32 +0800fa455161c9a61091ea7b4aa829a89ce4ac9fed36fix: lka deviation bugeditdata/ctrl/lka_start_up.cppeditdata/ctrl/lka_start_up.hppthirdparty/lbfgs/lbfgs.hpp86499e111872b1d3d1c5d563a19973150c47adc51774603310000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:21:50 +080086499e111872b1d3d1c5d563a19973150c47adc5feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppthirdparty/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.hppssep/data_structures/state_match_condition.hssep/data_structures/state_match_condition.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hssep/data_structures/path_repository_manager.ccssep/ssep_planner.hssep/protos/path_repository.protoc40f17e705fcd22d588f509e223b97afd6f947011774616563000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 接入离线轨迹库 2026-03-27 21:02:43 +0800c40f17e705fcd22d588f509e223b97afd6f94701feat: SSEP: 接入离线轨迹库addssep/data_structures/path_repository_manager.ccaddssep/data_structures/state_match_condition.cceditssep/ssep_planner.haddssep/data_structures/state_match_condition.heditssep/protos/path_repository.protoeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.hdata/ssep/normal_junction_ec.cppa08b0d9eda7192187c98b20f94d44a8b82adff811774631226000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 苏溪调箱门场景适配 2026-03-28 01:07:06 +0800a08b0d9eda7192187c98b20f94d44a8b82adff81feat: 苏溪调箱门场景适配editdata/ssep/normal_junction_ec.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdcd2450448bb377cf40c303ca4fd20ff96970bb21774850665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: filter bend sceneario for align target. 2026-03-30 14:04:25 +0800dcd2450448bb377cf40c303ca4fd20ff96970bb2fix: filter bend sceneario for align target.editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/obstacle/ogm.hppplan/prepare/prepare_ogm.cppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cpp1613b12c1f873e85b5db4546d718acc3f000a0411774853863000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 2026-03-30 14:57:43 +08001613b12c1f873e85b5db4546d718acc3f000a041feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑editdata/obstacle/ogm.cppeditplan/prepare/prepare_ogm.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/ogm.hppdata/map/pnc_map/pnc_map_path.cppfb8de5cde2aa0863bec4b2fcbdcbd5efea6a3e071774859375000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化停止线所属junction的判断逻辑 2026-03-30 16:29:35 +0800fb8de5cde2aa0863bec4b2fcbdcbd5efea6a3e07refactor:优化停止线所属junction的判断逻辑editdata/map/pnc_map/pnc_map_path.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h73643888aac8b5f7b0a28de66d6b9dae5c35014e1774926345000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复苏溪集卡进停车位可能停歪的问题 2026-03-31 11:05:45 +080073643888aac8b5f7b0a28de66d6b9dae5c35014efix: SSEP: 修复苏溪集卡进停车位可能停歪的问题editssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/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/offboard/generate_path_repository/CMakeLists.txtssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/state_match_condition.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.cc6561aae642b08a5f52f0e42603e97e44a5bb95b71774939093000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep更改 2026-03-31 14:38:13 +08006561aae642b08a5f52f0e42603e97e44a5bb95b7feat:合并ssep更改addssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/offboard/generate_path_repository/CMakeLists.txteditssep/offboard/servers/CMakeLists.txtaddssep/data_structures/state_match_condition.haddssep/protos/path_repository.protoaddssep/offboard/servers/path_repository_vis_server.ccaddssep/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.cceditssep/ssep_planner.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/state_match_condition.protoeditssep/ssep_planner.haddssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccd75a79ff291255b2073946e678d0ef4e69c69c4a1774955575000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度 2026-03-31 19:12:55 +0800d75a79ff291255b2073946e678d0ef4e69c69c4afix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度editssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/common/utils/map_element_utils.hppdata/config/cfg_ssep.cppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protodata/config/cfg_ssep.hppssep/data_structures/path_repository_manager.ccssep/protos/path_repository.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.hdata/ssep/ssep_activation.cpp71318654777a1d34b5e432c05012dcba1defbcf91774964768000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程 2026-03-31 21:46:08 +080071318654777a1d34b5e432c05012dcba1defbcf9feat: SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程editssep/offboard/ssep_planner_wrapper.cceditssep/ssep_planner.cceditssep/offboard/servers/path_repository_vis_html_template.cceditssep/protos/scene.protoeditdata/config/cfg_ssep.hppeditssep/CMakeLists.txteditdata/ssep/ssep_activation.cppeditssep/data_structures/path_repository_manager.heditssep/protos/path_repository.protoeditssep/data_structures/path_repository_manager.cceditssep/common/utils/map_element_utils.hppeditssep/offboard/servers/path_repository_vis_server.ccaddssep/protos/operation_mode.protoeditdata/config/cfg_ssep.cppeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/scene_replay/CMakeLists.txtdata/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.cppssep/scenarios/truck_accurate_reversing_planner.cc2c034f89e04c6b63b9a9b3325f0114aa3d23c67c1775013959000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限 2026-04-01 11:25:59 +08002c034f89e04c6b63b9a9b3325f0114aa3d23c67cchore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限editssep/scenarios/truck_accurate_reversing_planner.cctasks/deciders/other_decider/replan_decider.cpp0fee299f74d88e995f954a18306383d3d5d47e651775026461000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:终点低贝位时，然后场桥低贝位不重新搜索的bug 2026-04-01 14:54:21 +08000fee299f74d88e995f954a18306383d3d5d47e65fix:终点低贝位时，然后场桥低贝位不重新搜索的bugedittasks/deciders/other_decider/replan_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/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/protos/state_match_condition.protossep/offboard/servers/path_repository_vis_html_template.hssep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/protos/path_repository.protossep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/scenarios/truck_general_planner.hssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/offboard/generate_path_repository/generate_path_repository_cli.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/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/data_structures/state_match_condition.cceditssep/protos/scene.protoeditssep/ssep_planner.cceditssep/common/utils/map_element_utils.hppeditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/protos/operation_mode.protoeditssep/offboard/scene_replay/CMakeLists.txtaddssep/protos/state_match_condition.protoeditssep/CMakeLists.txteditssep/ssep_planner.haddssep/data_structures/path_repository_manager.haddssep/protos/path_repository.protoaddssep/offboard/servers/path_repository_vis_server.cceditssep/scenarios/truck_general_planner.haddssep/data_structures/path_repository_manager.ccaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/data_structures/state_match_condition.haddssep/offboard/servers/path_repository_vis_html_template.haddssep/offboard/servers/path_repository_vis_html_template.ccdata/config/cfg_lat_plan.hpphmi/widget/diagnose.cppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/car_path_optimization.cppe5b729ff7d0611bdbb69ddcee59054dda48c439b1775029475000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: filter wbca path by cost 2026-04-01 15:44:35 +0800e5b729ff7d0611bdbb69ddcee59054dda48c439bfix: filter wbca path by costeditdata/config/cfg_lat_plan.hppedithmi/widget/diagnose.cppeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppthirdparty/lbfgs/lbfgs.hppdata/config/cfg_lat_plan.hppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/imv_path_optimization.cppalgorithm/wbca/path_optimization/truck_path_optimization.cppalgorithm/wbca/path_optimization/car_path_optimization.cpp6dcf15351db344dcd55fc9aab5b4752d79ece05c1775029535000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add switch for lbfgs to lbfgs_new 2026-04-01 15:45:35 +08006dcf15351db344dcd55fc9aab5b4752d79ece05cfix: add switch for lbfgs to lbfgs_neweditthirdparty/lbfgs/lbfgs.hppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/imv_path_optimization.cppeditalgorithm/wbca/path_optimization/truck_path_optimization.cppdata/config/cfg_lat_plan.cpp4b8fd569d6e9e0b2fce5f82fcc1492a931254c131775030633000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using new l_bfgs 2026-04-01 16:03:53 +08004b8fd569d6e9e0b2fce5f82fcc1492a931254c13fix: using new l_bfgseditdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/truck_path_optimization.cppalgorithm/wbca/path_optimization/imv_path_optimization.cpp43b5f43e081e3fcb19611dabd32690bbb038433f1775033545000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cost filter for imv and truck 2026-04-01 16:52:25 +080043b5f43e081e3fcb19611dabd32690bbb038433ffix: cost filter for imv and truckeditalgorithm/wbca/path_optimization/truck_path_optimization.cppeditalgorithm/wbca/path_optimization/imv_path_optimization.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp2a5ee030a1f09fe7ea1a0acb1ad907cc7a2ee8fa1775036294000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: align_target to align_done bug 2026-04-01 17:38:14 +08002a5ee030a1f09fe7ea1a0acb1ad907cc7a2ee8fafix: align_target to align_done bugeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpptasks/plan/path_optimization_task.cpp0afabfef75fe9e5647647d2c76ff30a5a8462dcf1775044798000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: activate wbca smooth mode in align fsm. 2026-04-01 19:59:58 +08000afabfef75fe9e5647647d2c76ff30a5a8462dcffix: activate wbca smooth mode in align fsm.edittasks/plan/path_optimization_task.cppdata/map/envelop/map_envelop.cppdd3cd4ffa16307ef8ec1e14b7c9d54612569cec71775051157000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:直道地图包络构建的优化 2026-04-01 21:45:57 +0800dd3cd4ffa16307ef8ec1e14b7c9d54612569cec7feat:直道地图包络构建的优化editdata/map/envelop/map_envelop.cppdata/plan/ssep_data.cppdata/map/pnc_map/routing_extension/routing_data.cpp0cb819d21bf799329879a48cde4521ad3d9ee9931775053143000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: （动态搜索的box框),优化生成平行框的距离计算逻辑 2026-04-01 22:19:03 +08000cb819d21bf799329879a48cde4521ad3d9ee993feat: （动态搜索的box框),优化生成平行框的距离计算逻辑editdata/plan/ssep_data.cppeditdata/map/pnc_map/routing_extension/routing_data.cpphmi/draw/draw_map.cpp0cea97bb59690e21b8c78f6f57dba06bc21bb1f51775053166000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新DrawObject函数中的颜色值注释 2026-04-01 22:19:26 +08000cea97bb59690e21b8c78f6f57dba06bc21bb1f5fix: 更新DrawObject函数中的颜色值注释edithmi/draw/draw_map.cppalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/path_optimization/truck_path_optimization.cppalgorithm/wbca/path_optimization/imv_path_optimization.cppalgorithm/wbca/path_optimization/car_path_optimization.cpp2d88b884ef5a90f28725b9ee8a903052746dae201775109037000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: filter wbca cost without collision cost. 2026-04-02 13:50:37 +08002d88b884ef5a90f28725b9ee8a903052746dae20fix: filter wbca cost without collision cost.editalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/path_optimization/truck_path_optimization.cppeditalgorithm/wbca/path_optimization/imv_path_optimization.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditalgorithm/wbca/wbca_manager.cppdata/ctrl/lka_start_up.cpp16c1b08fd90dfbe96d6c19eee677e0c2771060591775111049000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: LKA deviation for out_yard 2026-04-02 14:24:09 +080016c1b08fd90dfbe96d6c19eee677e0c277106059fix: LKA deviation for out_yardeditdata/ctrl/lka_start_up.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hppdata/common/path.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppssep/data_structures/path_utils.h419575f0bc72c58284e15eeb174aeac24f3654e11775135900000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autoRefactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。 2026-04-02 21:18:20 +0800419575f0bc72c58284e15eeb174aeac24f3654e1Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。addalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_path_optimize_task.cppeditdata/common/path.hppedittasks/plan/keb_path_optimize_task.hppeditssep/data_structures/path_utils.haddalgorithm/plan/keb_optimizer.cppdata/plan/ssep_data.cppdata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.cpp4de10bd1f7623353d9d60d08794d4ec1a46f5ec51775199880000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:优化跨运车的搜索 2026-04-03 15:04:40 +08004de10bd1f7623353d9d60d08794d4ec1a46f5ec5feat:优化跨运车的搜索editdata/ssep/open_space_ec.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/plan/ssep_data.cppeditdata/vehicle/vehicle_destination.cppreplayer/main.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hpphmi/replayer_hmi.hppreplayer/logic.hppCMakeLists.txtreplayer/logic.cppssep/maps/ogm_builder.cchmi/replayer_hmi.cppssep/protos/ogm.protoalgorithm/plan/keb_optimizer.cppdata/common/path.cppproto/data_path.protodata/common/path.hppproto/keb_scene.protossep/maps/ogm.hreplayer/replayer_data_process/replayer_data_extraction.cppssep/maps/ogm.ccssep/CMakeLists.txtdata/common/path_point.hppreplayer/replayer_data_process/replayer_data_extraction.hpptasks/plan/keb_utils.cppproto/CMakeLists.txttasks/plan/keb_utils.hppdata/common/path_point.cpptasks/plan/keb_path_optimize_task.hppf0150e3d3ab34ee7357c0d80af6d509b2deb1cd41775216844000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。 2026-04-03 19:47:24 +0800f0150e3d3ab34ee7357c0d80af6d509b2deb1cd4feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。editdata/common/path_point.cppeditCMakeLists.txtaddproto/data_path.protoeditreplayer/main.cppaddproto/CMakeLists.txtedittasks/plan/keb_path_optimize_task.cppedithmi/replayer_hmi.hppeditreplayer/logic.cppaddproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppeditdata/common/path_point.hppeditreplayer/logic.hppeditssep/maps/ogm.cceditalgorithm/plan/keb_optimizer.cppeditreplayer/replayer_data_process/replayer_data_extraction.hppeditssep/CMakeLists.txteditreplayer/replayer_data_process/replayer_data_extraction.cppeditalgorithm/plan/keb_optimizer.hppeditssep/maps/ogm.heditdata/common/path.cppaddtasks/plan/keb_utils.hppaddtasks/plan/keb_utils.cppaddssep/protos/ogm.protoeditdata/common/path.hppeditssep/maps/ogm_builder.ccedithmi/replayer_hmi.cppdata/config/cfg_long_plan.cppb908866bb5fc622e0b5c38abb054065846fac5331775232036000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整换向缩小安全距离的阈值 2026-04-04 00:00:36 +0800b908866bb5fc622e0b5c38abb054065846fac533feat:调整换向缩小安全距离的阈值editdata/config/cfg_long_plan.cppdata/ssep/ex_lane_change_ec.cpp9166b6f5cf02de41c7d254793596e93b4095b8d71775458108000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道的约束 2026-04-06 14:48:28 +08009166b6f5cf02de41c7d254793596e93b4095b8d7fix:修复变道的约束editdata/ssep/ex_lane_change_ec.cppdata/ssep/ex_lane_change_ec.cpp03835a6edefc7751fa29c0afa94c963e61ef852e1775458249000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道的约束 2026-04-06 14:50:49 +080003835a6edefc7751fa29c0afa94c963e61ef852efix:修复变道的约束editdata/ssep/ex_lane_change_ec.cppdata/app/fsm/task_command_type.cppdata/vehicle/vehicle_status.hppplan/prepare/prepare_status.cppdata/vehicle/vehicle_status.cppdata/app/cmd/cmd_align.cppdata/app/fsm/task_command_type.hpphmi/widget/command.cpp59a8b4953c0034a76e4621e903299f15a73ee06e1775536012000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 2026-04-07 12:26:52 +080059a8b4953c0034a76e4621e903299f15a73ee06efeat: 增加ALIGN命令相关错误类型并更新状态处理逻辑edithmi/widget/command.cppeditplan/prepare/prepare_status.cppeditdata/app/cmd/cmd_align.cppeditdata/app/fsm/task_command_type.hppeditdata/app/fsm/task_command_type.cppeditdata/vehicle/vehicle_status.hppeditdata/vehicle/vehicle_status.cpp.codexdata/obstacle/ogm.cpp485ee6c90f4b6efd1d8e6ac773ad61e1f3b273311775539468000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cloud areas avoidence. 2026-04-07 13:24:28 +0800485ee6c90f4b6efd1d8e6ac773ad61e1f3b27331fix: cloud areas avoidence.editdata/obstacle/ogm.cppadd.codexssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/protos/ogm.protossep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/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/maps/ogm.heditssep/data_structures/path_repository_manager.cceditssep/data_structures/path_repository_manager.haddssep/protos/ogm.protoeditssep/CMakeLists.txteditssep/maps/ogm_builder.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_utils.heditssep/maps/ogm.cceditssep/offboard/servers/path_repository_vis_html_template.cceditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/offboard/generate_path_repository/generate_path_repository_cli.ccdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppdata/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/vehicle/related_offset.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditsource/ros_source_offset.cppeditdata/config/cfg_env_const.hppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/plan_frame.hppdata/config/cfg_env_const.cppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/plan_frame.cppeditdata/plan_frame.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppadddata/vehicle/deviation_status.cppadddata/vehicle/deviation_status.hppssep/protos/ogm.protoreplayer/replayer_data_process/replayer_data_process.cppoffboard/keb_vis_server/keb_vis_server.ccoffboard/keb_vis_server/CMakeLists.txtoffboard/keb_vis_server/keb_vis_html_template.htasks/plan/keb_path_optimize_task.cppssep/maps/ogm.halgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/start_point_data.hppssep/maps/ogm.ccoffboard/keb_vis_server/keb_vis_html_template.ccf8e0a36c66f5040d93ab15f3eea8eedecc5d9f921775561639000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb-task: 完整跑通keb-scene extranction及可视化全流程 2026-04-07 19:33:59 +0800f8e0a36c66f5040d93ab15f3eea8eedecc5d9f92chore: keb-task: 完整跑通keb-scene extranction及可视化全流程addoffboard/keb_vis_server/keb_vis_html_template.heditreplayer/replayer_data_process/replayer_data_extraction.cppaddoffboard/keb_vis_server/CMakeLists.txteditreplayer/replayer_data_process/replayer_data_process.cppeditssep/protos/ogm.protoeditdata/plan/start_point_data.hppedittasks/plan/keb_path_optimize_task.cppeditalgorithm/plan/keb_optimizer.cppaddoffboard/keb_vis_server/keb_vis_server.cceditssep/maps/ogm.cceditssep/maps/ogm.haddoffboard/keb_vis_server/keb_vis_html_template.ccdata/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.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.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/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppdata/ssep/normal_junction_ec.cppa2dea387ad7cf18e899b5e4fad9f818ccfea8fae1775569134000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:朝海侧，右转横二路，边界优化 2026-04-07 21:38:54 +0800a2dea387ad7cf18e899b5e4fad9f818ccfea8faerefactor:朝海侧，右转横二路，边界优化editdata/ssep/normal_junction_ec.cppdata/ssep/ex_lane_change_ec.cppec4d35f41324aa76809ec6751edbe771008657581775569161000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:极限变道约束优化 2026-04-07 21:39:21 +0800ec4d35f41324aa76809ec6751edbe77100865758refactor:极限变道约束优化editdata/ssep/ex_lane_change_ec.cppdata/ssep/normal_junction_ec.cpp09c794cf8bb7f149f81d16444d7530994c976e9d1775611399000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:朝海侧，右转横二路，边界优化 2026-04-08 09:23:19 +080009c794cf8bb7f149f81d16444d7530994c976e9drefactor:朝海侧，右转横二路，边界优化editdata/ssep/normal_junction_ec.cppdata/ssep/ex_lane_change_ec.cpp730037190ab095ff3004718347429c4e827549c31775611407000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:极限变道约束优化 2026-04-08 09:23:27 +0800730037190ab095ff3004718347429c4e827549c3refactor:极限变道约束优化editdata/ssep/ex_lane_change_ec.cppdata/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/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/related_offset.cppedithmi/draw/draw_ego.cppeditdata/decide/decide_reaction.cppeditplan/prepare/prepare_offset.cppeditdata/ssep/forward_ec.cppedittasks/deciders/other_decider/replan_decider.cppdata/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.cppdata/plan/guide_line_base.hppdata/config/cfg_long_plan.cppdata/plan/guide_line.cppdata/config/cfg_long_plan.hpp03a16b1951a8759def877fa6f2567a4a8ff87ea41775631086000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加地图限速膨胀系数并更新速度限制计算 2026-04-08 14:51:26 +080003a16b1951a8759def877fa6f2567a4a8ff87ea4feat: 添加地图限速膨胀系数并更新速度限制计算editdata/plan/guide_line.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_long_plan.cppeditdata/config/cfg_long_plan.hppdata/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/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.cppdata/ssep/field_junction_ec.hpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protoreplayer/replayer_data_process/replayer_data_process.cpptasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txtoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/dynamic_constraint.hdata/config/cfg_lat_plan.hpptasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hdata/ssep/ssep_ec.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.h52abfb30b6c58693392fbab9c7aa288e231a39011775633118000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。 2026-04-08 15:25:18 +080052abfb30b6c58693392fbab9c7aa288e231a3901feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。editssep/keb_optimizer/keb_problem.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.cppeditdata/ssep/field_junction_ec.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/cost_features/dynamic_constraint.hedittasks/plan/keb_utils.cppeditCMakeLists.txteditproto/keb_scene.protoeditdata/ssep/ssep_ec.hppeditdata/config/cfg_lat_plan.hppeditoffboard/keb_vis_server/keb_vis_html_template.ccedittasks/plan/keb_path_optimize_task.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppaddoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/scenarios/scenario_planner_factory.h6862fa7baf3e2ea29901804dc68811836d0a2ec51775636356000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: openspace中的参考线为pnc引导线 2026-04-08 16:19:16 +08006862fa7baf3e2ea29901804dc68811836d0a2ec5refactor: openspace中的参考线为pnc引导线editssep/scenarios/scenario_planner_factory.hdata/ssep/open_space_ec.cpp872795a1a0f295bc2a654f87ac3d581f7d5ed2241775636394000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:imv下码头搜索失败的bug 2026-04-08 16:19:54 +0800872795a1a0f295bc2a654f87ac3d581f7d5ed224fix:imv下码头搜索失败的bugeditdata/ssep/open_space_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ha8a77d0c941af4a95bc3670a81a607e4ab3ed0931775638852000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复imv普通搜索参考线错误的问题 2026-04-08 17:00:52 +0800a8a77d0c941af4a95bc3670a81a607e4ab3ed093fix: 修复imv普通搜索参考线错误的问题editssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.h1bfa73de87f15d05a5d6a4ce6b7567405c3a65d91775638887000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复imv普通搜索参考线错误的问题 2026-04-08 17:01:27 +08001bfa73de87f15d05a5d6a4ce6b7567405c3a65d9fix: 修复imv普通搜索参考线错误的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/scenario_planner_factory.hdata/other/flow_control.cpp52b5cdfbedb852982b4aee273b9ec123661e24921775642420000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复反向出停车位的bug 2026-04-08 18:00:20 +080052b5cdfbedb852982b4aee273b9ec123661e2492fix:修复反向出停车位的bugeditdata/other/flow_control.cppdata/map/pnc_map/pnc_map_path.cpp573112a5fff58141b971f584de3609204f935a3f1775649704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线绑定juntion的bug 2026-04-08 20:01:44 +0800573112a5fff58141b971f584de3609204f935a3ffix:修复停止线绑定juntion的bugeditdata/map/pnc_map/pnc_map_path.cppdata/constrain/block_data.cppplan/prepare/prepare_objs.cppebbb633c102e5c17cf27904916b01b96810d114e1775649851000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化场桥转场判断 2026-04-08 20:04:11 +0800ebbb633c102e5c17cf27904916b01b96810d114erefactor:优化场桥转场判断editdata/constrain/block_data.cppeditplan/prepare/prepare_objs.cppdata/plan/predict_path.cppdata/ssep/into_yard_junction_ec.cpp15e9e4cee79dce43e032ac44ce5a5ee6b43a671e1775650650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefctor:优化转场场桥box的使用 2026-04-08 20:17:30 +080015e9e4cee79dce43e032ac44ce5a5ee6b43a671erefctor:优化转场场桥box的使用editdata/ssep/into_yard_junction_ec.cppeditdata/plan/predict_path.cppdata/vehicle/related_offset.cppplan/prepare/prepare_offset.cpp8a1ed37652a79a30555595042f30db1bd61076fb1775654877000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore sc_target align_offset during large lateral deviation. 