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qingdao-qiangang-submodule.jenkinsfileeditparams/qingdao-qiangang-submodule.jenkinsfileparams/qingdao-qiangang-submodule.jenkinsfile4d9dfa0e81c503442adfc168a4279b328b27f8ad1777524070000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate qingdao-qiangang-submodule.jenkinsfile 2026-04-30 04:41:10 +00004d9dfa0e81c503442adfc168a4279b328b27f8adUpdate qingdao-qiangang-submodule.jenkinsfileeditparams/qingdao-qiangang-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfilee3d0ba70f74266993d259897a987100f848d7c081778147076000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-05-07 09:44:36 +0000e3d0ba70f74266993d259897a987100f848d7c08Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfile1ffbff7ee16a7b9b5d18e7c8666b6bba29c375221778147216000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-05-07 09:46:56 +00001ffbff7ee16a7b9b5d18e7c8666b6bba29c37522Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfile011bdc4f63b095d61f6108ed792077835f577da81778233993000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-05-08 09:53:13 +0000011bdc4f63b095d61f6108ed792077835f577da8Update guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfiled0bb865c455ffb39556da4b6cf86804437ce1b201778237279000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-05-08 10:47:59 +0000d0bb865c455ffb39556da4b6cf86804437ce1b20Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/jiaxing-dongfangtegang-submodule.jenkinsfilea5b2d9bbbc15f671641b7baf45257866714affad1778293731000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile 2026-05-09 02:28:51 +0000a5b2d9bbbc15f671641b7baf45257866714affadUpdate jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile25d5945882652a268a85e5fe4f82b46757a314641778297071000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-05-09 03:24:31 +000025d5945882652a268a85e5fe4f82b46757a31464Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfilecbe6ad2838129148f3b264027180ca43e98857b91778463498000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-05-11 01:38:18 +0000cbe6ad2838129148f3b264027180ca43e98857b9Update guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfileparams/daxie-submodule.jenkinsfilecc723c3017158e02f87cb2eeef4a5dbbf42083af1778551181000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate daxie-submodule.jenkinsfile 2026-05-12 01:59:41 +0000cc723c3017158e02f87cb2eeef4a5dbbf42083afUpdate daxie-submodule.jenkinsfileeditparams/daxie-submodule.jenkinsfileparams/guangxi-youyiguan-submodule.jenkinsfile7fda4aa05920721b7b3f9610deab07d864bdf88d1778555235000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate guangxi-youyiguan-submodule.jenkinsfile 2026-05-12 03:07:15 +00007fda4aa05920721b7b3f9610deab07d864bdf88dUpdate guangxi-youyiguan-submodule.jenkinsfileeditparams/guangxi-youyiguan-submodule.jenkinsfilehdmap/map-png.jenkinsfileba33db1d5e9728efdd622f254a0f2a219bf086551778570306000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-05-12 07:18:26 +0000ba33db1d5e9728efdd622f254a0f2a219bf08655Update map-png.jenkinsfileedithdmap/map-png.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile45aa9344e20fc2b93be3cfda0c0ff1270e83cb731778738834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-05-14 06:07:14 +000045aa9344e20fc2b93be3cfda0c0ff1270e83cb73Update jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfileparams/jining-liangshan-submodule.jenkinsfile02ae2d0f8ccac9b2cd922b947fc7b270032072bc1778755817000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jining-liangshan-submodule.jenkinsfile 2026-05-14 10:50:17 +000002ae2d0f8ccac9b2cd922b947fc7b270032072bcUpdate jining-liangshan-submodule.jenkinsfileeditparams/jining-liangshan-submodule.jenkinsfilegitpnc_debug_msgs/msg/OgLineSegments.msgpnc_debug_msgs/msg/OgLineSegment.msgpnc_debug_msgs/CMakeLists.txt8164471355763d16bf47ba3b6ba94e6d7655160b1752640348000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comPublish og line segments 2025-07-16 12:32:28 +08008164471355763d16bf47ba3b6ba94e6d7655160bPublish og line segmentsaddpnc_debug_msgs/msg/OgLineSegment.msgaddpnc_debug_msgs/msg/OgLineSegments.msgeditpnc_debug_msgs/CMakeLists.txtpnc_debug_msgs/msg/OgLineSegment.msg995d2f70d145e971e6b16a086c18503d2882fefc1752640362000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 重新定义Og line segment msg 2025-07-16 12:32:42 +0800995d2f70d145e971e6b16a086c18503d2882fefcchore: 