2026-04-08 21:27:57 +08008a1ed37652a79a30555595042f30db1bd61076fbfix: ignore sc_target align_offset during large lateral deviation.editplan/prepare/prepare_offset.cppeditdata/vehicle/related_offset.cppdata/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/plan_frame.cppeditdata/vehicle/deviation_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/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.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc8ccf5f548cd0e4131c1b82954c2adecdac06c3e21775711613000http://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 13:13:33 +08008ccf5f548cd0e4131c1b82954c2adecdac06c3e2fix: 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.ccssep/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.ccdata/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.cppdata/map/pnc_map/pnc_map.cpp480404c57f2a071947cc17402c0420e4c885f35a1775725489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:04:49 +0800480404c57f2a071947cc17402c0420e4c885f35afix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppproto/keb_scene.protossep/protos/params.prototasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppssep/maps/ogm.hreplayer/replayer_data_process/replayer_data_extraction.cppssep/param_loader/param.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cppoffboard/keb_vis_server/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.hcb4d9f128e3c5f9691bbeb42c422b23711f7aa611775727344000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化 2026-04-09 17:35:44 +0800cb4d9f128e3c5f9691bbeb42c422b23711f7aa61feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化editssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_path_optimize_task.cppeditalgorithm/plan/keb_optimizer.cppaddssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.heditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccedittasks/plan/keb_utils.hppeditssep/param_loader/param.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/maps/ogm.heditproto/keb_scene.protoeditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hedittasks/plan/keb_utils.cppaddssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_vis_server/CMakeLists.txteditssep/protos/params.protoeditoffboard/keb_vis_server/keb_vis_html_template.cceditreplayer/replayer_data_process/replayer_data_extraction.cppssep/scenarios/stitching_replanner.hssep/ssep_planner.cc78cecf1ba9ad4a0ecc14fb30756722d7d294ec611775730736000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 2026-04-09 18:32:16 +080078cecf1ba9ad4a0ecc14fb30756722d7d294ec61chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑editssep/ssep_planner.cceditssep/scenarios/stitching_replanner.hssep/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.ccssep/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.cceditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/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.ccc3744d5c2226e5ec04a54249deca78e4abaa48d91775733262000http://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 19:14:22 +0800c3744d5c2226e5ec04a54249deca78e4abaa48d9chore: 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.cceditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/stitching_replanner.hssep/ssep_planner.cca37db28239f7ff646e2cfd4741956d0931f160121775733553000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 2026-04-09 19:19:13 +0800a37db28239f7ff646e2cfd4741956d0931f16012chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑editssep/ssep_planner.cceditssep/scenarios/stitching_replanner.hssep/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.ccc056957f24f960655444350738b1f87cfd43dfee1775733564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 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 19:19:24 +0800c056957f24f960655444350738b1f87cfd43dfeechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc6689b96da152ff775738a4d8549f63c3a4006ef51775733598000http://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 19:19:58 +08006689b96da152ff775738a4d8549f63c3a4006ef5fix: 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.cctasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/other_decider/replan_decider.cppbc123663a2b96f1de8212916ac10b2311921b2ea1775748933000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:极限变道不replan的bug 2026-04-09 23:35:33 +0800bc123663a2b96f1de8212916ac10b2311921b2eafix:极限变道不replan的bugedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/other_decider/replan_decider.cpp03c0657ce15b2d36b9b7db1be30a799619f63c7b1775749005000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:极限变道不replan的bug 2026-04-09 23:36:45 +080003c0657ce15b2d36b9b7db1be30a799619f63c7bfix:极限变道不replan的bugedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/other_decider/replan_decider.cpptasks/plan/smooth_task.cppda89721cf51cc043236212892929ab5f695057cd1775749219000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化SmoothTask执行逻辑，增加对特定条件的处理 2026-04-09 23:40:19 +0800da89721cf51cc043236212892929ab5f695057cdfix: 优化SmoothTask执行逻辑，增加对特定条件的处理edittasks/plan/smooth_task.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc9fd0e87b9539412176f5438b4cf8fa2c4353941a1775799435000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 解决集卡多段倒车可能绕圈的问题 2026-04-10 13:37:15 +08009fd0e87b9539412176f5438b4cf8fa2c4353941achore: SSEP: 解决集卡多段倒车可能绕圈的问题editssep/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.cc8e49862c79f39612bfc375ccd4713261e70a04181775806427000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: SSEP: 解决集卡多段倒车可能绕圈的问题 2026-04-10 15:33:47 +08008e49862c79f39612bfc375ccd4713261e70a0418chore: SSEP: 解决集卡多段倒车可能绕圈的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cchmi/widget/map.cpphmi/common/image_viewer.cpphmi/widget/map.hpphmi/widget/replayer_map.cpphmi/widget/replayer_map.hpphmi/common/image_viewer.hppd666a45ca3767b4b91105fb1fb0f7d32135b68cf1775838203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化小地图绘制时间过长的问题 2026-04-11 00:23:23 +0800d666a45ca3767b4b91105fb1fb0f7d32135b68cfrefactor:优化小地图绘制时间过长的问题edithmi/widget/map.cppedithmi/widget/replayer_map.cppedithmi/common/image_viewer.cppedithmi/common/image_viewer.hppedithmi/widget/map.hppedithmi/widget/replayer_map.hpphmi/draw/draw_map.cpphmi/draw/draw_map.hpphmi/node_hmi.cpphmi/replayer_hmi.cppa37d003f3d78285b1caa441cbe8d88a4cb213a041775838228000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加点云底图加载功能，支持异步加载和清除操作 2026-04-11 00:23:48 +0800a37d003f3d78285b1caa441cbe8d88a4cb213a04feat: 添加点云底图加载功能，支持异步加载和清除操作edithmi/draw/draw_map.hppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedithmi/draw/draw_map.cpphmi/common/pnc_graphics_view.cppplan/prepare/prepare_ogm.cpp4276d18dd2fdd47232479f7a347a05597563a7cc1776009310000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能 2026-04-12 23:55:10 +08004276d18dd2fdd47232479f7a347a05597563a7ccfeat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能edithmi/common/pnc_graphics_view.cppeditplan/prepare/prepare_ogm.cppssep/ssep_planner.cc7f9930f514e94f399ae91826d94469b8c4543ac71776061313000http://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 14:21:53 +08007f9930f514e94f399ae91826d94469b8c4543ac7fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccssep/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.ccssep/protos/params.prototasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppssep/param_loader/param.hCMakeLists.txtoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.htasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h37980ff352590504416c64de985244f7000d8da51776065652000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb实时优化 - 双层车体碰撞模型通过离线测试 2026-04-13 15:34:12 +080037980ff352590504416c64de985244f7000d8da5feat: keb实时优化 - 双层车体碰撞模型通过离线测试deletessep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/param_loader/param.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hdeletessep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditoffboard/keb_vis_server/keb_vis_html_template.cceditssep/protos/params.protoeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/keb_problem.heditCMakeLists.txtdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.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/ssep/forward_ec.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccoffboard/keb_path_opt_cli/keb_scene_converter.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/keb_path_opt_cli/keb_simulator.hppoffboard/keb_path_opt_cli/closed_loop_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.ccCMakeLists.txt8d0a9328235149cea3ae87be7d21efde5c8a236a1776076734000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真 2026-04-13 18:38:54 +08008d0a9328235149cea3ae87be7d21efde5c8a236afeat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真addoffboard/keb_path_opt_cli/closed_loop_utils.hppaddoffboard/keb_path_opt_cli/closed_loop_utils.cceditCMakeLists.txtaddoffboard/keb_path_opt_cli/keb_scene_converter.ccaddoffboard/keb_path_opt_cli/keb_scene_converter.hppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddoffboard/keb_path_opt_cli/keb_simulator.ccaddoffboard/keb_path_opt_cli/keb_simulator.hppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.heabb10afdc35e185d27771aac7ba24bd618897641776135546000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 10:59:06 +0800eabb10afdc35e185d27771aac7ba24bd61889764fix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/stitching_replanner.halgorithm/wbca/wbca_manager.cpp64ef83d02cb4ee10b6552d567e1250eeeb5ced6d1776135757000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: fiter cost_beta 2026-04-14 11:02:37 +080064ef83d02cb4ee10b6552d567e1250eeeb5ced6dfix: fiter cost_betaeditalgorithm/wbca/wbca_manager.cppplan/prepare/prepare_status.cpp8c49f9003629be806d9bcb5d3d56368d2ca443151776139055000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: align to done 2026-04-14 11:57:35 +08008c49f9003629be806d9bcb5d3d56368d2ca44315fix: align to doneeditplan/prepare/prepare_status.cppdata/config/cfg_lat_plan.hppthirdparty/trust-region/truncated_cg_trust_region.hppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/imv_path_optimization.cppalgorithm/wbca/path_optimization/path_optimization.hppalgorithm/wbca/path_optimization/path_optimization.cppalgorithm/wbca/path_optimization/truck_path_optimization.cppalgorithm/wbca/path_optimization/car_path_optimization.cpp28b808307c8011970b2cdff7fa66961de62176681776146327000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: trust-region solver based WBCA 2026-04-14 13:58:47 +080028b808307c8011970b2cdff7fa66961de6217668feat: trust-region solver based WBCAeditalgorithm/wbca/path_optimization/truck_path_optimization.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditalgorithm/wbca/path_optimization/path_optimization.cppeditalgorithm/wbca/path_optimization/path_optimization.hppeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/imv_path_optimization.cppeditdata/config/cfg_lat_plan.hppaddthirdparty/trust-region/truncated_cg_trust_region.hppalgorithm/wbca/wbca_manager.cppdata/config/cfg_lat_plan.cpp8ac969a8781279ff5844967394890d8214fff0a71776146536000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: max_ref_len 60 2026-04-14 14:02:16 +08008ac969a8781279ff5844967394890d8214fff0a7fix: max_ref_len 60editdata/config/cfg_lat_plan.cppeditalgorithm/wbca/wbca_manager.cppssep/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/truck_multi_segment_parking_planner.heditssep/scenarios/stitching_replanner.hoffboard/keb_vis_server/keb_vis_html_template.cc8667ab96d09a1370c69066ea1ffe91c989e814f51776149732000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Simulation: 3D可视化 2026-04-14 14:55:32 +08008667ab96d09a1370c69066ea1ffe91c989e814f5feat: Keb-Simulation: 3D可视化editoffboard/keb_vis_server/keb_vis_html_template.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccd71f84f7a302a3f5eceb0fcf5b867f77b33e64351776152615000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@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 15:43:35 +0800d71f84f7a302a3f5eceb0fcf5b867f77b33e6435fix: 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.ccssep/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.ccdata/app/fsm/task_fsm/task_fsm.hppdata/app/fsm/task_motion_fsm.hppdata/app/fsm_interface.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hppdata/app/fsm_interface.cppdata/app/fsm/task_motion_fsm.cpp819284d803105345130b63c9b6bd545af273446f1776152804000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:fsm interface 里面添加开始对准是终点距离的接口 2026-04-14 15:46:44 +0800819284d803105345130b63c9b6bd545af273446ffeat:fsm interface 里面添加开始对准是终点距离的接口editdata/app/fsm/task_fsm/task_fsm.hppeditdata/app/fsm_interface.hppeditdata/app/fsm/task_motion_fsm.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/app/fsm/task_motion_fsm.hppeditdata/app/fsm_interface.cppdata/app/fsm/motion_fsm/motion_fsm.cpp8c45894813ba6649234716d03a0f8db3819c13fd1776152841000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:align done 情况下还可以继续走的bug 2026-04-14 15:47:21 +08008c45894813ba6649234716d03a0f8db3819c13fdfix:align done 情况下还可以继续走的bugeditdata/app/fsm/motion_fsm/motion_fsm.cppdata/app/fsm/task_command_type.cppplan/prepare/module.cppplan/prepare/prepare_status.cppdata/app/fsm/task_command_type.hppdata/app/cmd/cmd_align.cppdata/app/cmd/cmd_remote_ctrl.cpphmi/widget/command.cpp1103882d593a0c4891581b5d3ce213d8c472bbf41776152992000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:停车原因赋值错误的bug 2026-04-14 15:49:52 +08001103882d593a0c4891581b5d3ce213d8c472bbf4fix:停车原因赋值错误的bugeditdata/app/fsm/task_command_type.hppeditdata/app/fsm/task_command_type.cppeditplan/prepare/module.cppeditdata/app/cmd/cmd_remote_ctrl.cppeditdata/app/cmd/cmd_align.cppeditplan/prepare/prepare_status.cppedithmi/widget/command.cppssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/param_loader/param.hssep/data_structures/path_repository_manager.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/protos/ogm.protossep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/data_structures/path_utils.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/protos/params.protossep/common/utils/map_element_utils.hppssep/maps/ogm.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/scene_replay/CMakeLists.txtssep/maps/ogm.ccssep/protos/scene.protossep/protos/path_repository.protossep/keb_optimizer/cost_features/dynamic_constraint.hssep/CMakeLists.txtssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/offboard/servers/path_repository_vis_html_template.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/keb_optimizer/keb_problem.hssep/ssep_planner.ccssep/data_structures/path_repository_manager.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h711ae84b63603a37fd75db06de659795e77678fa1776155672000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-14 16:34:32 +0800711ae84b63603a37fd75db06de659795e77678fafeat:合并ssepeditssep/scenarios/stitching_replanner.heditssep/protos/path_repository.protoeditssep/offboard/servers/path_repository_vis_server.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/common/utils/map_element_utils.hppeditssep/protos/params.protoeditssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cceditssep/offboard/scene_replay/CMakeLists.txteditssep/maps/ogm.cceditssep/maps/ogm.heditssep/protos/scene.protoeditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddssep/protos/operation_mode.protoeditssep/CMakeLists.txteditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_html_template.cceditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/ssep_planner.cceditssep/param_loader/param.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/data_structures/path_utils.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/maps/ogm_builder.ccaddssep/protos/ogm.protoeditssep/data_structures/path_repository_manager.cceditssep/offboard/ssep_planner_wrapper.cceditssep/data_structures/path_repository_manager.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc4b4d21aeba2a5465e2532f017b9f5725d703037a1776159355000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@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 2026-04-14 17:35:55 +08004b4d21aeba2a5465e2532f017b9f5725d703037afix: 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/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/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.ccssep/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.hdata/config/cfg_env_const.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_env_const.cppdata/config/cfg_safe_const.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp8ba0710732b2cc129b93b855484552d35aac311c1776230906000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加对值阈值和条件，优化对准决策逻辑 2026-04-15 13:28:26 +08008ba0710732b2cc129b93b855484552d35aac311cfeat: 添加对值阈值和条件，优化对准决策逻辑edittasks/deciders/long_decider/constrain_decider.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.cc28c58b5889385d77f87b0a147fa930b0cf793cc91776232181000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP-offboard: 添加离线路径绘制工具 2026-04-15 13:49:41 +080028c58b5889385d77f87b0a147fa930b0cf793cc9feat: SSEP-offboard: 添加离线路径绘制工具addssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/hermite_path_generator.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/offboard/path_drawing_tool/path_drawing_html_template.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccdata/map/pnc_map/pnc_map_path.cppb9301900bfe01801aee8ab789b9f37e9ee58fea11776233275000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 添加路径点数量检查，确保至少有两个点以创建路径 2026-04-15 14:07:55 +0800b9301900bfe01801aee8ab789b9f37e9ee58fea1fix: 添加路径点数量检查，确保至少有两个点以创建路径editdata/map/pnc_map/pnc_map_path.cppssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.cc333b3ebc6cdbb5cbdcbebecd0b9959bb8cf630451776234296000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能 2026-04-15 14:24:56 +0800333b3ebc6cdbb5cbdcbebecd0b9959bb8cf63045feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能editssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/offboard/path_drawing_tool/path_drawing_tool_main.ccplan/prepare/prepare_ogm.cpp4327a58bb182bf742255fc5127078406b871600c1776235391000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: avoid mask_box for unload 2026-04-15 14:43:11 +08004327a58bb182bf742255fc5127078406b871600cfix: avoid mask_box for unloadeditplan/prepare/prepare_ogm.cppssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/common/utils/scene_frame_visualization.ccssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/straddle_carrier_pick_vehicle_planner.h19d43f16047fee154f24f14a80002e88dcf82d7f1776241721000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加跨运车抓车场景 2026-04-15 16:28:41 +080019d43f16047fee154f24f14a80002e88dcf82d7ffeat: SSEP: 增加跨运车抓车场景editssep/common/utils/scene_frame_visualization.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/scenarios/scenario_planner_factory.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/protos/ssep_scenario_type.protodata/ssep/open_space_ec.cppcb1ae31231335f267f8638fb771d1a05b7734b571776245313000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add passing pt 2026-04-15 17:28:33 +0800cb1ae31231335f267f8638fb771d1a05b7734b57fix: add passing pteditdata/ssep/open_space_ec.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hssep/protos/ssep_scenario_type.protossep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccssep/scenarios/imv_exit_parking_spot_planner.hssep/data_structures/path_repository_manager.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/offboard/servers/scene_vis_html_template.ccssep/common/utils/reference_line_stitcher.ccssep/scenarios/planner_utils.hssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccssep/offboard/servers/scene_vis_server.ccssep/protos/params.protossep/coarse_search/conditions/node_level_condition.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/protos/scene.protossep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.ccssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/common/utils/path_utils.hssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.hssep/keb_optimizer/keb_problem.hssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.ccssep/coarse_search/stage_transition_controller.hssep/data_structures/path_repository_manager.hssep/offboard/servers/scene_editor_html_template.hssep/keb_optimizer/cost_features/state_constraint.hssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtssep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/coarse_search/evaluator/curvature_cost_computer.hdata/ssep/open_space_ec.cppssep/protos/ogm.protossep/scenarios/imv_enter_station_planner.hssep/scenarios/planner_utils.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/offboard/servers/scene_vis_html_template.hssep/data_structures/polyline.hssep/common/utils/scene_frame_visualization.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/conditions/search_condition_interface.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/maps/ogm.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/protos/path_repository.protossep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/scenarios/stitching_replanner.hssep/maps/ogm_builder.hssep/common/utils/reference_line_stitcher.hdata/plan/ssep_data.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/param_loader/param.hssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/data_structures/state_match_condition.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/offboard/servers/path_repository_vis_html_template.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/common/utils/map_element_utils.hppssep/common/utils/path_utils.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.hssep/scenarios/truck_accurate_reversing_planner.ccssep/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/path_drawing_tool_main.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/coarse_search/search_graph.hssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/data_structures/path_utils.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/data_structures/path.ccssep/protos/state_match_condition.protossep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.hssep/offboard/servers/scene_editor_html_template.ccssep/test/quintic_polynomial_sampler_test.ccssep/scenarios/tractor_trailer_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/offboard/servers/scene_editor_server.ccssep/scenarios/scenario_planner_factory.hssep/offboard/scene_replay/CMakeLists.txtssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_lane_change_planner.hssep/test/ssep_planner_test.ccssep/offboard/servers/CMakeLists.txtssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccfd1f1d7c543b45c5a4b536c7ace5f0eba56dc35f1776253507000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP 适配烟台跨运车 2026-04-15 19:45:07 +0800fd1f1d7c543b45c5a4b536c7ace5f0eba56dc35ffeat: SSEP 适配烟台跨运车editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/tractor_trailer_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/scenarios/stitching_replanner.heditssep/offboard/scene_replay/CMakeLists.txtaddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.haddssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.haddssep/common/utils/reference_line_stitcher.heditdata/ssep/open_space_ec.cppeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/reference_line_stitcher.cceditssep/protos/scene.protoeditssep/offboard/servers/CMakeLists.txtaddssep/offboard/servers/path_repository_vis_server.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.haddssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.heditssep/keb_optimizer/cost_features/state_constraint.heditssep/ssep_planner.heditssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/imv_general_planner.heditssep/common/utils/path_utils.cceditssep/scenarios/imv_exit_parking_spot_planner.haddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.haddssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/protos/ssep_scenario_type.protoeditssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cceditssep/maps/ogm.haddssep/coarse_search/conditions/node_level_condition.heditssep/data_structures/path.heditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/offboard/servers/scene_vis_html_template.heditssep/test/CMakeLists.txteditssep/common/utils/scene_frame_visualization.ccaddssep/protos/ogm.protoaddssep/data_structures/path_repository_manager.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/data_structures/polyline.heditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.haddssep/offboard/servers/scene_editor_server.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/test/ssep_planner_test.ccaddssep/data_structures/state_match_condition.haddssep/offboard/servers/path_repository_vis_html_template.cceditssep/offboard/servers/scene_vis_html_template.ccaddssep/data_structures/path_repository_manager.cceditssep/scenarios/imv_enter_station_planner.haddssep/offboard/generate_path_repository/CMakeLists.txteditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.heditssep/data_structures/path.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/conditions/search_condition_interface.heditssep/keb_optimizer/keb_problem.heditssep/protos/params.protoeditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/scenarios/planner_utils.heditssep/offboard/servers/scene_vis_server.cceditssep/common/utils/path_utils.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/param_loader/param.haddssep/protos/state_match_condition.protoaddssep/offboard/servers/path_repository_vis_html_template.haddssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cceditssep/coarse_search/stage_transition_controller.heditssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.ccaddssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/ssep_planner.ccaddssep/protos/path_repository.protoeditssep/data_structures/path_utils.heditssep/scenarios/truck_multi_segment_parking_planner.haddssep/protos/operation_mode.protoeditssep/scenarios/scenario_planner_factory.haddssep/offboard/servers/scene_editor_html_template.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/search_graph.haddssep/data_structures/state_match_condition.cceditssep/common/utils/map_element_utils.hppeditssep/data_structures/ssep_scenario_type.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/maps/ogm_builder.heditssep/scenarios/truck_general_planner.haddssep/offboard/servers/scene_editor_html_template.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cceditssep/data_structures/polyline.ccaddssep/test/quintic_polynomial_sampler_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/maps/ogm_builder.cceditdata/plan/ssep_data.cppeditssep/scenarios/planner_utils.cceditssep/coarse_search/evaluator/curvature_cost_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/scenarios/tractor_trailer_lane_change_planner.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.cc30e6bf3d7c6cfe92ad1634c56514020972a93f0d1776254006000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP-offboard: 修复bug，增加车体box可视化 2026-04-15 19:53:26 +080030e6bf3d7c6cfe92ad1634c56514020972a93f0dchore: SSEP-offboard: 修复bug，增加车体box可视化editssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/offboard/path_drawing_tool/path_drawing_tool_main.ccdata/plan/ssep_data.cpp17a5ab4f50b070741b448d6961885fb68c03c7f31776254747000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: ssep data filter short segs 2026-04-15 20:05:47 +080017a5ab4f50b070741b448d6961885fb68c03c7f3fix: ssep data filter short segseditdata/plan/ssep_data.cppdata/hmi_frame.hpphmi/widget/pnc_mat.hppreplayer/main.cpphmi/replayer_hmi.hppreplayer/logic.hpphmi/widget/replayer_pnc_mat.cppCMakeLists.txthmi/widget/replayer_pnc_mat.hppreplayer/logic.cpphmi/replayer_hmi.cpphmi/widget/pnc_mat_shared.cpphmi/node_hmi.hpphmi/draw/draw_map.hppnode/logic.cpphmi/widget/perf_cost_detail.hpphmi/widget/pnc_mat.cpphmi/widget/pnc_mat_shared.hppnode/main.cppdata/plan_frame.hpphmi/draw/draw_map.cppnode/logic.hpphmi/widget/perf_cost_detail.cpphmi/node_hmi.cppd30d6299d2fb251ac8aee52fca49b70da0214e631776258384000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:1.添加耗时显示2.优化绘制界面 map的绘制 2026-04-15 21:06:24 +0800d30d6299d2fb251ac8aee52fca49b70da0214e63feat:1.添加耗时显示2.优化绘制界面 map的绘制edithmi/replayer_hmi.hppeditreplayer/main.cppedithmi/draw/draw_map.hppeditreplayer/logic.hppeditdata/hmi_frame.hppedithmi/draw/draw_map.cppaddhmi/widget/pnc_mat_shared.cppaddhmi/widget/perf_cost_detail.hppeditnode/main.cppeditreplayer/logic.cppeditdata/plan_frame.hppedithmi/widget/replayer_pnc_mat.cppedithmi/node_hmi.cppeditCMakeLists.txtedithmi/widget/pnc_mat.cppedithmi/replayer_hmi.cppedithmi/widget/pnc_mat.hppaddhmi/widget/perf_cost_detail.cppeditnode/logic.hppedithmi/widget/replayer_pnc_mat.hppedithmi/node_hmi.hppaddhmi/widget/pnc_mat_shared.hppeditnode/logic.cppdata/map/pnc_map/routing_extension/routing_data.cpp3421d2be0ff961c640228f3b8f049880a1ea10d61776263198000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:一次规划，单个车道分段时，路径冲突判断的bug 2026-04-15 22:26:38 +08003421d2be0ff961c640228f3b8f049880a1ea10d6fix:一次规划，单个车道分段时，路径冲突判断的bugeditdata/map/pnc_map/routing_extension/routing_data.cpp.gitignoredc3008e13d516eaab559fe5e5d0cc94d3cb73de21776310216000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore .codex 2026-04-16 11:30:16 +0800dc3008e13d516eaab559fe5e5d0cc94d3cb73de2fix: ignore .codexedit.gitignoredata/ssep/open_space_ec.cpp68dc456383bcadb79d2867775c57e5b14742dae01776314893000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 注释掉不必要的代码，简化判断逻辑 2026-04-16 12:48:13 +080068dc456383bcadb79d2867775c57e5b14742dae0refactor: 注释掉不必要的代码，简化判断逻辑editdata/ssep/open_space_ec.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/maps/ogm.h2f1779ca78376c007b5480b7837e5c018dc516b61776316171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep 2026-04-16 13:09:31 +08002f1779ca78376c007b5480b7837e5c018dc516b6fix: checkout ssepeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.heditssep/maps/ogm.cceditssep/scenarios/truck_multi_segment_parking_planner.hcommon/util/express.cppdata/config/cfg_env_const.hpp552c635bd69183b4ae8c52fb7ab08585b83d450e1776318315000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: merge bug 2026-04-16 13:45:15 +0800552c635bd69183b4ae8c52fb7ab08585b83d450efix: merge bugeditcommon/util/express.cppeditdata/config/cfg_env_const.hppdata/ssep/ssep_ec.hppdata/ssep/ssep_ec.cppb63375377c7e33d1f9b90bf0e4d35ca8059bdddc1776319698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化ssep passing pt的赋值 2026-04-16 14:08:18 +0800b63375377c7e33d1f9b90bf0e4d35ca8059bdddcrefactor:优化ssep passing pt的赋值editdata/ssep/ssep_ec.hppeditdata/ssep/ssep_ec.cppsink/ros_sink_ctrl_reference.cppdata/plan/start_point_data.cppplan/prepare/prepare_status.hppdata/vehicle/vehicle_status.hppplan/prepare/prepare_status.cpp89f6bcb1f385d5afd9912becba990015ec5f259a1776324276000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: rotation mode for SC. 2026-04-16 15:24:36 +080089f6bcb1f385d5afd9912becba990015ec5f259afeat: rotation mode for SC.editdata/vehicle/vehicle_status.hppeditplan/prepare/prepare_status.cppeditsink/ros_sink_ctrl_reference.cppeditdata/plan/start_point_data.cppeditplan/prepare/prepare_status.hppproto/keb_scene.prototasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/closed_loop_utils.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppalgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cpptasks/plan/keb_path_optimize_task.hppoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/keb_vis_html_template.cce506b961c19a089454f59fe4fe26dcda7e6910d81776324432000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 2026-04-16 15:27:12 +0800e506b961c19a089454f59fe4fe26dcda7e6910d8feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程editproto/keb_scene.protoeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppeditoffboard/keb_vis_server/keb_vis_html_template.ccedittasks/plan/keb_path_optimize_task.hppeditoffboard/keb_path_opt_cli/keb_simulator.cceditalgorithm/plan/keb_optimizer.hppeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.ccproto/keb_scene.prototasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/closed_loop_utils.cctasks/plan/keb_utils.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cpptasks/plan/keb_path_optimize_task.hppoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/keb_vis_html_template.cc532974338bfb34db8cb80624fa8e6a81ccef32e91776327208000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 2026-04-16 16:13:28 +0800532974338bfb34db8cb80624fa8e6a81ccef32e9feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程editalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_path_optimize_task.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_path_optimize_task.hppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditoffboard/keb_vis_server/keb_vis_html_template.ccedittasks/plan/keb_utils.hpptasks/plan/path_optimization_task.cpp42b099371f6e8a99b001977dbb062ad6d7e8d5ad1776331310000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca smooth path is exception in align state 2026-04-16 17:21:50 +080042b099371f6e8a99b001977dbb062ad6d7e8d5adfix: wbca smooth path is exception in align stateedittasks/plan/path_optimization_task.cpptasks/plan/path_optimization_task.cpp1e376fed0cf72f9d441fd65936a3f32d639e9a5e1776331619000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: wbca smooth path is exception in align state 2026-04-16 17:26:59 +08001e376fed0cf72f9d441fd65936a3f32d639e9a5efix: wbca smooth path is exception in align stateedittasks/plan/path_optimization_task.cpphmi/widget/perf_cost_detail.cpphmi/node_hmi.cpp28bbba1eee60507ba6de0414eb33da590f7d0b291776337559000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑 2026-04-16 19:05:59 +080028bbba1eee60507ba6de0414eb33da590f7d0b29feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑edithmi/node_hmi.cppedithmi/widget/perf_cost_detail.cppdata/ssep/ssep_ec.cpp62e19231bf61aa89eb3cdda3e31b9c4b109d844d1776337586000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 简化pass_posture_的赋值逻辑 2026-04-16 19:06:26 +080062e19231bf61aa89eb3cdda3e31b9c4b109d844drefactor: 简化pass_posture_的赋值逻辑editdata/ssep/ssep_ec.cppssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/planner_utils.ccssep/data_structures/pose.h6bc50a6714be053d17ee070e2fe82c5b858df7081776338503000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线 2026-04-16 19:21:43 +08006bc50a6714be053d17ee070e2fe82c5b858df708feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线editssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.heditssep/scenarios/scenario_planner_factory.heditssep/data_structures/pose.hdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/other/flow_control.cppsink/ros_sink_pnc_status.cppa6ecf6234cbb918d2db613e8d4f3d752215889b71776390031000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加对卸载任务的TTC碰撞忽略功能 2026-04-17 09:40:31 +0800a6ecf6234cbb918d2db613e8d4f3d752215889b7feat: 添加对卸载任务的TTC碰撞忽略功能editsink/ros_sink_pnc_status.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control.cppdata/config/cfg_func_sw.hppdata/other/flow_control.cppdata/config/cfg_func_sw.cppsink/ros_sink_pnc_status.cppd5a17f63719f27d657b4da9a49ef14db8408c9151776390175000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加对卸载任务的TTC碰撞忽略功能 2026-04-17 09:42:55 +0800d5a17f63719f27d657b4da9a49ef14db8408c915feat: 添加对卸载任务的TTC碰撞忽略功能editdata/other/flow_control.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppplan/prepare/prepare_ogm.cppb53567588e36b319a48cb91e4dddbb00cf529d6f1776390232000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comRevert "fix: avoid mask_box for unload" This reverts commit 4327a58bb182bf742255fc5127078406b871600c. 2026-04-17 09:43:52 +0800b53567588e36b319a48cb91e4dddbb00cf529d6fRevert "fix: avoid mask_box for unload"editplan/prepare/prepare_ogm.cppsink/ros_sink_pnc_status.cpp96d5a35929de61582cfbff119dc375473334ee531776390445000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 注释掉与发送遮罩框到安全模块相关的代码 2026-04-17 09:47:25 +080096d5a35929de61582cfbff119dc375473334ee53refactor: 注释掉与发送遮罩框到安全模块相关的代码editsink/ros_sink_pnc_status.cppsink/ros_sink_pnc_status.cppefd4c4d0617638382413729e51c5657819bdd0711776391805000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 注释掉与发送遮罩框到安全模块相关的代码 2026-04-17 10:10:05 +0800efd4c4d0617638382413729e51c5657819bdd071refactor: 注释掉与发送遮罩框到安全模块相关的代码editsink/ros_sink_pnc_status.cpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/closed_loop_utils.ccoffboard/keb_path_opt_cli/closed_loop_utils.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cppoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/keb_vis_html_template.cctasks/plan/keb_lane_follow_path_task.hpp6d0b3d30c4d7c182792259dc8efb60945ebce0d61776400932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-task: 重构并适配keb_lane_follow task 2026-04-17 12:42:12 +08006d0b3d30c4d7c182792259dc8efb60945ebce0d6chore: Keb-task: 重构并适配keb_lane_follow taskeditoffboard/keb_path_opt_cli/keb_simulator.ccedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditproto/keb_scene.protoeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_lane_follow_path_task.hppeditoffboard/keb_path_opt_cli/closed_loop_utils.hppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditalgorithm/plan/keb_optimizer.cppplan/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.hppeditplan/prepare/prepare_status.cppplan/prepare/prepare_status.hppplan/prepare/prepare_status.cppa17bb25611f78771eee83b455fdfbc8e51ad2e701776401179000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: straight lane near crane and lock_station 2026-04-17 12:46:19 +0800a17bb25611f78771eee83b455fdfbc8e51ad2e70fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cpp.gitignore30f38647c7749669d247e8f727e07ba6169177981776405103000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: update gitignore 2026-04-17 13:51:43 +080030f38647c7749669d247e8f727e07ba616917798chore: update gitignoreedit.gitignorehmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/widget/diagnose.cpphmi/common/chart.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.cpp61bd292727204c41639f5511192a8efb5a4dfa4c1776414663000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-04-17 16:31:03 +080061bd292727204c41639f5511192a8efb5a4dfa4crefactor:优化界面耗时edithmi/widget/perf_cost_detail.hppedithmi/widget/velocity_chart.hppedithmi/widget/diagnose.hppedithmi/widget/throttle_chart.cppedithmi/widget/command.hppedithmi/widget/brake_chart.cppedithmi/widget/throttle_chart.hppedithmi/widget/command.cppedithmi/widget/steer_chart.cppedithmi/widget/velocity_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/common/chart.hppedithmi/widget/brake_chart.hppedithmi/widget/diagnose.cppedithmi/common/chart.cppedithmi/widget/steer_chart.hppdata/constrain/longitude_constrain.hppdata/constrain/longitude_constrain.cpp791937e15aff1522260893b084824b63772b081e1776423136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整9861的跟车距离 2026-04-17 18:52:16 +0800791937e15aff1522260893b084824b63772b081efeat:调整9861的跟车距离editdata/constrain/longitude_constrain.cppeditdata/constrain/longitude_constrain.hppsink/ros_sink_ctrl_reference.cppalgorithm/wbca/wbca_manager.cppdata/plan/start_point_data.cppdata/ssep/open_space_ec.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/app/fsm/task_fsm/task_fsm.cppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppalgorithm/wbca/path_optimization/path_optimization.cpp5a083a1c556ac850b4588246fa1f1aff510f4cf01776427591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: sc turn-in-place mode 2026-04-17 20:06:31 +08005a083a1c556ac850b4588246fa1f1aff510f4cf0feat: sc turn-in-place modeeditplan/prepare/prepare_status.cppeditalgorithm/wbca/path_optimization/path_optimization.cppeditdata/app/fsm/task_fsm/task_fsm.cppeditsink/ros_sink_ctrl_reference.cppeditalgorithm/wbca/wbca_manager.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/plan/start_point_data.cppeditdata/ssep/open_space_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc63cda91be69689b2039cb7aa69790f39ac64b9eb1776666837000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 2026-04-20 14:33:57 +080063cda91be69689b2039cb7aa69790f39ac64b9ebfix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccdata/ssep/open_space_ec.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_ogm.cpptasks/plan/path_optimization_task.cppcbe3a379981e342fc1de594868b24a1b282d86301776667539000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add turn_in_place_threshold 2026-04-20 14:45:39 +0800cbe3a379981e342fc1de594868b24a1b282d8630fix: add turn_in_place_thresholdeditdata/config/cfg_env_const.cppeditdata/ssep/open_space_ec.cppeditplan/prepare/prepare_ogm.cppedittasks/plan/path_optimization_task.cppeditdata/config/cfg_env_const.hppssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc35da80b42556c3c13bd67f001e9ddf94e32333711776668416000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。 2026-04-20 15:00:16 +080035da80b42556c3c13bd67f001e9ddf94e3233371chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。editssep/offboard/path_drawing_tool/hermite_path_generator.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/offboard/path_drawing_tool/CMakeLists.txteditssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/offboard/path_drawing_tool/hermite_path_generator.hsink/ros_sink_ctrl_reference.cppdata/plan/start_point_data.cppdata/vehicle/vehicle_status.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cpp5a4747bbecf6ac5cd9275a426501f544bf01919f1776671486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stop condition for turn-in-place 2026-04-20 15:51:26 +08005a4747bbecf6ac5cd9275a426501f544bf01919ffix: stop condition for turn-in-placeeditdata/plan/start_point_data.cppeditplan/prepare/prepare_status.cppeditdata/vehicle/vehicle_status.hppeditdata/vehicle/deviation_status.cppeditsink/ros_sink_ctrl_reference.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/plan/ssep_data.cppdata/config/cfg_lat_plan.cppdata/boundary/road_boundary.cppdf579f5b7d3300adbf486e2e4d4ce5229e39daf61776675952000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: boundary bug 2026-04-20 17:05:52 +0800df579f5b7d3300adbf486e2e4d4ce5229e39daf6fix: boundary bugeditdata/config/cfg_lat_plan.cppeditdata/boundary/road_boundary.cppeditdata/plan/ssep_data.cppdata/other/flow_control.cpp9af066878815f4ff1fc3007248c12af589e070a11776677274000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加对装载任务的TTC碰撞忽略功能 2026-04-20 17:27:54 +08009af066878815f4ff1fc3007248c12af589e070a1feat: 添加对装载任务的TTC碰撞忽略功能editdata/other/flow_control.cppdata/other/flow_control.cppe6ac51321d9b8d79b1d60685ce1db938a0bff9241776677323000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加对装载任务的TTC碰撞忽略功能 2026-04-20 17:28:43 +0800e6ac51321d9b8d79b1d60685ce1db938a0bff924feat: 添加对装载任务的TTC碰撞忽略功能editdata/other/flow_control.cppalgorithm/wbca/occupancy_grid_map/data_render.cppb7958b0eb715b7b9484380c07b4f72317b6f03661776678189000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: esdf-map bug 2026-04-20 17:43:09 +0800b7958b0eb715b7b9484380c07b4f72317b6f0366fix: esdf-map bugeditalgorithm/wbca/occupancy_grid_map/data_render.cppdata/boundary/road_boundary.cpp4f2a845f81ce16009d0953d7cd45cdfa027851541776678516000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整不可偏移区域生成的起始和结束位置计算 2026-04-20 17:48:36 +08004f2a845f81ce16009d0953d7cd45cdfa02785154fix:调整不可偏移区域生成的起始和结束位置计算editdata/boundary/road_boundary.cppsource/ros_source_forbidden_road_og.cpp656cd3b9c04bf95305ef002f48505622048bda1d1776678696000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化高度禁停点云的使用的逻辑 2026-04-20 17:51:36 +0800656cd3b9c04bf95305ef002f48505622048bda1drefactor:优化高度禁停点云的使用的逻辑editsource/ros_source_forbidden_road_og.cppdata/config/cfg_lat_plan.cppce1d657cf723387ffddf6566dfcdb7586e3e93ad1776681020000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca params bug. 2026-04-20 18:30:20 +0800ce1d657cf723387ffddf6566dfcdb7586e3e93adfix: wbca params bug.editdata/config/cfg_lat_plan.cppdata/other/flow_control.cppe180855de92fc66cd3e2aee319cbebd516b301fb1776699006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞 2026-04-20 23:30:06 +0800e180855de92fc66cd3e2aee319cbebd516b301fbfeat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞editdata/other/flow_control.cppdata/other/flow_control.cpp39340b8d50e9c4bfa92967b6eea2d93ef9b617ad1776699036000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞 2026-04-20 23:30:36 +080039340b8d50e9c4bfa92967b6eea2d93ef9b617adfeat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞editdata/other/flow_control.cpptasks/plan/path_optimization_task.cpp10e56fa2d5e3149f0dae359180b59158557f04c01776736977000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: avoid smooth_mode in open_space 2026-04-21 10:02:57 +080010e56fa2d5e3149f0dae359180b59158557f04c0fix: avoid smooth_mode in open_spaceedittasks/plan/path_optimization_task.cppplan/prepare/prepare_ogm.cpped6f9befc81f6aa9e2b30c1bed32c20ad23cc6051776751938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:移除后向OGM忽略距离的冗余计算 2026-04-21 14:12:18 +0800ed6f9befc81f6aa9e2b30c1bed32c20ad23cc605fix:移除后向OGM忽略距离的冗余计算editplan/prepare/prepare_ogm.cppplan/prepare/prepare_status.cppd2fcfdc6357e3be465b7c4aa63a541bc331ddc7a1776770593000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: turn-in-place condition exception. 2026-04-21 19:23:13 +0800d2fcfdc6357e3be465b7c4aa63a541bc331ddc7afix: turn-in-place condition exception.editplan/prepare/prepare_status.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/map/pnc_map/routing_extension/routing_data.hpp143fa35683a4db16eba88eed88405c18d326b5081776770624000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:优化routingdata当前段的匹配 2026-04-21 19:23:44 +0800143fa35683a4db16eba88eed88405c18d326b508feat:优化routingdata当前段的匹配editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppdata/other/flow_control.cppae3c9a4b5f0217ca06d14c6ae66aa88ee031689b1776779132000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增加卸货时的最大速度阈值以忽略OGM和TTC碰撞 2026-04-21 21:45:32 +0800ae3c9a4b5f0217ca06d14c6ae66aa88ee031689bfix: 增加卸货时的最大速度阈值以忽略OGM和TTC碰撞editdata/other/flow_control.cppdata/map/pnc_map/routing_extension/routing_data.cpp2485ed4412c0a64a72bf8691c22f067c1da396e61776825503000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复垂直下码头面，box框生成的bug 2026-04-22 10:38:23 +08002485ed4412c0a64a72bf8691c22f067c1da396e6fix:修复垂直下码头面，box框生成的bugeditdata/map/pnc_map/routing_extension/routing_data.cpp.gitignoreae1fb5d9056a95dd2535b50ffe3a56df59e45eeb1776835694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore claude.md 2026-04-22 13:28:14 +0800ae1fb5d9056a95dd2535b50ffe3a56df59e45eebfix: ignore claude.mdedit.gitignoredata/config/cfg_func_sw.cpptasks/plan/path_optimization_task.cppdata/config/cfg_func_sw.hpp47a45bc5a8a2b6b150fed4d5de0106494a96baf21776836035000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add switch to control the smooth mode in openspace 2026-04-22 13:33:55 +080047a45bc5a8a2b6b150fed4d5de0106494a96baf2fix: add switch to control the smooth mode in openspaceeditdata/config/cfg_func_sw.hppedittasks/plan/path_optimization_task.cppeditdata/config/cfg_func_sw.