重新定义Og line segment msgeditpnc_debug_msgs/msg/OgLineSegment.msgplatoon_msgs/msg/Start.msgfe3fc1534c53f91f596b9458776afd6d2364f0a21763451387000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加起步时间 2025-11-18 15:36:27 +0800fe3fc1534c53f91f596b9458776afd6d2364f0a2feat_out:增加起步时间editplatoon_msgs/msg/Start.msgpnc_debug_msgs/msg/MPCReference.msgpnc_debug_msgs/msg/LonMpcDebug.msgpnc_debug_msgs/msg/LongitudinalDebug.msgpnc_debug_msgs/CMakeLists.txtbb357d9f55de56ffb8e81a618ae4d17e704039141765284628000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:lonmpc 2025-12-09 20:50:28 +0800bb357d9f55de56ffb8e81a618ae4d17e70403914feat:lonmpceditpnc_debug_msgs/msg/LongitudinalDebug.msgaddpnc_debug_msgs/msg/LonMpcDebug.msgaddpnc_debug_msgs/msg/MPCReference.msgeditpnc_debug_msgs/CMakeLists.txtpnc_debug_msgs/msg/ObserverDebug.msg8a9957037de066d3d4cdf82cbad7fdd3c8959c6a1765284634000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: mass estimation debug 2025-12-09 20:50:34 +08008a9957037de066d3d4cdf82cbad7fdd3c8959c6afeat: mass estimation debugeditpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msgbda37c1664a0b2e9597e3bccc1de248377a604a91765284638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整pnc_debug观测项 2025-12-09 20:50:38 +0800bda37c1664a0b2e9597e3bccc1de248377a604a9fix:调整pnc_debug观测项editpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/LonMpcDebug.msg2b71c0304054364d87f064dcf43f568a81ed11e01765284642000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:油门标定消息 2025-12-09 20:50:42 +08002b71c0304054364d87f064dcf43f568a81ed11e0feat:油门标定消息editpnc_debug_msgs/msg/LonMpcDebug.msgpnc_debug_msgs/msg/LonMpcDebug.msgpnc_debug_msgs/msg/ObserverDebug.msg3fb873095fdaf1350fb114c2b530852ba9f8924d1765284647000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:增加观测 2025-12-09 20:50:47 +08003fb873095fdaf1350fb114c2b530852ba9f8924dfeat:增加观测editpnc_debug_msgs/msg/LonMpcDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msge7f6401d46660abe76b1c9237ec98980bc8362f71767580580000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:pnc_debug/observer_debug更改 2026-01-05 10:36:20 +0800e7f6401d46660abe76b1c9237ec98980bc8362f7fix:pnc_debug/observer_debug更改editpnc_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.msgcloud_msgs/msg/TosTask.msgbd0af1a7eaa469088ebc6fa88194e792a9f60df61768558159000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:字段精度调整 2026-01-16 18:09:19 +0800bd0af1a7eaa469088ebc6fa88194e792a9f60df6feat_out:字段精度调整editcloud_msgs/msg/TosTask.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.msgperipheral_msgs/msg/VehicleStatus.msg3fe6e282961013cb8190e7ba878ca9bbc6c34a411770085537000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加外设状态反馈字段 2026-02-03 10:25:37 +08003fe6e282961013cb8190e7ba878ca9bbc6c34a41feat_out:增加外设状态反馈字段editperipheral_msgs/msg/VehicleStatus.msgtos_msgs/msg/PeripheralCmd.msg78742f614045dfc91b5e32773a9faa46dfebc4f01770281061000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:外设命令cmd枚举调整 2026-02-05 16:44:21 +080078742f614045dfc91b5e32773a9faa46dfebc4f0feat_out:外设命令cmd枚举调整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editcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanning.msgaddcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_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addcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanningPoint.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanning.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.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.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.msggitinclude/hdmap_interface/map_elements/object.hinterface/parser/map_loader.cc610860892c438a825b4d2bf1d71b77af93c5b5991778747122000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 威海港 no_driving 增加z数据 2026-05-14 16:25:22 +0800610860892c438a825b4d2bf1d71b77af93c5b599feat_out: 威海港 no_driving 增加z数据editinclude/hdmap_interface/map_elements/object.heditinterface/parser/map_loader.ccinterface/parser/map_loader.ccfcdd29eb9c32f273c0f6e1faa0d609bbc0e9457f1778750738000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofix_out: 读取z编译失败修复 2026-05-14 17:25:38 +0800fcdd29eb9c32f273c0f6e1faa0d609bbc0e9457ffix_out: 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统一pnc_debug_msg/ObesrverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msggitssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/data_structures/path.