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp4e6a9459942e05c6dac2e488ef67a07ded8f68301776838454000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: travel_out for unloading car 2026-04-22 14:14:14 +08004e6a9459942e05c6dac2e488ef67a07ded8f6830fix: travel_out for unloading careditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppe8f989c0aed27323b87243738d55bf3e6089dcc51776842419000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: rotation direction bug 2026-04-22 15:20:19 +0800e8f989c0aed27323b87243738d55bf3e6089dcc5fix: rotation direction bugeditplan/prepare/prepare_status.cppdata/constrain/block_data.cppdata/constrain/disable_stop_range.cpp0535e013c34f55e1d20f2fdf92025a54d6f0391c1776842423000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置 2026-04-22 15:20:23 +08000535e013c34f55e1d20f2fdf92025a54d6f0391cfeat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置editdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cppdata/ssep/into_yard_junction_ec.cpp978c1b3169e28cb1538b2a86699738ad88cff6fc1776847210000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束 2026-04-22 16:40:10 +0800978c1b3169e28cb1538b2a86699738ad88cff6fcfeat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束editdata/ssep/into_yard_junction_ec.cppproto/keb_scene.prototasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hdata/plan/ssep_data.hppssep/keb_optimizer/rigid_truck_keb_optimizer.cctasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hreplayer/replayer_data_process/replayer_data_extraction.cppssep/data_structures/path.hoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cppssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hppalgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_utils.htasks/plan/keb_path_optimize_task.hppoffboard/keb_path_opt_cli/keb_simulator.cctasks/plan/keb_lane_follow_path_task.hpp0d4fca04b4d74907d809808b3b30bed64c93ab531776861409000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。 2026-04-22 20:36:49 +08000d4fca04b4d74907d809808b3b30bed64c93ab53feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。editreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_utils.hppeditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/keb_problem.cceditssep/data_structures/path.heditssep/keb_optimizer/keb_utils.cceditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_path_opt_cli/keb_simulator.ccedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdata/plan/ssep_data.hppedittasks/plan/keb_utils.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditalgorithm/plan/keb_optimizer.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccscripts/run_contour_union_case_test.shdata/ssep/online_region_contour_creator.cppdata/ssep/online_region_contour_creator_test.cppCMakeLists.txtdata/ssep/online_region_contour_creator.hppe227d850087b14ab33edb73b94d5b2059cc9149f1776869040000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com优化轮廓合并算法并添加测试支持 2026-04-22 22:44:00 +0800e227d850087b14ab33edb73b94d5b2059cc9149f优化轮廓合并算法并添加测试支持editCMakeLists.txtaddscripts/run_contour_union_case_test.sheditdata/ssep/online_region_contour_creator.cppeditdata/ssep/online_region_contour_creator.hppadddata/ssep/online_region_contour_creator_test.cppdata/scenario/scenario_region_condition.cppdata/map/pnc_map/routing_extension/routing_data.cppa2f98807fcb087b0ce0c18c6bc6c9c2a13e4f1801776909913000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: quit openspace 2026-04-23 10:05:13 +0800a2f98807fcb087b0ce0c18c6bc6c9c2a13e4f180fix: quit openspaceeditdata/scenario/scenario_region_condition.cppeditdata/map/pnc_map/routing_extension/routing_data.cppssep/ssep_planner.hssep/ssep_planner.cc2da20d45beb0b522882ca22b1dfdec19fc89657f1776914377000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复跨运车原地自转未分段的问题。 2026-04-23 11:19:37 +08002da20d45beb0b522882ca22b1dfdec19fc89657ffix: SSEP: 修复跨运车原地自转未分段的问题。editssep/ssep_planner.cceditssep/ssep_planner.hdata/ssep/region_builder.cpp10463e123097bc52d7217d576b79852a1b7929291776914663000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:进堆场时，关闭区域的校验 2026-04-23 11:24:23 +080010463e123097bc52d7217d576b79852a1b792929feat:进堆场时，关闭区域的校验editdata/ssep/region_builder.cppssep/ssep_planner.hssep/ssep_planner.cce20f6fcb59e425469cfb27978d03fb23c5fc5a9a1776922528000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复跨运车原地自转未分段的问题。 2026-04-23 13:35:28 +0800e20f6fcb59e425469cfb27978d03fb23c5fc5a9afix: SSEP: 修复跨运车原地自转未分段的问题。editssep/ssep_planner.cceditssep/ssep_planner.hdata/config/cfg_func_sw.cppdata/map/envelop/map_envelops.cppdata/config/cfg_func_sw.hpp038e3a9a16edd662ac1889b1454eaab64843c79d1776943851000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加合并包络框功能的配置选项 2026-04-23 19:30:51 +0800038e3a9a16edd662ac1889b1454eaab64843c79dfeat: 添加合并包络框功能的配置选项editdata/map/envelop/map_envelops.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/scenario/scenario_planner_bt.cppdata/scenario/scenario_planner_condition.cppdata/ssep/seaside_junction_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/bridge_junction_ec.cppa749d4457e306896416f3e50bfa67d33f84398851776943934000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联码头面搜索引桥搜索普通路口搜索，终点选取，场景触发的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-23 19:32:14 +0800a749d4457e306896416f3e50bfa67d33f8439885fix:西联码头面搜索引桥搜索普通路口搜索，终点选取，场景触发的bugeditdata/ssep/normal_junction_ec.cppeditdata/scenario/scenario_planner_condition.cppeditdata/ssep/bridge_junction_ec.cppeditdata/scenario/scenario_planner_bt.cppeditdata/ssep/seaside_junction_ec.cppdata/ssep/into_yard_junction_ec.cppc82d7c75adc8a4ffe39435a20b495fc6ea78afaf1776945663000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:洋浦，修复B004搜索失败的bug 2026-04-23 20:01:03 +0800c82d7c75adc8a4ffe39435a20b495fc6ea78afaffix:洋浦，修复B004搜索失败的bugeditdata/ssep/into_yard_junction_ec.cppdata/constrain/temporary_stop_data.cppdata/constrain/block_data.cppdata/constrain/disable_stop_range.cppa685fcbefdd9384cdc97b90451f6757e6d35ae501776954064000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化多次禁停的问题 Co-authored-by: Copilot <copilot@github.com> 2026-04-23 22:21:04 +0800a685fcbefdd9384cdc97b90451f6757e6d35ae50refactor:优化多次禁停的问题editdata/constrain/temporary_stop_data.cppeditdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cppdata/ssep/out_yard_junction_ec.cpp85e0e4776a8c5da790dce4e0b7db1d7ea4c2a0201776957367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 为海南洋浦区域的场桥障碍物增加安全边距 Co-authored-by: Copilot <copilot@github.com> 2026-04-23 23:16:07 +080085e0e4776a8c5da790dce4e0b7db1d7ea4c2a020refactor: 为海南洋浦区域的场桥障碍物增加安全边距editdata/ssep/out_yard_junction_ec.cpptasks/other_tasks/stitch_path_data_to_path.cpp219926ab23efaddf2f7dbc384e0dc63ba6c94df21776957424000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败，不拼接参考线 2026-04-23 23:17:04 +0800219926ab23efaddf2f7dbc384e0dc63ba6c94df2refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败，不拼接参考线edittasks/other_tasks/stitch_path_data_to_path.cppdata/map/reference/bends_decider/bend_decider.cppa42c2e0092ef295bd319f068f91dc031233e55301776998677000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题 2026-04-24 10:44:37 +0800a42c2e0092ef295bd319f068f91dc031233e5530refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题editdata/map/reference/bends_decider/bend_decider.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.cpptasks/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.hppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.cppsink/ros_sink_pnc_status.cpp872c19133a3e169c8cbd46d7a58bfdf654edb5841777016470000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:pnc status 添加车辆真实方向 Co-authored-by: Copilot <copilot@github.com> 2026-04-24 15:41:10 +0800872c19133a3e169c8cbd46d7a58bfdf654edb584feat:pnc status 添加车辆真实方向editsink/ros_sink_pnc_status.cppsink/ros_sink_pnc_status.cpp11cf7fe596445627fd8a13e39ae3019a71dfdb241777024164000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化发送遮罩框逻辑，增加motion状态检查 2026-04-24 17:49:24 +080011cf7fe596445627fd8a13e39ae3019a71dfdb24fix: 优化发送遮罩框逻辑，增加motion状态检查editsink/ros_sink_pnc_status.cppsink/ros_sink_pnc_status.cpp990dcabe6c12f2741a27e0f322736f61de0db7c61777027954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复任务类型对应的保留字段，更新为reserved_uint_8_2 2026-04-24 18:52:34 +0800990dcabe6c12f2741a27e0f322736f61de0db7c6fix: 修复任务类型对应的保留字段，更新为reserved_uint_8_2editsink/ros_sink_pnc_status.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hoffboard/keb_vis_server/crow/http_parser_merged.hoffboard/keb_vis_server/crow/common.hoffboard/keb_vis_server/crow/http_response.halgorithm/plan/keb_optimizer.hppoffboard/keb_vis_server/crow/logging.hssep/param_loader/param.hoffboard/keb_vis_server/crow/socket_adaptors.hCMakeLists.txtoffboard/keb_vis_server/crow/version.hssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/crow/json.hoffboard/keb_vis_server/crow/compression.hoffboard/keb_vis_server/crow/http_request.hoffboard/keb_vis_server/crow/websocket.hoffboard/keb_vis_server/crow/parser.hoffboard/keb_vis_server/crow/query_string.hoffboard/keb_vis_server/crow/http_connection.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hdata/config/cfg_ssep.cppoffboard/keb_vis_server/crow.hssep/keb_optimizer/imv_keb_optimizer.hssep/maps/ogm.ccoffboard/keb_vis_server/crow/settings.hoffboard/keb_vis_server/crow/http_server.hoffboard/keb_vis_server/crow/task_timer.hoffboard/keb_vis_server/crow/routing.hoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cppoffboard/keb_vis_server/crow/multipart_view.hoffboard/keb_vis_server/crow/middleware_context.hoffboard/keb_vis_server/crow/returnable.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.hoffboard/keb_vis_server/crow/middlewares/utf-8.hoffboard/keb_vis_server/crow/multipart.hoffboard/keb_vis_server/crow/TinySHA1.hpptasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/keb_vis_server/crow/app.hoffboard/keb_vis_server/crow/utility.hoffboard/keb_vis_server/crow/middlewares/cors.hoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccalgorithm/plan/keb_optimizer.cppoffboard/keb_vis_server/crow/middleware.hoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/crow/mime_types.hoffboard/keb_vis_server/crow/middlewares/session.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hoffboard/keb_path_opt_cli/keb_simulator.hppssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccoffboard/keb_vis_server/crow/socket_acceptors.hoffboard/keb_vis_server/crow/exceptions.hoffboard/keb_vis_server/crow/middlewares/cookie_parser.hssep/keb_optimizer/keb_utils.cctasks/plan/keb_utils.hppoffboard/keb_vis_server/crow/mustache.hoffboard/keb_vis_server/crow/ci_map.hoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppab3c49bf513e32124fee4f8cc0896f2e6af2fbad1777027969000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息 2026-04-24 18:52:49 +0800ab3c49bf513e32124fee4f8cc0896f2e6af2fbadfix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息addoffboard/keb_vis_server/crow/returnable.haddoffboard/keb_vis_server/crow/compression.haddoffboard/keb_vis_server/crow/logging.haddoffboard/keb_vis_server/crow/mime_types.haddoffboard/keb_vis_server/crow/mustache.heditoffboard/keb_path_opt_cli/keb_simulator.ccaddoffboard/keb_vis_server/crow/query_string.haddoffboard/keb_vis_server/crow/app.heditalgorithm/plan/keb_optimizer.cppaddoffboard/keb_vis_server/crow/http_response.heditssep/keb_optimizer/imv_keb_optimizer.haddoffboard/keb_vis_server/crow/middleware_context.haddoffboard/keb_vis_server/crow/middleware.haddoffboard/keb_vis_server/crow/middlewares/cors.heditssep/keb_optimizer/keb_problem.ccaddoffboard/keb_vis_server/crow/exceptions.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditCMakeLists.txtaddoffboard/keb_vis_server/crow/http_connection.heditssep/keb_optimizer/keb_utils.cceditssep/maps/ogm.haddoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppaddoffboard/keb_vis_server/crow/http_server.haddoffboard/keb_vis_server/crow/json.haddoffboard/keb_vis_server/crow/TinySHA1.hppaddoffboard/keb_vis_server/crow/utility.haddoffboard/keb_vis_server/crow/version.heditssep/data_structures/path.ccaddoffboard/keb_vis_server/crow/middlewares/session.heditssep/keb_optimizer/imv_keb_optimizer.ccaddoffboard/keb_vis_server/crow/websocket.haddoffboard/keb_vis_server/crow/socket_adaptors.haddoffboard/keb_vis_server/crow/settings.haddoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccaddoffboard/keb_vis_server/crow/multipart_view.heditssep/param_loader/param.haddoffboard/keb_vis_server/crow/ci_map.haddssep/keb_optimizer/cost_features/imv_steer_constraint.haddoffboard/keb_vis_server/crow/multipart.haddoffboard/keb_vis_server/crow/task_timer.haddoffboard/keb_vis_server/crow/http_parser_merged.heditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditoffboard/keb_path_opt_cli/keb_scene_converter.hppeditssep/maps/ogm.ccaddoffboard/keb_vis_server/crow/routing.hedittasks/plan/keb_utils.hppaddoffboard/keb_vis_server/crow/common.haddoffboard/keb_vis_server/crow/socket_acceptors.heditssep/keb_optimizer/keb_problem.heditdata/config/cfg_ssep.cppaddoffboard/keb_vis_server/crow.heditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_lane_follow_path_task.cppaddoffboard/keb_vis_server/crow/http_request.haddoffboard/keb_vis_server/crow/middlewares/utf-8.hedittasks/plan/keb_utils.cppaddoffboard/keb_vis_server/crow/middlewares/cookie_parser.heditoffboard/keb_path_opt_cli/keb_simulator.hppeditalgorithm/plan/keb_optimizer.hppaddoffboard/keb_vis_server/crow/parser.heditssep/keb_optimizer/cost_features/ref_line_cost.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hf21b829b78b40da6565facea5ad6adb4047f7c2b1777035384000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。 2026-04-24 20:56:24 +0800f21b829b78b40da6565facea5ad6adb4047f7c2bfeat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。editssep/scenarios/scenario_planner_factory.haddssep/scenarios/tractor_trailer_short_distance_planner.hhmi/draw/draw_ego.cpp00cf0d9f6ccda108c6f661ec2f22209ec182a5601777103238000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: draw align_target 2026-04-25 15:47:18 +080000cf0d9f6ccda108c6f661ec2f22209ec182a560fix: draw align_targetedithmi/draw/draw_ego.cpptasks/plan/keb_utils_core.cppdata/semantic/collision_position.hppmath/curve2d/curve2d.hppdata/semantic/vehicle.cppCMakeLists.txttasks/plan/keb_utils.cppdata/common/path_point.hppdata/obstacle/occupy_grid.hpptasks/plan/keb_utils_core.hppdata/common/guide_path.cppoffboard/keb_path_opt_cli/CMakeLists.txttasks/plan/keb_utils.hppdata/common/path_point.cppalgorithm/plan/keb_optimizer.cppalgorithm/decision/path_turn_type.cppdata/common/path.cppoffboard/keb_path_opt_cli/keb_simulator.ccdata/common/path.hppd11b0a6d75dfd1ffc35b9d2318a4f3d4696be90c1777211879000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 2026-04-26 21:57:59 +0800d11b0a6d75dfd1ffc35b9d2318a4f3d4696be90crefactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦editCMakeLists.txtedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.ccedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.cppeditdata/common/guide_path.cppeditdata/common/path.cppeditdata/common/path.hppaddoffboard/keb_path_opt_cli/CMakeLists.txtaddtasks/plan/keb_utils_core.cppeditalgorithm/decision/path_turn_type.cppeditdata/semantic/collision_position.hppeditdata/obstacle/occupy_grid.hppeditmath/curve2d/curve2d.hppeditdata/common/path_point.hppeditdata/common/path_point.cppaddtasks/plan/keb_utils_core.hppeditdata/semantic/vehicle.cppdata/ssep/open_space_ec.cpp6740dc1133464c4a7a60767c6ed462aa68dfb87f1777271237000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add rotation type 2026-04-27 14:27:17 +08006740dc1133464c4a7a60767c6ed462aa68dfb87ffix: add rotation typeeditdata/ssep/open_space_ec.cppdata/constrain/block_data.cppdata/scenario/scenario_planner_action.cppdata/app/fsm/task_fsm/task_fsm.cppdata/vehicle/lock_station_data.hppdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/lock_station_data.cppdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpptasks/deciders/long_decider/constrain_decider.cpp6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea71777276005000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 实现缓冲区停车功能（Buffer Stop） 2026-04-27 15:46:45 +08006b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7feat: 实现缓冲区停车功能（Buffer Stop）editdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hppeditdata/app/fsm/task_fsm/task_fsm.cppeditdata/scenario/scenario_planner_action.cppeditdata/vehicle/lock_station_data.hppedittasks/deciders/long_decider/constrain_decider.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/lock_station_data.cppeditdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cppeditdata/constrain/block_data.cppdata/ssep/open_space_ec.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/scenario/scenario_region_condition.cppdata/ssep/forward_ec.cpp8a80e7f1051d0d9f603f8cd428d1e9b463ccf5de1777284369000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: turn_in_place mode activation conditions. 2026-04-27 18:06:09 +08008a80e7f1051d0d9f603f8cd428d1e9b463ccf5defix: turn_in_place mode activation conditions.editdata/config/cfg_env_const.cppeditdata/ssep/forward_ec.cppeditdata/scenario/scenario_region_condition.cppeditdata/ssep/open_space_ec.cppeditdata/config/cfg_env_const.hppssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/ssep_planner.ccssep/scenarios/truck_general_planner.hde88c099a7d7c1516cee194407392871901a23e71777287360000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 适配烟台跨运车的新需求 2026-04-27 18:56:00 +0800de88c099a7d7c1516cee194407392871901a23e7chore: SSEP: 适配烟台跨运车的新需求editssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/ssep_planner.cceditssep/scenarios/truck_general_planner.hdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb15c67058b9dfb1389ea050d136a2fa3d51e5e3b1777295109000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用 2026-04-27 21:05:09 +0800b15c67058b9dfb1389ea050d136a2fa3d51e5e3bfeat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用editplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_env_const.hppdata/map/pnc_map/routing_extension/routing_data.cppdata/map/pnc_map/routing_extension/routing_data.hpp4cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3b1777295109000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航 2026-04-27 21:05:09 +08004cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3bfeat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cpp0eb726db69d5b18d103d14937896e4e0988de4761777296419000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 终点和起点不在一条车道上，并且终点在身后就的处理 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 21:26:59 +08000eb726db69d5b18d103d14937896e4e0988de476feat: 终点和起点不在一条车道上，并且终点在身后就的处理editdata/map/pnc_map/routing_extension/routing_data.cppssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/scenarios/truck_general_planner.hssep/ssep_planner.cc2a5b90d912e4aad9bc1b524992a5d5a5ec88ec681777343557000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 适配烟台跨运车的新需求 2026-04-28 10:32:37 +08002a5b90d912e4aad9bc1b524992a5d5a5ec88ec68chore: SSEP: 适配烟台跨运车的新需求editssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/truck_general_planner.heditssep/ssep_planner.ccdata/ssep/forward_ec.cpp08120a3ce834d228994cb10b723cd67733f4927a1777345231000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: params bug 2026-04-28 11:00:31 +080008120a3ce834d228994cb10b723cd67733f4927afix: params bugeditdata/ssep/forward_ec.cppdata/scenario/scenario_region_condition.cppe49db8875d89b72d8e7f3236a4de6a02a61dd2371777345933000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:动态下码头面然后进堆场，搜索过早的问题。 2026-04-28 11:12:13 +0800e49db8875d89b72d8e7f3236a4de6a02a61dd237fix:动态下码头面然后进堆场，搜索过早的问题。editdata/scenario/scenario_region_condition.cpptasks/plan/path_optimization_task.cppb04591094d766d342ab56449c449f7b7e767217f1777357603000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck wbca type error 2026-04-28 14:26:43 +0800b04591094d766d342ab56449c449f7b7e767217ffix: truck wbca type erroredittasks/plan/path_optimization_task.cppalgorithm/plan/sweep_area.cpp46cae49eb3940ac39c2a42b0e5e8991595399e9c1777357620000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: sweep exception 2026-04-28 14:27:00 +080046cae49eb3940ac39c2a42b0e5e8991595399e9cfix: sweep exceptioneditalgorithm/plan/sweep_area.cppalgorithm/plan/sweep_area.cpp53d5cb0217fc32e3efa1e81c8e69beb8f9fac6761777359358000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: sweep exception 2026-04-28 14:55:58 +080053d5cb0217fc32e3efa1e81c8e69beb8f9fac676fix: sweep exceptioneditalgorithm/plan/sweep_area.cppalgorithm/plan/sweep_area.cpp5d4eb86bd0400691a024c1d3198f99dff970a3221777360530000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: sweep exception 2026-04-28 15:15:30 +08005d4eb86bd0400691a024c1d3198f99dff970a322fix: sweep exceptioneditalgorithm/plan/sweep_area.cppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cppalgorithm/wbca/path_optimization/path_optimization.cppc606fdbf358d2f4ada4529ab7d896951bfa50e721777364065000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca path length = 40 in openspace 2026-04-28 16:14:25 +0800c606fdbf358d2f4ada4529ab7d896951bfa50e72fix: wbca path length = 40 in openspaceeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppeditalgorithm/wbca/path_optimization/path_optimization.cppssep/scenarios/scenario_planner_factory.hcdba3fef027f65b2762343f58883fe0974ee0dcb1777364304000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场触发直连模式的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-28 16:18:24 +0800cdba3fef027f65b2762343f58883fe0974ee0dcbfix:进堆场触发直连模式的bugeditssep/scenarios/scenario_planner_factory.hdata/scenario/scenario_planner_action.cppdfd1996fcc1c321137668c2fec1bebd8475d8e731777366788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:上码头面前，误入进堆场场景的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-28 16:59:48 +0800dfd1996fcc1c321137668c2fec1bebd8475d8e73fix:上码头面前，误入进堆场场景的bugeditdata/scenario/scenario_planner_action.cpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/path_optimization.cppa1d6c4e0bfcef0f9ee935eed46ed4ca6932077271777368422000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: wbca path length = 40 in openspace 2026-04-28 17:27:02 +0800a1d6c4e0bfcef0f9ee935eed46ed4ca693207727fix: wbca path length = 40 in openspaceedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/path_optimization.cppssep/scenarios/scenario_planner_factory.h6d68160f633ecaf79f5d10bdd429fed96109a16e1777368422000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场触发直连模式的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-28 17:27:02 +08006d68160f633ecaf79f5d10bdd429fed96109a16efix:进堆场触发直连模式的bugeditssep/scenarios/scenario_planner_factory.hdata/scenario/scenario_planner_action.cpp33f73e9d8145c622051b09954603c6f272ca21491777368422000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:上码头面前，误入进堆场场景的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-28 17:27:02 +080033f73e9d8145c622051b09954603c6f272ca2149fix:上码头面前，误入进堆场场景的bugeditdata/scenario/scenario_planner_action.cppdata/map/pnc_map/routing_extension/routing_data.cppaa1eca55157864ba12c7c386766cee95ae0c9fc31777373034000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:一次规划终点匹配失败的bug 2026-04-28 18:43:54 +0800aa1eca55157864ba12c7c386766cee95ae0c9fc3fix:一次规划终点匹配失败的bugeditdata/map/pnc_map/routing_extension/routing_data.cppdata/scenario/scenario_planner_action.cppca275eebb8203a2f179f188e4297eb50b166773a1777381898000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:在 SeasideSearch 行为中增加对引桥路口区域的判断 2026-04-28 21:11:38 +0800ca275eebb8203a2f179f188e4297eb50b166773afix:在 SeasideSearch 行为中增加对引桥路口区域的判断editdata/scenario/scenario_planner_action.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/keb_optimizer/rigid_truck_keb_optimizer.cctasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/imv_keb_optimizer.cctasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hccd6eed8c77e3d2f3b794161ca61c0126dcab7061777394756000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题 2026-04-29 00:45:56 +0800ccd6eed8c77e3d2f3b794161ca61c0126dcab706fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题edittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_utils.hppedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils_core.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditalgorithm/plan/keb_optimizer.cppdata/scenario/scenario_planner_condition.cppdata/scenario/scenario_planner_bt.cpp91b2d5debb78a3b28f9934cf7ae71c34979cb9311777430549000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<西联>适配Uturn上码头面 2026-04-29 10:42:29 +080091b2d5debb78a3b28f9934cf7ae71c34979cb931feat:<西联>适配Uturn上码头面editdata/scenario/scenario_planner_bt.cppeditdata/scenario/scenario_planner_condition.cppssep/scenarios/scenario_planner_factory.h412605b9dfe0a1cd8cad47d0c06df1cad91fec061777433842000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复进堆场近距离模式判断条件错误 2026-04-29 11:37:22 +0800412605b9dfe0a1cd8cad47d0c06df1cad91fec06fix: SSEP: 修复进堆场近距离模式判断条件错误editssep/scenarios/scenario_planner_factory.hdata/vehicle/deviation_status.hppdata/config/cfg_env_const.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/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppssep/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/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/keb_optimizer/cost_features/dynamic_constraint.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/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/data_structures/ssep_scenario_type.hppssep/ssep_planner.ccssep/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/imv_keb_optimizer.heditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/keb_problem.heditssep/data_structures/pose.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/data_structures/ssep_scenario_type.hppaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/tractor_trailer_general_planner.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/protos/ogm.protoaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/ssep_planner.haddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/keb_utils.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/ssep_planner.cceditssep/scenarios/truck_general_planner.heditssep/common/utils/scene_frame_visualization.cceditssep/keb_optimizer/keb_problem.ccaddssep/scenarios/tractor_trailer_short_distance_planner.heditssep/data_structures/path.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.haddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/protos/params.protoeditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/param_loader/param.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.ccaddssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/keb_utils.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/maps/ogm.heditssep/data_structures/path.heditssep/maps/ogm.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/cost_features/ref_line_cost.hssep/keb_optimizer/rigid_truck_keb_optimizer.cctasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.cctasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/cost_features/temporal_consistency_cost.h66e4f9d2007bbf032c0f0b7d745dfd22bffd430a1777448824000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb-task: 修复低贝位进堆场轨迹震荡的bug 2026-04-29 15:47:04 +080066e4f9d2007bbf032c0f0b7d745dfd22bffd430afix: Keb-task: 修复低贝位进堆场轨迹震荡的bugaddssep/keb_optimizer/cost_features/temporal_consistency_cost.hedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_utils.cppeditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.cppeditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditoffboard/keb_path_opt_cli/keb_simulator.cctasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/cost_features/imv_dynamic_constraint.halgorithm/plan/keb_optimizer.hppssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccalgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/keb_problem.cc85a5b9891b746c13236e27215b13a470491d83e91777459775000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） 2026-04-29 18:49:35 +080085a5b9891b746c13236e27215b13a470491d83e9chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性）editalgorithm/plan/keb_optimizer.hppeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/cost_features/imv_dynamic_constraint.hedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/cost_features/imv_steer_constraint.heditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/keb_problem.hdata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/other/flow_control.cppdata/config/cfg_func_sw.cppbb302a40a969177cbbfd30e28cbdd7d2403d89041777469149000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: travel_out bug 2026-04-29 21:25:49 +0800bb302a40a969177cbbfd30e28cbdd7d2403d8904fix: travel_out bugeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/other/flow_control.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppdata/ssep/open_space_ec.cppdata/config/cfg_env_const.cpp506abf79f6c6a0c46f8260a85510018751f1687a1777515524000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable search_end_pt rotation 2026-04-30 10:18:44 +0800506abf79f6c6a0c46f8260a85510018751f1687afix: disable search_end_pt rotationeditdata/ssep/open_space_ec.cppeditdata/config/cfg_env_const.cppdata/obstacle/block.hppdata/constrain/block_data.cppdata/config/cfg_safe_const.hppcommon/util/crash_helper.hppdata/other/flow_control.cppdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.hppdata/obstacle/block.cppdata/config/cfg_func_sw.cpptasks/deciders/long_decider/time_path_graph_decider.cppcommon/util/crash_helper.cppdd6f2887eff14c5672e36024b0813714c59345501777545570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑 2026-04-30 18:39:30 +0800dd6f2887eff14c5672e36024b0813714c5934550refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑edittasks/deciders/long_decider/time_path_graph_decider.cppeditdata/obstacle/block.cppeditdata/other/flow_control.cppeditdata/constrain/block_data.cppeditcommon/util/crash_helper.hppeditdata/obstacle/block.hppeditcommon/util/crash_helper.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppdata/constrain/block_data.hppdata/constrain/block_data.cppceaca35f06fdd7ca19c7d1c2f7904d164ae48bb61777547951000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加碰撞但不停车的龙门吊禁停区域记录 Co-authored-by: Copilot <copilot@github.com> 2026-04-30 19:19:11 +0800ceaca35f06fdd7ca19c7d1c2f7904d164ae48bb6feat: 添加碰撞但不停车的龙门吊禁停区域记录editdata/constrain/block_data.hppeditdata/constrain/block_data.cppssep/keb_optimizer/rigid_truck_keb_optimizer.h.gitignoressep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hscripts/keb_diagnostic_vis.pyssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem_diagnostic.hssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem_diagnostic.cc07aee2a74e0684ef85d9b7056ba0a6e99e82a8cd1777553707000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据 2026-04-30 20:55:07 +080007aee2a74e0684ef85d9b7056ba0a6e99e82a8cdfeat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据editssep/keb_optimizer/imv_keb_optimizer.ccaddssep/keb_optimizer/keb_problem_diagnostic.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.haddscripts/keb_diagnostic_vis.pyaddssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditalgorithm/plan/keb_optimizer.cppedit.gitignoreeditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccoffboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppCMakeLists.txtoffboard/bag_to_keb_scene/CMakeLists.txtoffboard/bag_to_keb_scene/bag_to_keb_scene.cc388add416c723ad59840b0b866aae8993959bf1a1777553780000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: 实现rosbag->keb scene的数据转换工具 2026-04-30 20:56:20 +0800388add416c723ad59840b0b866aae8993959bf1afeat: Keb: 实现rosbag->keb scene的数据转换工具addoffboard/bag_to_keb_scene/README.mdaddoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtaddoffboard/bag_to_keb_scene/bag_reader.hppaddoffboard/bag_to_keb_scene/CMakeLists.txtaddoffboard/bag_to_keb_scene/bag_reader.ccssep/keb_optimizer/keb_problem_diagnostic.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/keb_problem_diagnostic.hc291f23eaf81a12b77b9dfc825f868bd5a3f45191777556762000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-Diagnose: 关闭多初始解诊断 2026-04-30 21:46:02 +0800c291f23eaf81a12b77b9dfc825f868bd5a3f4519chore: Keb-Diagnose: 关闭多初始解诊断editssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem_diagnostic.hoffboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppCMakeLists.txtoffboard/bag_to_keb_scene/CMakeLists.txtoffboard/bag_to_keb_scene/bag_to_keb_scene.cc7a7e1113cb2032a9b4154567f9428355baf3e9791777557088000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: 实现rosbag->keb scene的数据转换工具 2026-04-30 21:51:28 +08007a7e1113cb2032a9b4154567f9428355baf3e979feat: Keb: 实现rosbag->keb scene的数据转换工具addoffboard/bag_to_keb_scene/bag_to_keb_scene.ccaddoffboard/bag_to_keb_scene/README.mdaddoffboard/bag_to_keb_scene/bag_reader.hppeditCMakeLists.txtaddoffboard/bag_to_keb_scene/CMakeLists.txtaddoffboard/bag_to_keb_scene/bag_reader.ccdata/constrain/block_data.cppff306a5a442fa8945cdce677a6c549f1c0695ef51777650771000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 2026-05-01 23:52:51 +0800ff306a5a442fa8945cdce677a6c549f1c0695ef5fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑editdata/constrain/block_data.cppdata/vehicle/cloud_pnc_config.cppplan/prepare/prepare_ogm.cppdata/other/flow_control.cppdata/scenario/scenario_planner_condition.cppdata/config/cfg_func_sw.hppdata/vehicle/cloud_pnc_config.hpphmi/draw/draw_map.cppdata/config/cfg_func_sw.cpphmi/draw/draw_intersection.cppdata/ssep/ssep_ec.cppplan/prepare/prepare_ogm.hppb7412fd21a316b1ef3703cc93d759282d4540fe81777655057000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 适配云端障碍物类别的功能 Co-authored-by: Copilot <copilot@github.com> 2026-05-02 01:04:17 +0800b7412fd21a316b1ef3703cc93d759282d4540fe8feat: 适配云端障碍物类别的功能editdata/config/cfg_func_sw.hppeditplan/prepare/prepare_ogm.hppeditdata/other/flow_control.cppeditdata/scenario/scenario_planner_condition.cppeditdata/config/cfg_func_sw.cppeditdata/vehicle/cloud_pnc_config.cppeditdata/vehicle/cloud_pnc_config.hppedithmi/draw/draw_map.cppeditplan/prepare/prepare_ogm.cppeditdata/ssep/ssep_ec.cppedithmi/draw/draw_intersection.cppdata/vehicle/lock_station_data.cpp86de8210ee68e6329f32cc1a35868b69ed2a94b71777909353000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据 2026-05-04 23:42:33 +080086de8210ee68e6329f32cc1a35868b69ed2a94b7fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据editdata/vehicle/lock_station_data.cppdata/map/pnc_map/routing_extension/routing_data.cpp2b509a221cdd64b1c693b51a550bdfdec8bfa4371777916260000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 2026-05-05 01:37:40 +08002b509a221cdd64b1c693b51a550bdfdec8bfa437fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查editdata/map/pnc_map/routing_extension/routing_data.cppdata/plan/start_point_data.cppdata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cppdata/map/pnc_map/routing_extension/routing_data.hpp82f1e85a323463ba80fd4fcdf8da1bb2a0d8d9701778047689000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: search_start_pt turn in place mode. 2026-05-06 14:08:09 +080082f1e85a323463ba80fd4fcdf8da1bb2a0d8d970fix: search_start_pt turn in place mode.editdata/plan/start_point_data.cppeditdata/ssep/open_space_ec.cppedittasks/deciders/other_decider/replan_decider.cppeditplan/prepare/prepare_status.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppoffboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cc8b78c5bcbf315994e7b6238c1d5185cab419aad91778053886000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 2026-05-06 15:51:26 +08008b78c5bcbf315994e7b6238c1d5185cab419aad9chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。editoffboard/bag_to_keb_scene/bag_reader.cceditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditoffboard/bag_to_keb_scene/bag_reader.hppeditoffboard/bag_to_keb_scene/README.mddata/config/cfg_env_const.hppdata/decide/decide_reaction.cppdata/config/cfg_env_const.cppdata/decide/decide_reaction.hpptasks/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.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.hpptasks/plan/keb_utils.cppc0c14c2d3b302d1ece6e57277f25e32b0028e45a1778060721000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 2026-05-06 17:45:21 +0800c0c14c2d3b302d1ece6e57277f25e32b0028e45afix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。edittasks/plan/keb_utils.cppoffboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cc44f7b48f99c518652479d5e51bea85b3e35d6de81778060788000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 2026-05-06 17:46:28 +080044f7b48f99c518652479d5e51bea85b3e35d6de8chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。editoffboard/bag_to_keb_scene/README.mdeditoffboard/bag_to_keb_scene/bag_reader.hppeditoffboard/bag_to_keb_scene/bag_reader.cceditoffboard/bag_to_keb_scene/bag_to_keb_scene.cctasks/plan/keb_utils.cpp70f22cdfbe6f4f6d176a40d97091accaf3f477401778060812000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 2026-05-06 17:46:52 +080070f22cdfbe6f4f6d176a40d97091accaf3f47740fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppc5db948fe5fb7098173c070809482e128577b4951778060838000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 2026-05-06 17:47:18 +0800c5db948fe5fb7098173c070809482e128577b495fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。edittasks/plan/keb_utils.cppssep/protos/ssep_scenario_type.protossep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/straddle_carrier_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h91fdc35083c9b02c48101419fd07aa48aa141b661778142959000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 2026-05-07 16:35:59 +080091fdc35083c9b02c48101419fd07aa48aa141b66feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。editssep/data_structures/ssep_scenario_type.hppeditssep/protos/ssep_scenario_type.protoeditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccaddssep/scenarios/straddle_carrier_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/straddle_carrier_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h7546606efefdee904b8fdc6cc039a25d8a589ffb1778145854000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 2026-05-07 17:24:14 +08007546606efefdee904b8fdc6cc039a25d8a589ffbfeat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/data_structures/ssep_scenario_type.hppeditssep/protos/ssep_scenario_type.protoaddssep/scenarios/straddle_carrier_general_planner.hdata/ssep/forward_ec.cpp4516372f928ed74c94a724349891f238da1b43681778157257000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep straddle carrier ssep scene 2026-05-07 20:34:17 +08004516372f928ed74c94a724349891f238da1b4368fix: add ssep straddle carrier ssep sceneeditdata/ssep/forward_ec.cppoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_to_keb_scene.ccb7fd0ea445d47529917a4cbfbe8dbc1007c7c7891778208709000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: snapshot to keb scene 增加批量转换功能 2026-05-08 10:51:49 +0800b7fd0ea445d47529917a4cbfbe8dbc1007c7c789chore: snapshot to keb scene 增加批量转换功能editoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditoffboard/bag_to_keb_scene/README.mdscenarios/bulkload_scenario/bulkload_move_forward_stage.cppc536333cacc14cfa6409a6c3cbce88b8046073ef1778208718000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进bulk场景中，有一帧场景器不运行的bug 2026-05-08 10:51:58 +0800c536333cacc14cfa6409a6c3cbce88b8046073effix:修复进bulk场景中，有一帧场景器不运行的bugeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppdata/ssep/ssep_activation.cpp6fbef3aa974bd5ef568ccbc99974572aed2ebaad1778222003000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: ogm为空时退出搜索 2026-05-08 14:33:23 +08006fbef3aa974bd5ef568ccbc99974572aed2ebaadfix: SSEP: ogm为空时退出搜索editdata/ssep/ssep_activation.cppdata/config/cfg_env_const.hpptasks/deciders/other_decider/replan_decider.cppdata/app/fsm/task_fsm/task_fsm.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpp6aa3f68532d1f8a80546591f2d8f4c39a060dc411778226718000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add SC park_in 2026-05-08 15:51:58 +08006aa3f68532d1f8a80546591f2d8f4c39a060dc41fix: add SC park_inedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_fsm.cppeditdata/vehicle/deviation_status.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppdata/ssep/field_junction_ec.cppdata/ssep/bridge_junction_ec.cppf52484d31ef770116289c6501ba45ac3c0800d1a1778227234000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary 2026-05-08 16:00:34 +0800f52484d31ef770116289c6501ba45ac3c0800d1arefactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundaryeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/field_junction_ec.cppalgorithm/wbca/wbca_manager.cpp15fdefe6f2086ec0cdb4a9f04ee9db7606a0e50e1778228417000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel wbca task_id verification 2026-05-08 16:20:17 +080015fdefe6f2086ec0cdb4a9f04ee9db7606a0e50efix: cancel wbca task_id verificationeditalgorithm/wbca/wbca_manager.cppalgorithm/wbca/wbca_manager.cpp223d3a6d63e5dc946bb54f6ff62014329fdf54e31778228603000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel wbca task_id verification 2026-05-08 16:23:23 +0800223d3a6d63e5dc946bb54f6ff62014329fdf54e3fix: cancel wbca task_id verificationeditalgorithm/wbca/wbca_manager.cppoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.protooffboard/keb_vis_server/foxglove/README.mdoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.proto.gitignoreoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.protooffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/requirements.txtoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto61ad307f176a1e2ecec7b94d5a63764d73c65e241778232903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: Add keb-foxglove visualization 2026-05-08 17:35:03 +080061ad307f176a1e2ecec7b94d5a63764d73c65e24feat: Keb: Add keb-foxglove visualizationaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.protoaddoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.protoaddoffboard/keb_vis_server/foxglove/keb_to_mcap.pyaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.protoedit.gitignoreaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.protoaddoffboard/keb_vis_server/foxglove/requirements.txtaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.protooffboard/keb_vis_server/foxglove/serve_mcap.pyoffboard/keb_vis_server/foxglove/README.md3d0d0fca081f967e21bb815c2b190c89ac9284c91778233071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: Add foxglove remote file server 2026-05-08 17:37:51 +08003d0d0fca081f967e21bb815c2b190c89ac9284c9feat: Keb: Add foxglove remote file serveraddoffboard/keb_vis_server/foxglove/serve_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/README.md0f11ae0bab1008819526bd858df4337cf40a65e01778236532000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复keb-foxglove转换脚本 2026-05-08 18:35:32 +08000f11ae0bab1008819526bd858df4337cf40a65e0fix: Keb: 修复keb-foxglove转换脚本addoffboard/keb_vis_server/foxglove/generate_protos.sheditoffboard/keb_vis_server/foxglove/README.mdssep/scenarios/straddle_carrier_general_planner.h44c2b4b85df795417ffb726444c32293dbc1f1231778236835000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） 2026-05-08 18:40:35 +080044c2b4b85df795417ffb726444c32293dbc1f123feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）editssep/scenarios/straddle_carrier_general_planner.hssep/scenarios/straddle_carrier_general_planner.hea647e7930cb15e48c1e18e0c9bf1d7a2721fc151778297236000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） 2026-05-09 11:27:16 +0800ea647e7930cb15e48c1e18e0c9bf1d7a2721fc15feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）editssep/scenarios/straddle_carrier_general_planner.hssep/ssep_planner.cc0c8a011f5420723cb66ac58914844eccfc48aeee1778303182000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 跨运车路径搜索时不考虑终点约束 2026-05-09 13:06:22 +08000c8a011f5420723cb66ac58914844eccfc48aeeechore: SSEP: 跨运车路径搜索时不考虑终点约束editssep/ssep_planner.ccdata/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.cppssep/ssep_planner.ccf4a02d54a5e4da1de4d7a159b3693717c88fe9801778305312000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 跨运车路径搜索时不考虑终点约束 2026-05-09 13:41:52 +0800f4a02d54a5e4da1de4d7a159b3693717c88fe980chore: SSEP: 跨运车路径搜索时不考虑终点约束editssep/ssep_planner.ccproto/CMakeLists.txt9194eea41c71b4fbb0224dba9be07f7ce477d6751778333614000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复编译依赖关系未指定导致概率性编译失败的问题 2026-05-09 21:33:34 +08009194eea41c71b4fbb0224dba9be07f7ce477d675fix: 修复编译依赖关系未指定导致概率性编译失败的问题editproto/CMakeLists.txtdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cpp6ae1e0861946f1de98dfbfaa30b42758d3a5faaa1778482692000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: park_in bug 2026-05-11 14:58:12 +08006ae1e0861946f1de98dfbfaa30b42758d3a5faaafix: park_in bugeditdata/vehicle/deviation_status.cppeditdata/ssep/forward_ec.cppdata/other/flow_control.cpp7bfb4249dcb858e80c1af3b72970d45443a224901778482709000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: unloading condition 2026-05-11 14:58:29 +08007bfb4249dcb858e80c1af3b72970d45443a22490fix: unloading conditioneditdata/other/flow_control.cppdata/other/flow_control.cppcb30d4216f289aabc5300227fadd4e94c5ecf7de1778485523000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: unloading condition bug 2026-05-11 15:45:23 +0800cb30d4216f289aabc5300227fadd4e94c5ecf7defix: unloading condition bugeditdata/other/flow_control.cppplan/prepare/prepare_ogm.cpp0d2c6f40d627c5c46e66c8d32a0aadb40e09e2af1778488831000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: masked_box pt 2026-05-11 16:40:31 +08000d2c6f40d627c5c46e66c8d32a0aadb40e09e2affix: masked_box pteditplan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.cpp6631d0074b5c90b75b43d3d90f0db69c4da3750b1778489913000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: mask_box yaw 2026-05-11 16:58:33 +08006631d0074b5c90b75b43d3d90f0db69c4da3750bfix: mask_box yaweditplan/prepare/prepare_ogm.cpptasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/keb_vis_server/foxglove/generate_protos.shalgorithm/plan/keb_optimizer.hppssep/keb_optimizer/keb_problem.ccssep/protos/diagnostic.protooffboard/keb_path_opt_cli/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hoffboard/keb_path_opt_cli/keb_simulator.hppssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/CMakeLists.txtproto/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem_diagnostic.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem_diagnostic.ccoffboard/keb_vis_server/foxglove/keb_to_mcap.py1b925974d34136dcea854939e67007dde1243e2f1778491269000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题 2026-05-11 17:21:09 +08001b925974d34136dcea854939e67007dde1243e2fchore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题editssep/CMakeLists.txteditoffboard/keb_vis_server/foxglove/generate_protos.sheditssep/keb_optimizer/rigid_truck_keb_optimizer.heditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditproto/CMakeLists.txteditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/keb_problem_diagnostic.heditoffboard/keb_path_opt_cli/keb_simulator.cceditproto/keb_scene.protoaddssep/protos/diagnostic.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/keb_problem.cceditoffboard/keb_path_opt_cli/CMakeLists.txteditoffboard/keb_path_opt_cli/keb_simulator.hppeditssep/keb_optimizer/imv_keb_optimizer.cceditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.hdata/other/flow_control.cpp6e3b4edde4ae9b53d89aea77edf4b1bd1d01d5fe1778492179000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增加判断距离阈值至6.0以优化后向Ogm忽略逻辑 2026-05-11 17:36:19 +08006e3b4edde4ae9b53d89aea77edf4b1bd1d01d5fefix: 增加判断距离阈值至6.0以优化后向Ogm忽略逻辑editdata/other/flow_control.cppscenarios/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.editscenarios/scenario.cppeditdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_func_sw.hppplan/prepare/prepare_ogm.cpp0946b3acaee02badd118f9a63f3ee2dda3c4623f1778496912000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: delete virual cloud points 2026-05-11 18:55:12 +08000946b3acaee02badd118f9a63f3ee2dda3c4623ffix: delete virual cloud pointseditplan/prepare/prepare_ogm.cppdata/other/flow_control.cpp7c59ad39501afd7694f4aec8bd4ca280f84b305a1778497021000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (跨运车)优化忽略TTC逻辑，调整速度和目标偏移条件 2026-05-11 18:57:01 +08007c59ad39501afd7694f4aec8bd4ca280f84b305afix: (跨运车)优化忽略TTC逻辑，调整速度和目标偏移条件editdata/other/flow_control.cppdata/vehicle/deviation_status.cpp31ea1ad3975dc3d9f35a4cc57a5a73811f5aa9891778553165000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: DeviationForStraighten bug 2026-05-12 10:32:45 +080031ea1ad3975dc3d9f35a4cc57a5a73811f5aa989fix: DeviationForStraighten bugeditdata/vehicle/deviation_status.cppdata/vehicle/related_offset.cpp42d39b57a664237a1cfd0e25d7b7c12367dfa4611778556196000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse sc_align offset heading 2026-05-12 11:23:16 +080042d39b57a664237a1cfd0e25d7b7c12367dfa461fix: reverse sc_align offset headingeditdata/vehicle/related_offset.cppdata/other/flow_control.cpp93b1c2b17efa1f3f609886d3ab438e305a7625231778556677000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增加判断距离阈值至8.0以优化后向Ogm忽略逻辑 2026-05-12 11:31:17 +080093b1c2b17efa1f3f609886d3ab438e305a762523fix: 增加判断距离阈值至8.0以优化后向Ogm忽略逻辑editdata/other/flow_control.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppddeddd5a13755415baf3d06e7ede03bd44af4dbf1778560686000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-12 12:38:06 +0800ddeddd5a13755415baf3d06e7ede03bd44af4dbffix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_func_sw.cppeditscenarios/scenario.cpp.gitignoredata/map/reference/reference_road_section.cpp016c1c47dab8fedb1d3a7577ac83684b561c844e1778564370000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 2026-05-12 13:39:30 +0800016c1c47dab8fedb1d3a7577ac83684b561c844erefactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑edit.gitignoreeditdata/map/reference/reference_road_section.cppdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppplan/prepare/prepare_ogm.cppdata/other/flow_control.cppdata/vehicle/request_routing_data.cpp8716d506735d2e7cda673a5214bf9d50d8af9cce1778565061000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: park_in bug; open_space auto start failed 2026-05-12 13:51:01 +08008716d506735d2e7cda673a5214bf9d50d8af9ccefix: park_in bug; open_space auto start failededitdata/vehicle/request_routing_data.cppeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppeditplan/prepare/prepare_ogm.cppeditdata/other/flow_control.cppdata/map/reference/reference_road_section.cpp2cae818e72a83c101ee324a77186f5866a1913651778567084000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 2026-05-12 14:24:44 +08002cae818e72a83c101ee324a77186f5866a191365refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程editdata/map/reference/reference_road_section.cppdata/other/flow_control.cpp948279d94f5619f9911016636d57808488c528ca1778569553000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: bulk_in scene decision bug 2026-05-12 15:05:53 +0800948279d94f5619f9911016636d57808488c528cafix: bulk_in scene decision bugeditdata/other/flow_control.cppssep/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.h4b38573f9ff8b061484c81feef8f75803377cfbf1778570005000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-12 15:13:25 +08004b38573f9ff8b061484c81feef8f75803377cfbfchore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cctasks/deciders/other_decider/replan_decider.cppf6bd6b0ad121a8e7a28289b642a8242d4b89bf4f1778574322000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: end position heading for ssep replan 2026-05-12 16:25:22 +0800f6bd6b0ad121a8e7a28289b642a8242d4b89bf4ffix: end position heading for ssep replanedittasks/deciders/other_decider/replan_decider.cppdata/map/reference/reference_road_section.cppe58ed555388809334c87ab9fdc55fbef1dd898981778576228000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 2026-05-12 16:57:08 +0800e58ed555388809334c87ab9fdc55fbef1dd89898refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑editdata/map/reference/reference_road_section.cppdata/other/flow_control.cpp1cce69fd11b22b884e91b60e1a2751fd468d8a931778587869000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增加最大速度阈值至4.0以优化卸货和装载时的OGM和TTC碰撞忽略逻辑 2026-05-12 20:11:09 +08001cce69fd11b22b884e91b60e1a2751fd468d8a93fix: 增加最大速度阈值至4.0以优化卸货和装载时的OGM和TTC碰撞忽略逻辑editdata/other/flow_control.cppdata/plan/center_line_info.cpptasks/other_tasks/create_center_lines.cppf5b95a7b89d7da92fddc7d2ad89ae3877d53cce31778589291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 2026-05-12 20:34:51 +0800f5b95a7b89d7da92fddc7d2ad89ae3877d53cce3refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理edittasks/other_tasks/create_center_lines.cppeditdata/plan/center_line_info.cppdata/config/cfg_static.cpp1d2ccec91a4d5d55ee1a8628b7aa6157da8d88371778653211000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加上层挂的前后基准距离计算 2026-05-13 14:20:11 +08001d2ccec91a4d5d55ee1a8628b7aa6157da8d8837feat: 添加上层挂的前后基准距离计算editdata/config/cfg_static.cppsink/ros_sink_pnc_status.cppa5195a2ef347ac29f81feeecd98b2fd347d12ac11778658058000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修改后退操作判断逻辑，使用reversing_mode替代is_backward_operation 2026-05-13 15:40:58 +0800a5195a2ef347ac29f81feeecd98b2fd347d12ac1fix: 修改后退操作判断逻辑，使用reversing_mode替代is_backward_operationeditsink/ros_sink_pnc_status.cppdata/plan/start_point_data.cppdata/ssep/open_space_ec.cppdata/vehicle/sc_turn_in_place_mode.cppplan/prepare/prepare_status.cppdata/map/pnc_map/routing_extension/routing_data.hppdata/vehicle/sc_turn_in_place_mode.hppdata/map/pnc_map/routing_extension/routing_data.cppdata/plan_frame.hppca5b7d4561c500589945b9d4f9c76ee82dd333971778658351000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: sc turn_in_place_mode 2026-05-13 15:45:51 +0800ca5b7d4561c500589945b9d4f9c76ee82dd33397refact: sc turn_in_place_modeeditdata/map/pnc_map/routing_extension/routing_data.cppadddata/vehicle/sc_turn_in_place_mode.hppeditdata/plan_frame.hppeditplan/prepare/prepare_status.cppeditdata/plan/start_point_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditdata/ssep/open_space_ec.cppadddata/vehicle/sc_turn_in_place_mode.cppdata/ssep/ssep_ec.cppf594d4056c9db95adf15b608d615499907d9b9fb1778664389000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Task Park时不使用参考线 2026-05-13 17:26:29 +0800f594d4056c9db95adf15b608d615499907d9b9fbfix: Task Park时不使用参考线editdata/ssep/ssep_ec.cppdata/config/cfg_safe_const.hppdata/obstacle/occupy_grid.hppdata/config/cfg_safe_const.cppdata/obstacle/occupy_grid.cppb3e0c232de1806c24d09b1438c4efd253fc72e331778675131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加限速相关参数和窄障碍过滤逻辑 2026-05-13 20:25:31 +0800b3e0c232de1806c24d09b1438c4efd253fc72e33feat: 添加限速相关参数和窄障碍过滤逻辑editdata/config/cfg_safe_const.cppeditdata/obstacle/occupy_grid.cppeditdata/obstacle/occupy_grid.hppeditdata/config/cfg_safe_const.hppplan/prepare/prepare_ogm.cppcommon/util/crash_helper.hpphmi/draw/draw_constrain.cppdata/constrain/longitude_constrain.cppdata/obstacle/ogm.hppdata/constrain/long_target.cpphmi/draw/draw_collision_detection.cpptasks/deciders/long_decider/constrain_decider.cppdata/lattice/ogm_crash_data.hppcommon/util/crash_helper.cppdata/plan/predict_path.cppdata/obstacle/ogm.cpptasks/deciders/other_decider/replan_decider.cppdata/plan/predict_path.hppdata/lattice/ogm_crash_data.cppdata/constrain/longitude_constrain.hpp049e471c60e56c09ca7c2223d5d1186b8d2dc5411778685039000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型 2026-05-13 23:10:39 +0800049e471c60e56c09ca7c2223d5d1186b8d2dc541feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型editdata/constrain/longitude_constrain.hppeditdata/lattice/ogm_crash_data.cppeditdata/plan/predict_path.hppedithmi/draw/draw_collision_detection.cppeditdata/constrain/longitude_constrain.cppeditdata/obstacle/ogm.hppeditplan/prepare/prepare_ogm.cppeditcommon/util/crash_helper.hppeditcommon/util/crash_helper.cppeditdata/constrain/long_target.cppeditdata/obstacle/ogm.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/lattice/ogm_crash_data.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/plan/predict_path.cppedithmi/draw/draw_constrain.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/plan/ssep_data.cppdata/app/fsm/stop_reason.hppcommon/util/express.cppdata/app/fsm/stop_reason.cppf681eb8a15aaa2e1619d4f531bfe86654aedf63c1778685039000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 停车原因相关修改，新增禁行道路 OGM 停车类型 2026-05-13 23:10:39 +0800f681eb8a15aaa2e1619d4f531bfe86654aedf63cfeat: 停车原因相关修改，新增禁行道路 OGM 停车类型editdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/stop_reason.cppeditdata/app/fsm/stop_reason.hppeditcommon/util/express.cppeditdata/plan/ssep_data.cppssep/scenarios/imv_enter_station_planner.h0e93f151e668b0c0573195d94b688ce9e0eb52e91778733148000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 苏溪IMV支持反向进停车位 2026-05-14 12:32:28 +08000e93f151e668b0c0573195d94b688ce9e0eb52e9chore: SSEP: 苏溪IMV支持反向进停车位editssep/scenarios/imv_enter_station_planner.hssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/scenarios/straddle_carrier_general_planner.hdata/ssep/ssep_ec.cppssep/scenarios/straddle_carrier_pick_vehicle_planner.had378825194056a8803f5af5bccb0b0e7a1dc0aa1778740565000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复烟台跨运车路径规划未到终点的问题 2026-05-14 14:36:05 +0800ad378825194056a8803f5af5bccb0b0e7a1dc0aafix: 修复烟台跨运车路径规划未到终点的问题editssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/scenarios/straddle_carrier_general_planner.heditdata/ssep/ssep_ec.cppssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/scenarios/straddle_carrier_general_planner.hdata/ssep/ssep_ec.cppssep/scenarios/straddle_carrier_pick_vehicle_planner.hf1dcea4d0988b65d8637d720f7eba169ba759e731778740683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复烟台跨运车路径规划未到终点的问题 2026-05-14 14:38:03 +0800f1dcea4d0988b65d8637d720f7eba169ba759e73fix: 修复烟台跨运车路径规划未到终点的问题editdata/ssep/ssep_ec.cppeditssep/scenarios/straddle_carrier_general_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/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/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/constrain/disable_stop_range.cppa62c3fcadf54c16a43502f7c87f1d4fda62639b51778771469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化进堆场弯道禁停的忽略的距离 2026-05-14 23:11:09 +0800a62c3fcadf54c16a43502f7c87f1d4fda62639b5refactor:优化进堆场弯道禁停的忽略的距离editdata/constrain/disable_stop_range.cppssep/scenarios/planner_utils.hssep/scenarios/planner_utils.ccssep/scenarios/tractor_trailer_enter_yard_planner.hf66d6ba29d393b706e7983c1ca72f7a08eae66f11778834391000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复近距离进堆场时先掉2次头再进堆场的问题 2026-05-15 16:39:51 +0800f66d6ba29d393b706e7983c1ca72f7a08eae66f1fix: SSEP: 修复近距离进堆场时先掉2次头再进堆场的问题editssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_general_planner.hcbeaafa15e29e65f45a0e38b09f61edb3d7824661778835240000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复途经点在后方时路径异常的问题 2026-05-15 16:54:00 +0800cbeaafa15e29e65f45a0e38b09f61edb3d782466fix: SSEP: 修复途经点在后方时路径异常的问题editssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.h10712e7732eeb32df8ec9e2f177993adfc99ffb21778851507000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: IMV增加条件忽略pass point 2026-05-15 21:25:07 +080010712e7732eeb32df8ec9e2f177993adfc99ffb2chore: SSEP: IMV增加条件忽略pass pointeditssep/scenarios/scenario_planner_factory.hplan/prepare/prepare_ogm.cpp26b7517fa9feac0912d3af870aca7b7c9f451bc81779073589000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: maxbox bug in task_park 2026-05-18 11:06:29 +080026b7517fa9feac0912d3af870aca7b7c9f451bc8fix: maxbox bug in task_parkeditplan/prepare/prepare_ogm.cpphmi/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/velocity_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/widget/brake_chart.cppedithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/command.cppedithmi/widget/steer_chart.hppedithmi/widget/steer_chart.cppedithmi/widget/brake_chart.hppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/diagnose.hppedithmi/widget/throttle_chart.cppedithmi/widget/throttle_chart.hppedithmi/common/chart.hppedithmi/widget/diagnose.cpptasks/deciders/long_decider/constrain_decider.cpp52b8bc23bb8957f98a4fed7126c79f68d7425b381779083264000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整CreateNoTrajectories中的remain_len逻辑，减少无轨迹停车 2026-05-18 13:47:44 +080052b8bc23bb8957f98a4fed7126c79f68d7425b38fix: 调整CreateNoTrajectories中的remain_len逻辑，减少无轨迹停车edittasks/deciders/long_decider/constrain_decider.cppdata/ssep/forward_ec.cpp79fc60aa3c6ecff8eaace51e91ed41a974d42b131779084137000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:苏溪进停车位场景识别的bug 2026-05-18 14:02:17 +080079fc60aa3c6ecff8eaace51e91ed41a974d42b13feat:苏溪进停车位场景识别的bugeditdata/ssep/forward_ec.cppdata/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.hppdata/app/fsm/task_done_verification.cppdata/config/cfg_safe_const.hppdata/app/fsm/task_done_verification.hppdata/config/cfg_safe_const.cpp1d9ef3640faf47d9567abcfdb76b10ea40ad3bc21779089483000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com支持通过参数配置堆高机任务完成的纵向安全边距 2026-05-18 15:31:23 +08001d9ef3640faf47d9567abcfdb76b10ea40ad3bc2支持通过参数配置堆高机任务完成的纵向安全边距editdata/app/fsm/task_done_verification.cppeditdata/app/fsm/task_done_verification.hppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cppdata/ssep/forward_ec.cpp56d64967cc4267d3501bcda7c787c819271cda871779089834000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在forsearch搜索中，前港区域，不考虑矿卡障碍物 2026-05-18 15:37:14 +080056d64967cc4267d3501bcda7c787c819271cda87feat: 在forsearch搜索中，前港区域，不考虑矿卡障碍物editdata/ssep/forward_ec.cppssep/keb_optimizer/imv_keb_optimizer.cc498088b38d4026ab07266daecbcbc3c62b6d2c881779096382000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复IMV后侧容易被挡停的问题 2026-05-18 17:26:22 +0800498088b38d4026ab07266daecbcbc3c62b6d2c88fix: Keb: 修复IMV后侧容易被挡停的问题editssep/keb_optimizer/imv_keb_optimizer.ccalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppfd66e4bd2d7af4fa76e4651e5bae615c0ace71721779109083000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题 2026-05-18 20:58:03 +0800fd66e4bd2d7af4fa76e4651e5bae615c0ace7172fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题editalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdff765e360805cc6cd25a6a6df811933d253cdce1779111068000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-18 21:31:08 +0800dff765e360805cc6cd25a6a6df811933d253cdcefix: 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.hssep/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.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/protos/ssep_scenario_type.protossep/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/CMakeLists.txteditssep/keb_optimizer/keb_problem.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_general_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/data_structures/ssep_scenario_type.hppeditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/straddle_carrier_general_planner.h21a1df2d731e984cb4d3fd10e4b367b5433adc371779159745000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞 2026-05-19 11:02:25 +080021a1df2d731e984cb4d3fd10e4b367b5433adc37fix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/scenarios/straddle_carrier_general_planner.hscenarios/lane_follow_scenario/lane_follow_stage.cppplan/prepare/module.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppplan/pilot/module.cppcore/plan_runtime_watchdog.hppcore/plan_async.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_backward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_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/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.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.cpp335bc124e56c2536cc6128b6211da5406e7569111779161453000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加计划运行监视器以跟踪任务执行时间和状态 2026-05-19 11:30:53 +0800335bc124e56c2536cc6128b6211da5406e756911feat: 添加计划运行监视器以跟踪任务执行时间和状态editplan/pilot/module.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppaddcore/plan_runtime_watchdog.hppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditcore/plan_async.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditplan/prepare/module.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditnode/logic.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppdata/config/cfg_lat_plan.cppdata/ssep/forward_ec.cpp891155ac4ca3966fb179f97049acdadac6eb3c1d1779162295000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add end_posture for ssep 2026-05-19 11:44:55 +0800891155ac4ca3966fb179f97049acdadac6eb3c1dfix: add end_posture for ssepeditdata/config/cfg_lat_plan.cppeditdata/ssep/forward_ec.cppdata/ssep/forward_ec.cppdata/config/cfg_lat_plan.cpp78f51ffe8e7c2e45af66ddb75e0c7889fb613e351779162515000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep end_posture bug; del redundant params 2026-05-19 11:48:35 +080078f51ffe8e7c2e45af66ddb75e0c7889fb613e35fix: ssep end_posture bug; del redundant paramseditdata/ssep/forward_ec.cppeditdata/config/cfg_lat_plan.cppssep/scenarios/straddle_carrier_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/CMakeLists.txt4760582d7742614d4ddec23fe4fed2ebfbe16e101779177866000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep in feat_keb_v2 2026-05-19 16:04:26 +08004760582d7742614d4ddec23fe4fed2ebfbe16e10fix: checkout ssep in feat_keb_v2editssep/keb_optimizer/keb_problem.cceditssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/scenarios/straddle_carrier_general_planner.heditssep/offboard/path_drawing_tool/CMakeLists.txteditssep/keb_optimizer/keb_problem.heditssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/map/pnc_map/routing_extension/routing_data.hpp849b809662aefd3a936983d16c9eb850bf0628d61779193058000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:终点在身后的时候并且车辆没有移动的情况下不创建停止线。 2026-05-19 20:17:38 +0800849b809662aefd3a936983d16c9eb850bf0628d6feat:终点在身后的时候并且车辆没有移动的情况下不创建停止线。editdata/map/pnc_map/routing_extension/routing_data.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/map/pnc_map/routing_extension/routing_data.cppdata/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hppdata/app/cmd/cmd_dead_lock_force_park.hppdata/plan/guide_line.cppec72507c1222f7759bc263671e82114348ea6d1d1779199067000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算 2026-05-19 21:57:47 +0800ec72507c1222f7759bc263671e82114348ea6d1dfeat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算editdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cppeditdata/app/cmd/cmd_dead_lock_force_park.hppeditdata/plan/guide_line.cppplan/prepare/prepare_ogm.cppb18a8cf6bcc67500855d45edcfc9ff4ec91e7e041779245444000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: merge bug 2026-05-20 10:50:44 +0800b18a8cf6bcc67500855d45edcfc9ff4ec91e7e04fix: merge bugeditplan/prepare/prepare_ogm.cppssep/keb_optimizer/cost_features/disk_collision_cost.htasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/path_length_cost.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/cost_features/truck_kinematic_constraint.hssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.hd18a7474fa7354e2aa5f5fbf9d696bbc071de17d1779245538000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。 2026-05-20 10:52:18 +0800d18a7474fa7354e2aa5f5fbf9d696bbc071de17dfeat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。editssep/keb_optimizer/cost_features/disk_collision_cost.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.hedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/cost_features/path_length_cost.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hplan/prepare/prepare_ogm.cpp7e293b6bebcf34be3ffa681aface5341c9fc98831779246307000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: merge bug 2026-05-20 11:05:07 +08007e293b6bebcf34be3ffa681aface5341c9fc9883fix: merge bugeditplan/prepare/prepare_ogm.cppdata/plan/guide_line.cppba14473ce1031b6c19f65836d6fd990bd841085f1779253725000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修改路径点格式化中的分隔符，从 '&' 改为 '#' 2026-05-20 13:08:45 +0800ba14473ce1031b6c19f65836d6fd990bd841085ffix: 修改路径点格式化中的分隔符，从 '&' 改为 '#'editdata/plan/guide_line.cppssep/scenarios/straddle_carrier_pick_vehicle_planner.hd189bbc6258b48ba139a99f51101e0cd19269dc31779256884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 跨运车自转逻辑改进 2026-05-20 14:01:24 +0800d189bbc6258b48ba139a99f51101e0cd19269dc3chore: SSEP: 跨运车自转逻辑改进editssep/scenarios/straddle_carrier_pick_vehicle_planner.hdata/ssep/open_space_ec.cpp86e66d870e92fe2ed6d0e3cb40d50ad3712ae9371779257594000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: openspace search start point 2026-05-20 14:13:14 +080086e66d870e92fe2ed6d0e3cb40d50ad3712ae937fix: openspace search start pointeditdata/ssep/open_space_ec.cppssep/scenarios/straddle_carrier_pick_vehicle_planner.h6aa36f6709b5df4c5b5b879f88a8a5da73eba8531779257637000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 跨运车自转逻辑改进 2026-05-20 14:13:57 +08006aa36f6709b5df4c5b5b879f88a8a5da73eba853chore: SSEP: 跨运车自转逻辑改进editssep/scenarios/straddle_carrier_pick_vehicle_planner.hdata/vehicle/lock_station_data.cppdata/ssep/open_space_ec.cppdata/ssep/base_stop_line_filter.cppdata/ssep/open_space_ec.hppdata/ssep/base_stop_line_filter.hpp7168dbfa30ffd93062b1608f08d636e57a33d4dd1779286028000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能 2026-05-20 22:07:08 +08007168dbfa30ffd93062b1608f08d636e57a33d4ddfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能editdata/ssep/base_stop_line_filter.hppeditdata/ssep/open_space_ec.hppeditdata/ssep/base_stop_line_filter.cppeditdata/ssep/open_space_ec.cppeditdata/vehicle/lock_station_data.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppdata/ssep/field_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppscenarios/scenario_interface.hppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpphmi/draw/draw_path_boundary.cppdata/boundary/road_boundary.cppconfig/config_truck/scenario.yamlscenarios/stage.hpptasks/other_tasks/stitch_path_data_to_path.cppf5eba086e38f878a9c59460cd274ccfac0bbba6e1779286185000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度 2026-05-20 22:09:45 +0800f5eba086e38f878a9c59460cd274ccfac0bbba6e引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度editscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppaddscenarios/task_condition_evaluator.cppeditscenarios/scenario_interface.hppaddscenarios/task_condition_evaluator.hppeditdata/boundary/road_boundary.cppeditdata/ssep/field_junction_ec.cppedithmi/draw/draw_path_boundary.cppeditscenarios/stage.hppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditscenarios/scenario.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppeditconfig/config_truck/scenario.yamldata/vehicle/deviation_status.cpp0a384016224b6666ecf0b9ecd01fe0c2c59356441779330967000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during car loading 2026-05-21 10:36:07 +08000a384016224b6666ecf0b9ecd01fe0c2c5935644fix: disable replan during car loadingeditdata/vehicle/deviation_status.cppscenarios/lane_follow_scenario/lane_follow_stage.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppdata/config/cfg_func_sw.hppscenarios/task_condition_evaluator.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpphmi/widget/diagnose.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/stage.hppa2fe19adfd84af23f521e6790146fca98c816aaa1779362941000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能 2026-05-21 19:29:01 +0800a2fe19adfd84af23f521e6790146fca98c816aaa重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能editscenarios/stage.hppeditdata/config/cfg_env_const.cppedithmi/widget/diagnose.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/stage.cppeditdata/config/cfg_func_sw.hppeditscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppeditdata/config/cfg_env_const.hppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_extraction.cpp31e09a791978ac342db474d9da6246ce4678fe461779362988000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值 2026-05-21 19:29:48 +080031e09a791978ac342db474d9da6246ce4678fe46feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值edittasks/plan/keb_lane_follow_path_task.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_enter_yard_planner.h6e58a963e9a696edda1a1fbc57114f301c2d47fc1779363081000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 支持上下码头面同时进堆场 2026-05-21 19:31:21 +08006e58a963e9a696edda1a1fbc57114f301c2d47fcfeat: SSEP: 支持上下码头面同时进堆场editssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc5c66484117e480a1bf37b534af153741f51029101779363797000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 调整运动学可行性检查的最大归一化位置和朝向误差 2026-05-21 19:43:17 +08005c66484117e480a1bf37b534af153741f5102910feat: 调整运动学可行性检查的最大归一化位置和朝向误差editssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc0dbf3b3c0dd814f60915d79a4e08490a137974c41779369955000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复集卡多段倒车搜索失败的问题 2026-05-21 21:25:55 +08000dbf3b3c0dd814f60915d79a4e08490a137974c4fix: SSEP: 修复集卡多段倒车搜索失败的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cpp01953a89de69f4ce40476214765121973d3f0c6f1779370829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-21 21:40:29 +080001953a89de69f4ce40476214765121973d3f0c6ffeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/vehicle/sc_turn_in_place_mode.cppdata/scenario/scenario_planner_bt.cppdata/other/flow_control.cppdata/scenario/scenario_planner_condition.cppdata/vehicle/sc_turn_in_place_mode.hppdata/map/pnc_map/routing_extension/routing_data.cpptasks/other_tasks/stitch_path_data_to_path.cpp21d0845082576cb4d43f9552e0498ceb1db0e0291779435281000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: travel_out bug; open_space bug 2026-05-22 15:34:41 +080021d0845082576cb4d43f9552e0498ceb1db0e029fix: travel_out bug; open_space bugedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditdata/other/flow_control.cppeditdata/scenario/scenario_planner_condition.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppeditdata/scenario/scenario_planner_bt.cppeditdata/vehicle/sc_turn_in_place_mode.cppeditdata/map/pnc_map/routing_extension/routing_data.cppdata/other/flow_control.cpp36c313d92d6159e79274b863256e14969346c22f1779442331000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bacbward ogm bug. 2026-05-22 17:32:11 +080036c313d92d6159e79274b863256e14969346c22ffix: ignore bacbward ogm bug.editdata/other/flow_control.cppdata/constrain/block_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hpp5c305ed4092e332ef41c2415f0d0c90174ff8ba41779447494000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加bulk in 堆场前临时停车功能 2026-05-22 18:58:14 +08005c305ed4092e332ef41c2415f0d0c90174ff8ba4feat: 添加bulk in 堆场前临时停车功能editdata/constrain/disable_stop_range.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/constrain/disable_stop_range.cppeditdata/constrain/block_data.cppdata/map/pnc_map/routing_extension/routing_data.cpp9adaf7e269616766ee94652d4501b6206ee69cfc1779505212000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: open space bug 2026-05-23 11:00:12 +08009adaf7e269616766ee94652d4501b6206ee69cfcfix: open space bugeditdata/map/pnc_map/routing_extension/routing_data.cppdata/other/flow_control.cpp1b8e94b138a0609cb73ebf0e0e777d5b694d27d51779528760000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: openspace to bulk_load exception 2026-05-23 17:32:40 +08001b8e94b138a0609cb73ebf0e0e777d5b694d27d5fix: openspace to bulk_load exceptioneditdata/other/flow_control.cppssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/scenarios/straddle_carrier_general_planner.hb256d63212ae082f14354d1d39518463c61aa4d91779691206000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 2026-05-25 14:40:06 +0800b256d63212ae082f14354d1d39518463c61aa4d9fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。editssep/scenarios/straddle_carrier_general_planner.heditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccdata/map/pnc_map/routing_extension/routing_data.cpp196b86a3823ca0dff628ad860d94e851d0663f831779692543000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: accidental openspace entry 2026-05-25 15:02:23 +0800196b86a3823ca0dff628ad860d94e851d0663f83fix: accidental openspace entryeditdata/map/pnc_map/routing_extension/routing_data.cppssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/scenarios/straddle_carrier_general_planner.hee146d8f9a2819d9565d186115213c2476f789891779692572000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 2026-05-25 15:02:52 +0800ee146d8f9a2819d9565d186115213c2476f78989fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。editssep/scenarios/straddle_carrier_general_planner.heditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cctasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/cost_features/ref_line_cost.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccoffboard/keb_path_opt_cli/keb_path_opt_cli.ccalgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.htasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.cc4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b1779712780000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程 2026-05-25 20:39:40 +08004bf5c8270da914d3b1f5904f5e1bb979afa6cc7bchore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程editoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/keb_problem.cceditssep/offboard/ssep_planner_wrapper.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.hdata/obstacle/block.hppdata/common/path_point.hppdata/map/pnc_map/pnc_map_path.cppdata/map/reference/reference_segment.hppcommon/util/hdmap_namespace.hppdata/common/trajectory.hppdata/common/trajectory_point.hppdata/dp_poly_path/comparable_cost.hppCMakeLists.txt1b988671fa14d46390c7e72167264eb91bb59f151779715566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: clang18 编译优化 2026-05-25 21:26:06 +08001b988671fa14d46390c7e72167264eb91bb59f15feat: clang18 编译优化editdata/common/path_point.hppeditCMakeLists.txteditdata/dp_poly_path/comparable_cost.hppeditdata/map/pnc_map/pnc_map_path.cppeditcommon/util/hdmap_namespace.hppeditdata/map/reference/reference_segment.hppeditdata/common/trajectory.hppeditdata/common/trajectory_point.hppeditdata/obstacle/block.hpptasks/deciders/long_decider/constrain_decider.cppdca6c98db33487af01a20e3a8e337741b290e6b01779760410000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:崩溃防护，guide line 有效，但speedlimits为空 2026-05-26 09:53:30 +0800dca6c98db33487af01a20e3a8e337741b290e6b0fix:崩溃防护，guide line 有效，但speedlimits为空edittasks/deciders/long_decider/constrain_decider.cppdata/app/fsm/task_fsm/task_fsm.cpp847c2fc7db32a071335257e130559f853f2f5e3a1779765874000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: incorrectlly enter park_in state 2026-05-26 11:24:34 +0800847c2fc7db32a071335257e130559f853f2f5e3afix: incorrectlly enter park_in stateeditdata/app/fsm/task_fsm/task_fsm.cppoffboard/keb_path_opt_cli/keb_simulator.ccalgorithm/plan/keb_optimizer.cpp48d96b1fa2212d2e673a86427ae8c99c58fb86da1779767596000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复终点附近轨迹会有碰撞的问题 2026-05-26 11:53:16 +080048d96b1fa2212d2e673a86427ae8c99c58fb86dafix: Keb: 修复终点附近轨迹会有碰撞的问题editoffboard/keb_path_opt_cli/keb_simulator.cceditalgorithm/plan/keb_optimizer.cppssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccbba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f51779772306000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: fix crashing issue 2026-05-26 13:11:46 +0800bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5fix: SSEP: fix crashing issueeditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccoffboard/keb_path_opt_cli/keb_simulator.cc0703acd58c84b4ace9abf4350bd6604c0e1b1cb71779772399000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-sim: 适配终点选取逻辑 2026-05-26 13:13:19 +08000703acd58c84b4ace9abf4350bd6604c0e1b1cb7chore: Keb-sim: 适配终点选取逻辑editoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/cost_features/disk_collision_cost.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/cost_features/ref_line_cost.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/cost_features/path_length_cost.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/cost_features/truck_kinematic_constraint.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h40daedb3d87a4ab4155ddb110a984452da55b8d31779774481000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-26 13:48:01 +080040daedb3d87a4ab4155ddb110a984452da55b8d3fix: checkout feat_keb_v2editssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/cost_features/disk_collision_cost.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/keb_optimizer/cost_features/path_length_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/offboard/ssep_planner_wrapper.ccdata/ssep/open_space_ec.cppscenarios/task_condition_evaluator.cppdata/map/pnc_map/routing_extension/routing_data.cpp7877eff32392d61b24edcfd041e1ccc07f59101e1779777295000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:动态上下码头面直接进堆场场景的优化 2026-05-26 14:34:55 +08007877eff32392d61b24edcfd041e1ccc07f59101efeat:动态上下码头面直接进堆场场景的优化editdata/ssep/open_space_ec.cppeditscenarios/task_condition_evaluator.cppeditdata/map/pnc_map/routing_extension/routing_data.cppsink/ros_sink_cloud_trajectory.cppd62544f9ee0f56a94a4c24195b03574a26b77cf11779781414000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加云端轨迹挂转角的赋值 2026-05-26 15:43:34 +0800d62544f9ee0f56a94a4c24195b03574a26b77cf1feat:添加云端轨迹挂转角的赋值editsink/ros_sink_cloud_trajectory.cpptasks/deciders/long_decider/constrain_decider.cppf4c924bed3396eccd1d67360cab3d176a01671901779781847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:堆场前停车，停车原因赋值错误的bug 2026-05-26 15:50:47 +0800f4c924bed3396eccd1d67360cab3d176a0167190fix:堆场前停车，停车原因赋值错误的bugedittasks/deciders/long_decider/constrain_decider.cppdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp20fe40a09dfcc324d0d105ec3b5feb1f890499021779782439000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场前停车，motion状态机错误的bug 2026-05-26 16:00:39 +080020fe40a09dfcc324d0d105ec3b5feb1f89049902fix:进堆场前停车，motion状态机错误的bugeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppalgorithm/plan/keb_optimizer.cpp83813bf5122f441c9fb043e7bb24ea7a3db54dbf1779786680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复keb路径跳变的bug 2026-05-26 17:11:20 +080083813bf5122f441c9fb043e7bb24ea7a3db54dbffix:修复keb路径跳变的bugeditalgorithm/plan/keb_optimizer.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_env_const.cpped755ec8a14fb5980476faeae2ae252c75a7026a1779787953000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: Correct open_space_region condition 2026-05-26 17:32:33 +0800ed755ec8a14fb5980476faeae2ae252c75a7026afix: Correct open_space_region conditioneditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/config/cfg_env_const.cpphmi/common/image_viewer.cpphmi/widget/map.hpphmi/widget/map.cpphmi/common/image_viewer.hpp48daa21458f0c4904c9c812e96c937f9ce34456c1779802709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:ctrl +shift 左键可以把车辆移动到没有lane的位置上 2026-05-26 21:38:29 +080048daa21458f0c4904c9c812e96c937f9ce34456cfeat:ctrl +shift 左键可以把车辆移动到没有lane的位置上edithmi/common/image_viewer.cppedithmi/widget/map.hppedithmi/widget/map.cppedithmi/common/image_viewer.hpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hpphmi/draw/draw_perception.cpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/config/cfg_func_sw.hpphmi/draw/draw_perception.hppdata/config/cfg_func_sw.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cppdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cpphmi/widget/pnc_mat_shared.cpptasks/plan/keb_utils.cpphmi/draw/draw_all.cppdata/plan_frame.hpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp06aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2b1779860819000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加KEB可视化数据结构及相关功能 - 在CfgFuncSw和CfgHmi中添加KEB相关功能开关 - 实现KEB可视化数据的生成和更新 - 在绘制模块中集成KEB上层和下层线段的绘制 - 更新路径优化任务以支持KEB可视化数据 2026-05-27 13:46:59 +080006aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2bfeat: 添加KEB可视化数据结构及相关功能adddata/plan/keb_visualize_data.hppeditdata/map/pnc_map/pnc_map_path.cppedittasks/plan/keb_lane_follow_path_task.cppeditdata/plan_frame.hppedithmi/replayer_hmi.cppeditdata/config/cfg_func_sw.cppedithmi/widget/pnc_mat_shared.cppeditdata/config/cfg_safe_const.hppeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/plan/keb_path_optimize_task.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_hmi.hppedithmi/node_hmi.cppedittasks/plan/keb_lane_follow_path_task.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_hmi.cppedithmi/draw/draw_perception.hppedithmi/draw/draw_all.cppedittasks/plan/keb_utils.cppdata/config/cfg_func_sw.hpp4482c5612405410d84008ea262418b70bf895a361779862581000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新CfgFuncSw类的序列化版本，添加新功能支持 2026-05-27 14:16:21 +08004482c5612405410d84008ea262418b70bf895a36feat: 更新CfgFuncSw类的序列化版本，添加新功能支持editdata/config/cfg_func_sw.hppdata/scenario/scenario_planner_bt.cpp3a44489a43b861ce26073ac5d976d351b5a1fbc91779864524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 岸桥搜索添加黑名单功能 2026-05-27 14:48:44 +08003a44489a43b861ce26073ac5d976d351b5a1fbc9feat: 岸桥搜索添加黑名单功能editdata/scenario/scenario_planner_bt.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_utils_core.cppoffboard/keb_path_opt_cli/keb_scene_converter.cc51f5fb1c968a563b794d66cc91759514d44ffb421779883608000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 优化IMV的避障效果 2026-05-27 20:06:48 +080051f5fb1c968a563b794d66cc91759514d44ffb42chore: Keb: 优化IMV的避障效果editoffboard/keb_path_opt_cli/keb_scene_converter.cceditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_utils_core.cpptasks/deciders/other_decider/stop_decider.cppfcb1fdf1c53233f194b8e9f1689ec363d96b43051779888046000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 匹配STOP_DECIDER前移 2026-05-27 21:20:46 +0800fcb1fdf1c53233f194b8e9f1689ec363d96b4305fix: 匹配STOP_DECIDER前移edittasks/deciders/other_decider/stop_decider.cppdata/map/envelop/map_envelops.hppdata/ssep/online_region_contour_creator.cppdata/map/envelop/map_envelops.cppdata/ssep/online_region_contour_creator.hppdata/ssep/bridge_junction_ec.cppfc7059e89de4fef19ca9cf953d4b7fd61aa8a80b1779950372000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加异步处理功能以优化地图包围区域的创建 2026-05-28 14:39:32 +0800fc7059e89de4fef19ca9cf953d4b7fd61aa8a80bfeat: 添加异步处理功能以优化地图包围区域的创建editdata/ssep/bridge_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppeditdata/map/envelop/map_envelops.hppeditdata/ssep/online_region_contour_creator.cppeditdata/map/envelop/map_envelops.cppdata/scenario/scenario_planner_action.cpp4fc2be86a4d1eca4b53f4d56e62c97f5fb031f1d1779950400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:场景切换的bug 2026-05-28 14:40:00 +08004fc2be86a4d1eca4b53f4d56e62c97f5fb031f1dfix:场景切换的bugeditdata/scenario/scenario_planner_action.cppssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/planner_utils.cc71c16bf45e561eefea113e465b699a33859d6b861779956374000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 优化集卡上下码头面路径 2026-05-28 16:19:34 +080071c16bf45e561eefea113e465b699a33859d6b86chore: SSEP: 优化集卡上下码头面路径editssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/planner_utils.hssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/ssep_planner.ccssep/coarse_search/motion_primitive_sampler/dubins_path.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hdc17e68abc06ca8dbb3d1a3db7def4422dcc39b91779968501000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升跨运车抓车搜索成功率 2026-05-28 19:41:41 +0800dc17e68abc06ca8dbb3d1a3db7def4422dcc39b9chore: SSEP: 提升跨运车抓车搜索成功率editssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/coarse_search/motion_primitive_sampler/dubins_path.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/ssep_planner.ccssep/coarse_search/motion_primitive_sampler/dubins_path.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.h9d8ec0cc2eec373d2042e92afd783de30a1dace51779971394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 提升跨运车抓车搜索成功率 2026-05-28 20:29:54 +08009d8ec0cc2eec373d2042e92afd783de30a1dace5chore: SSEP: 提升跨运车抓车搜索成功率editssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/ssep_planner.cceditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/coarse_search/motion_primitive_sampler/dubins_path.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.hdata/ssep/field_junction_ec.hppdata/other/flow_control.cppdata/map/envelop/map_envelop.cppdata/ssep/into_yard_junction_ec.cpphmi/draw/draw_map_envelpos.cppdata/config/cfg_region.hppdata/config/cfg_region.cppd428ac57bfe7d217213aad704585bdf2d4a209c11779980129000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<洋浦>适配洋浦新增区域的搜索 2026-05-28 22:55:29 +0800d428ac57bfe7d217213aad704585bdf2d4a209c1feat:<洋浦>适配洋浦新增区域的搜索editdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.cppeditdata/config/cfg_region.hppedithmi/draw/draw_map_envelpos.cppeditdata/ssep/field_junction_ec.hppeditdata/other/flow_control.cppeditdata/map/envelop/map_envelop.cppdata/ssep/online_region_contour_creator_test.cppdata/ssep/online_region_contour_creator.cpp952cf19b4410c444d684bf51bd2c2c11a8a12d281780041063000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:包围框合并的优化 2026-05-29 15:51:03 +0800952cf19b4410c444d684bf51bd2c2c11a8a12d28refactor:包围框合并的优化editdata/ssep/online_region_contour_creator_test.cppeditdata/ssep/online_region_contour_creator.cppalgorithm/wbca/wbca_manager.cppdata/wbca/wbca_data.cppalgorithm/wbca/path_optimization/path_optimization.cppalgorithm/wbca/imv_wbca_manager.cppdata/wbca/wbca_data.hppec973944b1c5336b5bc7b0be2ee23c1fe9e8722c1780043477000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add smooth_mode opt 2026-05-29 16:31:17 +0800ec973944b1c5336b5bc7b0be2ee23c1fe9e8722cfix: add smooth_mode opteditdata/wbca/wbca_data.hppeditalgorithm/wbca/path_optimization/path_optimization.cppeditdata/wbca/wbca_data.cppeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.cppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/field_junction_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp0402e566a438f1ecc6493e52121d7fb81899c4471780046243000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:出堆场搜索异常的bug 2026-05-29 17:17:23 +08000402e566a438f1ecc6493e52121d7fb81899c447feat:出堆场搜索异常的bugeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/field_junction_ec.cpptasks/deciders/long_decider/constrain_decider.cppf8751de6c7c51feabc56f3ede005f3d91eeaf6e21780046299000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:洋浦进（普通堆场的形状）堆高机场的入口限速 2026-05-29 17:18:19 +0800f8751de6c7c51feabc56f3ede005f3d91eeaf6e2feat:洋浦进（普通堆场的形状）堆高机场的入口限速edittasks/deciders/long_decider/constrain_decider.cppalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3d1116dbde5bce9a82f7fe09b17c4bb1d4191b921780052167000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth mode optimization 2026-05-29 18:56:07 +08003d1116dbde5bce9a82f7fe09b17c4bb1d4191b92fix: smooth mode optimizationeditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.cppdata/ssep/ssep_ec.cpp9ff260ca7d9c1471700c9e5906d9044dea3b06f51780052917000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:08:37 +08009ff260ca7d9c1471700c9e5906d9044dea3b06f5fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/boundary/road_boundary.cpptasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/boundary/road_boundary.hppdata/config/cfg_func_sw.cpp52e6001f5205980ce9c490bbf25c6ca7a717b1421780244248000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆侵入车道限速功能及相关配置 2026-06-01 00:17:28 +080052e6001f5205980ce9c490bbf25c6ca7a717b142feat: 添加车辆侵入车道限速功能及相关配置editdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.hppedittasks/deciders/long_decider/constrain_decider.hppeditdata/boundary/road_boundary.cppeditdata/boundary/road_boundary.hppeditdata/config/cfg_func_sw.cppedittasks/deciders/long_decider/constrain_decider.cpptasks/deciders/long_decider/constrain_decider.cpp26eab9bdf200a10462c4cf067b756cfa1fe1ef121780244510000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性 2026-06-01 00:21:50 +080026eab9bdf200a10462c4cf067b756cfa1fe1ef12feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性edittasks/deciders/long_decider/constrain_decider.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/obstacle/obstacle_decider_attr.hpptasks/deciders/long_decider/time_path_graph_decider.cpptasks/deciders/long_decider/time_path_graph_decider.hpp3af6e994b8161f051b44d6dd9558ab6bf9f5ca5a1780291412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefeat:重构障碍物侵入道路后的限速 2026-06-01 13:23:32 +08003af6e994b8161f051b44d6dd9558ab6bf9f5ca5arefeat:重构障碍物侵入道路后的限速edittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle_decider_attr.hppedittasks/deciders/long_decider/time_path_graph_decider.hppedittasks/deciders/long_decider/time_path_graph_decider.cpp.gitignore81b6dcb273bd1aee8059365f8af0e1cd3374f2361780296852000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 .codewhale 和 .deepseek 到 .gitignore 2026-06-01 14:54:12 +080081b6dcb273bd1aee8059365f8af0e1cd3374f236feat: 添加 .codewhale 和 .deepseek 到 .gitignoreedit.gitignoreplan/prepare/prepare_objs.cppae8ab329ceb7d1a30a431ee4d300205663d110921780296935000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场判断场桥禁停 2026-06-01 14:55:35 +0800ae8ab329ceb7d1a30a431ee4d300205663d11092feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场判断场桥禁停editplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpp398a5dee83c255b4607ca23de24bb5f1fa59c3401780298270000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefctor:风险限速和聚类限速时，限制最大减速度 2026-06-01 15:17:50 +0800398a5dee83c255b4607ca23de24bb5f1fa59c340refctor:风险限速和聚类限速时，限制最大减速度edittasks/deciders/long_decider/constrain_decider.cppdata/boundary/driving_corridor.cpp41e19d82884238bccdc50cedde9bc7a36aa8cfe71780299003000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行时，沟点不进行膨胀 2026-06-01 15:30:03 +080041e19d82884238bccdc50cedde9bc7a36aa8cfe7feat: 绕行时，沟点不进行膨胀editdata/boundary/driving_corridor.cppalgorithm/wbca/path_optimization/path_optimization.cppf9a6597d905bb67f260fa38a8a12d1c0fa1d50231780299858000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel wbca smooth_mode for the first frame 2026-06-01 15:44:18 +0800f9a6597d905bb67f260fa38a8a12d1c0fa1d5023fix: cancel wbca smooth_mode for the first frameeditalgorithm/wbca/path_optimization/path_optimization.cppalgorithm/wbca/path_optimization/path_optimization.cppd9c144437f5bcc7c4c0a1148d9bc4516480377541780299893000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cancel wbca smooth_mode for the first frame 2026-06-01 15:44:53 +0800d9c144437f5bcc7c4c0a1148d9bc451648037754fix: cancel wbca smooth_mode for the first frameeditalgorithm/wbca/path_optimization/path_optimization.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hf3aba82df778e601e86da27f92dcd1450b825ebe1780303876000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 16:51:16 +0800f3aba82df778e601e86da27f92dcd1450b825ebechore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/imv_general_planner.h8c8b71cf02fe784ac0d3eb84cf560a87b76ca4b71780307445000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。 2026-06-01 17:50:45 +08008c8b71cf02fe784ac0d3eb84cf560a87b76ca4b7chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。editssep/scenarios/imv_general_planner.hdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp9860e5e10afab9d9dd953a2dd845a82a066553f91780315847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加功能开关以控制吊具高度是不是切换状态机，默认打开 2026-06-01 20:10:47 +08009860e5e10afab9d9dd953a2dd845a82a066553f9feat: 添加功能开关以控制吊具高度是不是切换状态机，默认打开editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppalgorithm/plan/keb_optimizer.cpp151700eb9e713ee4168cd2f08445528b425cbcd81780317568000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 延长段路径不验证运动学可行性 2026-06-01 20:39:28 +0800151700eb9e713ee4168cd2f08445528b425cbcd8fix: Keb: 延长段路径不验证运动学可行性editalgorithm/plan/keb_optimizer.cppssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/imv_general_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/planner_utils.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.h20afe5dc9066c210d57077454994e46847d67f6f1780369026000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-06-02 10:57:06 +080020afe5dc9066c210d57077454994e46847d67f6ffix: checkout feat_keb_v2editssep/scenarios/planner_utils.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/imv_general_planner.hscenarios/scenario.cppd7b13e97abc9b756a322cf12748dcfc5ddb663281780369035000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: merge bug 2026-06-02 10:57:15 +0800d7b13e97abc9b756a322cf12748dcfc5ddb66328fix: merge bugeditscenarios/scenario.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/gpu_batch_expander.ccssep/gpu/collision/collision_batch_bridge.cussep/gpu/cost/path_length_cost.cuhssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.hssep/gpu/kernels/batch_expand_kernel.hssep/test/gpu_heuristic_test_kernel.cuhssep/gpu/collision/collision_batch_bridge.hssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.hssep/gpu/batch_expander_bridge.cussep/coarse_search/batched_priority_queue.hssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.ccssep/test/gpu_ref_line_cost_test.ccssep/test/gpu_cost_test.ccssep/gpu/kernels/batch_expand_kernel.cussep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.hssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.ccssep/gpu/cost/ref_line_cost.cuhssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/coarse_search/bounded_priority_queue.hssep/test/gpu_ref_line_cost_test_kernel.cuhssep/gpu/batch_expander_bridge.hssep/test/gpu_heuristic_test.ccssep/gpu/cost/curvature_cost.cuhssep/test/CMakeLists.txtssep/test/gpu_ref_line_cost_test_kernel.cussep/gpu/heur_table_loader.cussep/test/gpu_heuristic_test_kernel.cussep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.ccssep/gpu/heur_table_loader.ccssep/coarse_search/gpu_context.hssep/gpu/heur_table_loader.hssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.hssep/coarse_search/evaluator/evaluator.hssep/gpu/samplers/sampler_params.hssep/gpu/samplers/sampler_bridge.cussep/coarse_search/evaluator/cost_feature_computer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/scenarios/tractor_trailer_general_planner.hssep/coarse_search/evaluator/gpu_collision_cost_computer.ccssep/gpu/samplers/sampler_bridge.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/gpu/heuristics/heuristic_computer.cuhssep/test/ssep_planner_test.ccssep/gpu/device_types.hssep/test/gpu_sampler_test.ccssep/coarse_search/gpu_batch_expander.hssep/offboard/CMakeLists.txtssep/coarse_search/evaluator/gpu_collision_cost_computer.hc35888b2dfcf4e0b9a93a519ff31c6fcd9ff38e21780404873000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。 2026-06-02 20:54:33 +0800c35888b2dfcf4e0b9a93a519ff31c6fcd9ff38e2feat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。editssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/coarse_search/gpu_context.heditssep/offboard/CMakeLists.txtdeletessep/test/gpu_heuristic_test.ccdeletessep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.ccdeletessep/gpu/heur_table_loader.cudeletessep/test/gpu_ref_line_cost_test.cceditssep/coarse_search/evaluator/cost_feature_computer.hdeletessep/gpu/cost/ref_line_cost.cuhdeletessep/test/gpu_heuristic_test_kernel.cuaddssep/gpu/collision/collision_batch_bridge.hdeletessep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.hdeletessep/gpu/cost/path_length_cost.cuhdeletessep/gpu/kernels/batch_expand_kernel.heditssep/test/CMakeLists.txtdeletessep/coarse_search/gpu_batch_expander.cceditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_general_planner.haddssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.haddssep/coarse_search/bounded_priority_queue.haddssep/coarse_search/gpu_context.cceditssep/coarse_search/evaluator/evaluator.hdeletessep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cceditssep/test/gpu_sampler_test.ccdeletessep/gpu/cost/curvature_cost.cuhdeletessep/test/gpu_ref_line_cost_test_kernel.cuheditssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.heditssep/gpu/device_types.hdeletessep/gpu/batch_expander_bridge.hdeletessep/gpu/heuristics/heuristic_computer.cuhaddssep/gpu/samplers/sampler_bridge.cueditssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.haddssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.cceditssep/coarse_search/batched_priority_queue.hdeletessep/gpu/batch_expander_bridge.cueditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdeletessep/test/gpu_heuristic_test_kernel.cuheditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccdeletessep/test/gpu_ref_line_cost_test_kernel.cudeletessep/gpu/heur_table_loader.hdeletessep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.haddssep/coarse_search/evaluator/gpu_collision_cost_computer.hdeletessep/test/gpu_cost_test.ccdeletessep/gpu/heur_table_loader.ccdeletessep/gpu/samplers/sampler_params.hdeletessep/coarse_search/gpu_batch_expander.hdeletessep/gpu/kernels/batch_expand_kernel.cuaddssep/gpu/samplers/sampler_bridge.haddssep/coarse_search/evaluator/gpu_collision_cost_computer.cceditssep/scenarios/tractor_trailer_enter_yard_planner.haddssep/gpu/collision/collision_batch_bridge.cudata/common/path.cppdata/common/path.hpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/other_tasks/stitch_path_data_to_path.cpp2acb091b21689887f148d0df82b1a0b3fef171af1780482202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复路径拼接的bug 2026-06-03 18:23:22 +08002acb091b21689887f148d0df82b1a0b3fef171affix:修复路径拼接的bugeditdata/common/path.hppedittasks/other_tasks/stitch_path_data_to_path.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/common/path.cppdata/plan/smooth_data.cpp49fd6e14f06967753a29c172ea1f1a3b183d34431780484928000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑 2026-06-03 19:08:48 +080049fd6e14f06967753a29c172ea1f1a3b183d3443feat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑editdata/plan/smooth_data.cpptasks/plan/trailer_pjpo_task.cppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_problem.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppCMakeLists.txtmath/piecewise_jerk/piecewise_jerk_path_problem.cpp5470ffd1bdb0c00035a4754c2bf7dda94e75c6b21780485558000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:<PJPO>优化求解的成功率 2026-06-03 19:19:18 +08005470ffd1bdb0c00035a4754c2bf7dda94e75c6b2refactor:<PJPO>优化求解的成功率editmath/piecewise_jerk/piecewise_jerk_problem.cppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditCMakeLists.txtedittasks/plan/trailer_pjpo_task.cppaddTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/keb_utils.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.cc3c97e84a97b7c6fe7f8fc038c48f05600fdc2f4c1780486359000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题 2026-06-03 19:32:39 +08003c97e84a97b7c6fe7f8fc038c48f05600fdc2f4cchore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题editalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/keb_utils.heditssep/keb_optimizer/keb_utils.ccdata/config/cfg_func_sw.cppe6322327d2b40d21e42c429bb0c13eb3a586c0921780487490000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修改锁定站点为狭窄空间的参数默认值为false 2026-06-03 19:51:30 +0800e6322327d2b40d21e42c429bb0c13eb3a586c092fix: 修改锁定站点为狭窄空间的参数默认值为falseeditdata/config/cfg_func_sw.cppdata/plan/guide_line.cppdata/vehicle/vehicle_destination.cppdata/vehicle/deviation_status.cpp569c0e1879c911597728e5ff4a6f23cdc1f469691780490067000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: park_in bug 2026-06-03 20:34:27 +0800569c0e1879c911597728e5ff4a6f23cdc1f46969fix: park_in bugeditdata/vehicle/vehicle_destination.cppeditdata/vehicle/deviation_status.cppeditdata/plan/guide_line.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp2b8630bb28241bdac3a14af8c243551f2c05a2361780551672000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算 2026-06-04 13:41:12 +08002b8630bb28241bdac3a14af8c243551f2c05a236refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算editplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppdata/config/cfg_env_const.hppdata/plan/cloud_trajectory.cppdata/vehicle/sc_turn_in_place_mode.hppdata/vehicle/sc_turn_in_place_mode.cppdata/plan/cloud_trajectory.hppdata/config/cfg_env_const.cppd52736cae4ae26c4667f2b4f65ad4aa4a6f95ec81780556024000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add turn-in-place trajectory to cloud_trajectory 2026-06-04 14:53:44 +0800d52736cae4ae26c4667f2b4f65ad4aa4a6f95ec8fix: add turn-in-place trajectory to cloud_trajectoryeditdata/vehicle/sc_turn_in_place_mode.cppeditdata/config/cfg_env_const.hppeditdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cpp3be0d639895b61008986b617f1a6b60cc8dd46721780566331000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: incorrectly absolute_sign stop 2026-06-04 17:45:31 +08003be0d639895b61008986b617f1a6b60cc8dd4672fix: incorrectly absolute_sign stopeditdata/vehicle/related_offset.hppeditdata/vehicle/related_offset.cppeditplan/prepare/prepare_offset.cppdata/ssep/online_region_contour_creator_test.cppdata/ssep/online_region_contour_creator.cpp764219d0d68f42da1d4279cb3930f6c934d284a01780574333000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试 2026-06-04 19:58:53 +0800764219d0d68f42da1d4279cb3930f6c934d284a0feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试editdata/ssep/online_region_contour_creator.cppeditdata/ssep/online_region_contour_creator_test.cppdata/config/cfg_region.cpp7baa2b7a96e4e1eeb97393b14b7e7249721a6f421780574560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修改杨浦区域半径值为2000以配置扩大的堆场 2026-06-04 20:02:40 +08007baa2b7a96e4e1eeb97393b14b7e7249721a6f42fix: 修改杨浦区域半径值为2000以配置扩大的堆场editdata/config/cfg_region.cppdata/map/pnc_map/pnc_map_path.cpp065d835f51e01dac7fcd62e40121f5a6b8836fea1780575280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数 2026-06-04 20:14:40 +0800065d835f51e01dac7fcd62e40121f5a6b8836feafix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数editdata/map/pnc_map/pnc_map_path.cppssep/common/utils/clipper2/include/clipper2/clipper.version.htasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/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.ccoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccalgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccssep/common/utils/clipper2/include/clipper2/clipper.triangulation.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/keb_optimizer/imv_keb_optimizer.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/common/utils/clipper2/include/clipper2/clipper.hoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppbf5c8b6a5d40a577e06606874e8c3225fb2d58ee1780580361000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 2026-06-04 21:39:21 +0800bf5c8b6a5d40a577e06606874e8c3225fb2d58eefeat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。addssep/common/utils/clipper2/src/clipper.offset.cppeditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/keb_problem.ccaddssep/common/utils/clipper2/src/clipper.engine.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccaddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.haddssep/common/utils/clipper2/src/clipper.rectclip.cppeditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/include/clipper2/clipper.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.haddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/src/clipper.triangulation.cppeditssep/CMakeLists.txteditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditssep/keb_optimizer/imv_keb_optimizer.ccaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/data_structures/polyline.cceditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppeditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.core.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hedittasks/plan/keb_lane_follow_path_task.cppaddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditoffboard/keb_path_opt_cli/keb_simulator.ccaddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.engine.hdata/ssep/open_space_ec.cppdata/vehicle/sc_turn_in_place_mode.cppplan/prepare/prepare_state.cppplan/prepare/prepare_status.cppdata/map/pnc_map/routing_extension/routing_data.hppdata/vehicle/sc_turn_in_place_mode.hppdata/map/pnc_map/routing_extension/routing_data.cpp0c1a0efdffcbc754ebb6985f3ef4fbf57e6ac1321780649164000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto heading ajustment in turn_in_place mode 2026-06-05 16:46:04 +08000c1a0efdffcbc754ebb6985f3ef4fbf57e6ac132fix: auto heading ajustment in turn_in_place modeeditdata/vehicle/sc_turn_in_place_mode.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditplan/prepare/prepare_state.cppeditplan/prepare/prepare_status.cppeditdata/ssep/open_space_ec.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hpphmi/draw/draw_ego.cppdata/config/cfg_env_const.cpp9a1e7ab5fd1ce352d97b435e8f2080ef727335421780651181000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: display bulk_align used for ssep end_posture 2026-06-05 17:19:41 +08009a1e7ab5fd1ce352d97b435e8f2080ef72733542fix: display bulk_align used for ssep end_postureedithmi/draw/draw_ego.cppeditdata/config/cfg_env_const.cppdata/plan/cloud_trajectory.cppde98856d539fbd1f92bf072327b33a91809e1a891780661217000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cloud trajectory heading bug 2026-06-05 20:06:57 +0800de98856d539fbd1f92bf072327b33a91809e1a89fix: cloud trajectory heading bugeditdata/plan/cloud_trajectory.cppdata/other/flow_control.cppplan/prepare/prepare_ogm.cppa71121ccd5216ae5cca31bba6f1b864c642056221780897189000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add virtual cloud points 2026-06-08 13:39:49 +0800a71121ccd5216ae5cca31bba6f1b864c64205622fix: add virtual cloud pointseditdata/other/flow_control.cppeditplan/prepare/prepare_ogm.cppdata/plan/path_direction_data.cppc7bf49a68aee1473b8309654c1f828247fe808b31780974202000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: normal to lock during bulk_load 2026-06-09 11:03:22 +0800c7bf49a68aee1473b8309654c1f828247fe808b3fix: normal to lock during bulk_loadeditdata/plan/path_direction_data.cppdata/config/cfg_env_const.hppdata/app/fsm/stop_reason.hpphmi/draw/draw_constrain.cpptasks/deciders/long_decider/constrain_decider.hppdata/constrain/longitude_constrain.cppdata/constrain/long_target.cppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppcommon/util/express.cppdata/constrain/longitude_constrain.hppdata/app/fsm/stop_reason.cpp71eef921381d379a873dbf7512af711148b74d8b1780990620000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add sc_taret_deviation_stop 2026-06-09 15:37:00 +080071eef921381d379a873dbf7512af711148b74d8bfix: add sc_taret_deviation_stopedittasks/deciders/long_decider/constrain_decider.hppeditdata/app/fsm/stop_reason.hppeditdata/constrain/long_target.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppedithmi/draw/draw_constrain.cppeditcommon/util/express.cppeditdata/constrain/longitude_constrain.cppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_env_const.cppd4cd2c91126aeaed57e5604e731633147684378d1780991314000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update dist_deviation_stop_thr 0.3, heading_devaition_stop_thr 0.026 2026-06-09 15:48:34 +0800d4cd2c91126aeaed57e5604e731633147684378dfix: update dist_deviation_stop_thr 0.3, heading_devaition_stop_thr 0.026editdata/config/cfg_env_const.cppdata/config/cfg_safe_const.hppdata/constrain/block_data.cppdata/config/cfg_safe_const.cpp5a59dd1b9a199d4080cf225019e2244ce387b24d1780995391000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curature over limit stop optimization 2026-06-09 16:56:31 +08005a59dd1b9a199d4080cf225019e2244ce387b24dfix: curature over limit stop optimizationeditdata/config/cfg_safe_const.hppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.cppdata/constrain/block_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cpp4e529beda6281c89daa913f798b557c92d0a3df51780997289000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/maps/ogm.cceditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/maps/ogm.heditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/maps/ogm_builder.ccedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 重构OGM构建流程addssep/maps/ogm_config_utils.ccaddssep/maps/ogm_config_utils.heditssep/ssep_planner.ccdata/ssep/open_space_ec.cppa9b02b6c759918ae17aad9f35fd796e45276faf61781074587000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: openspace end_posture selection bug 2026-06-10 14:56:27 +0800a9b02b6c759918ae17aad9f35fd796e45276faf6fix: openspace end_posture selection bugeditdata/ssep/open_space_ec.cpp.gitignorebe3ce1d49b1c6d7f491a658c7263620f1afcb7221781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加skills到.gitignore以忽略相关文件 2026-06-10 15:07:35 +0800be3ce1d49b1c6d7f491a658c7263620f1afcb722feat: 添加skills到.gitignore以忽略相关文件edit.gitignoredata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/constrain/longitude_constrain.hppdata/app/fsm/stop_reason.cppdata/constrain/longitude_constrain.cppc8876f9999372ab3bfe13fbffda89c1ecef665481781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: step align状态下，吊具防护，montion状态机切换的bug 2026-06-10 15:07:35 +0800c8876f9999372ab3bfe13fbffda89c1ecef66548fix: step align状态下，吊具防护，montion状态机切换的bugeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/constrain/longitude_constrain.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.cppeditplan/prepare/prepare_status.cppeditdata/map/pnc_map/pnc_map_helper.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/replayer_hmi.hpphmi/widget/path_curve_detail.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/node_hmi.cpphmi/replayer_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.cppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.cppaddhmi/widget/path_curve_detail.hppedithmi/node_hmi.hppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/common/guide_path.cppeditdata/plan/path_data.cppeditalgorithm/util/curvature.cppeditalgorithm/util/curvature.hppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccplan/prepare/prepare_ogm.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/lattice/ogm_crash_data.cppedithmi/replayer_hmi.cppeditdata/lattice/ogm_crash_data.hppeditplan/prepare/prepare_ogm.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hppeditdata/plan_frame.cppeditdata/config/cfg_hmi.cppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppplan/prepare/prepare_ogm.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/lattice/ogm_crash_data.cppeditplan/prepare/prepare_ogm.cppeditdata/config/cfg_hmi.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan_frame.cppeditdata/lattice/ogm_crash_data.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 重构障碍物风险评估器，另外添加横路不进行龙门吊风险限速的功能。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 重构障碍物风险评估器，另外添加横路不进行龙门吊风险限速的功能。editdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppeditdata/obstacle/obstacle_decider_attr.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/obstacle/obstacle_decider_attr.hppedittasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cpptasks/plan/lane_change_path_task_v2.cppdata/config/cfg_stage.hpp5c1a1f82f6f31e0c04d06990e16162e0bd77a3eb1781155907000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:31:47 +08005c1a1f82f6f31e0c04d06990e16162e0bd77a3ebfix: add lane_change_path_task v2addtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_lat_plan.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_stage.cppedittasks/task_factory.cppaddtasks/plan/lane_change_path_task_v2.hppeditconfig/config_imv/scenario.yamleditdata/plan/switch_data.cppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cpptasks/plan/lane_change_path_task_v2.hppdata/config/cfg_stage.cpptasks/task_factory.cpptasks/plan/lane_change_path_task_v2.cppdata/config/cfg_stage.hppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/plan/switch_data.cppedittasks/task_factory.cppaddtasks/plan/lane_change_path_task_v2.cppeditconfig/config_imv/scenario.yamleditdata/config/cfg_stage.hppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.hppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_stage.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/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/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/scenario.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditcore/plan_runtime_watchdog.hppeditnode/logic.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥不创建双黄线约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_state.cppc31d71b923fa417942827d644097796f43a2a5021781163490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SC reversing bug 2026-06-11 15:38:10 +0800c31d71b923fa417942827d644097796f43a2a502fix: SC reversing bugeditplan/prepare/prepare_state.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/sc_turn_in_place_mode.cppd35b292127b6426737ebc3999c40b832f4cb31061781234961000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: activate rotation when two points are close to each other 2026-06-12 11:29:21 +0800d35b292127b6426737ebc3999c40b832f4cb3106fix: activate rotation when two points are close to each othereditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/sc_turn_in_place_mode.cppsink/ros_sink_pnc_status.cppf2d0eecaa38d62f8dc46ec2a57124acc729c97561781245161000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: sc_turn_in_place mode to guardian module 2026-06-12 14:19:21 +0800f2d0eecaa38d62f8dc46ec2a57124acc729c9756fix: sc_turn_in_place mode to guardian moduleeditsink/ros_sink_pnc_status.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtdata/plan/switch_data.cppbae1f667d853aa432c514c815a5eb9c9cbe11c1b1781256756000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SC change lane failed 2026-06-12 17:32:36 +0800bae1f667d853aa432c514c815a5eb9c9cbe11c1bfix: SC change lane failededitdata/plan/switch_data.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_multi_segment_parking_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppdata/config/cfg_stage.cppscenarios/stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditscenarios/stage.cppdata/plan/guide_line.cppreplayer/replayer_data_process/replayer_data_process.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditdata/plan/guide_line.cppeditreplayer/replayer_data_process/replayer_data_process.cpp.gitignore501d17c9df1ab445f649c8fe611d14869e39b3341781676806000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: gitignore bug 2026-06-17 14:13:26 +0800501d17c9df1ab445f649c8fe611d14869e39b334fix: gitignore bugedit.gitignoredata/vehicle/vehicle_state.cppdata/map/pnc_map/routing_extension/routing_data.cppplan/prepare/prepare_state.cpp907f88d7b4db4362e0ed0da53354c937ad3d1c5b1781684123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv reversing bug 2026-06-17 16:15:23 +0800907f88d7b4db4362e0ed0da53354c937ad3d1c5bfix: imv reversing bugeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_state.cppeditplan/prepare/prepare_state.cppdata/vehicle/deviation_status.hppdata/plan/path_direction_data.cppdata/vehicle/deviation_status.cppf032cf84d588897807607a8d4f1110bca30887da1781754309000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation status bug 2026-06-18 11:45:09 +0800f032cf84d588897807607a8d4f1110bca30887dafix: deviation status bugeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditdata/plan/path_direction_data.cppdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppd04802f2549339a5af9df37013b8966bd1a130f61781762752000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor: deviation_status 2026-06-18 14:05:52 +0800d04802f2549339a5af9df37013b8966bd1a130f6refactor: deviation_statuseditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppdata/ssep/forward_ec.cppedaff053929dd690a76d975a72eec3c6574ba0711782096472000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel bulk_in bidirectional ssep 2026-06-22 10:47:52 +0800edaff053929dd690a76d975a72eec3c6574ba071fix: cancel bulk_in bidirectional ssepeditdata/ssep/forward_ec.cppdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppa7366ec0f3506ed29f2d398f24c38b41385f9b701782205831000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: repeatly trigger ssep 2026-06-23 17:10:31 +0800a7366ec0f3506ed29f2d398f24c38b41385f9b70fix: repeatly trigger ssepeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp90aa83115773667676d3a8b5cc96906b238df3501782282158000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep trigger conditions opt 2026-06-24 14:22:38 +080090aa83115773667676d3a8b5cc96906b238df350fix: ssep trigger conditions opteditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.cppdata/ssep/forward_ec.cppde69e7444c8fa40af8efef70a8db8901d5916b9f1782293869000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: recal bulk_out end_pt for ssep 2026-06-24 17:37:49 +0800de69e7444c8fa40af8efef70a8db8901d5916b9ffix: recal bulk_out end_pt for ssepeditdata/ssep/forward_ec.cppgitsrc/RMInterpreter/ros_mqtt_bridge.cpppackage.xmlc442cfc092a2453537e5c4cb3330789906ebf24a1782369194000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加定位消息上传 2026-06-25 14:33:14 +0800c442cfc092a2453537e5c4cb3330789906ebf24afeat_out:增加定位消息上传editpackage.xmleditsrc/RMInterpreter/ros_mqtt_bridge.cppgithttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqinghttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr955http://159.27.114.184:8080/jenkins/user/liuning/my-views/view/all/job/module-confname/955/953http://159.27.114.184:8080/jenkins/user/liuning/my-views/view/all/job/module-confname/953/