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/common/utils/reference_line_stitcher.hssep/data_structures/path.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。addssep/common/utils/reference_line_stitcher.heditssep/data_structures/path.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/test/ssep_planner_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/common/utils/reference_line_stitcher.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/data_structures/path.ccssep/data_structures/path.ccssep/ssep_planner.ccssep/data_structures/path.hssep/common/utils/reference_line_stitcher.ccssep/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/data_structures/path.heditssep/ssep_planner.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/path.cceditssep/common/utils/reference_line_stitcher.cctasks/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.ccedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditssep/common/utils/path_utils.hssep/data_structures/path.hssep/data_structures/path.cctasks/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.hedittasks/plan/keb_path_optimize_task.cppeditssep/data_structures/path.ccdata/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/scenarios/tractor_trailer_enter_yard_planner.heditssep/common/utils/reference_line_stitcher.cceditssep/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/common/utils/reference_line_stitcher.hssep/data_structures/path.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。addssep/common/utils/reference_line_stitcher.ccaddssep/common/utils/reference_line_stitcher.heditssep/data_structures/path.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.ccaddssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.heditssep/test/ssep_planner_test.cceditssep/data_structures/path.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/ssep_planner.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/path.cceditssep/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.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.hppedittasks/plan/keb_path_optimize_task.cppeditssep/common/utils/path_utils.cceditssep/common/utils/path_utils.hssep/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.hedittasks/plan/keb_path_optimize_task.cppeditssep/data_structures/path.ccssep/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/scenarios/scenario_planner_factory.heditssep/common/utils/reference_line_stitcher.cceditssep/scenarios/tractor_trailer_enter_yard_planner.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/scenarios/tractor_trailer_enter_yard_planner.heditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/common/utils/path_utils.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.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/common/utils/path_utils.cceditssep/common/utils/path_utils.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_enter_yard_planner.hssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.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/scenarios/planner_utils.cc8f68653b9d125843b6051233fc17eaaff5b7d41b1773998478000http://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/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.cceditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccdata/ctrl/lka_start_up.cpphmi/widget/diagnose.cppdata/boundary/road_boundary.cppdata/ctrl/lka_start_up.hpp935d321f793e198615189b481385443adda4536a1773999405000http://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/boundary/road_boundary.cppeditdata/ctrl/lka_start_up.cppedithmi/widget/diagnose.cppeditdata/ctrl/lka_start_up.hppssep/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.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.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.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_path_optimize_task.hppeditdata/config/cfg_lat_plan.hppssep/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.cppedittasks/plan/keb_path_optimize_task.hppdata/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/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/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/maps/ogm_builder.heditssep/ssep_planner.cceditssep/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edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/config/cfg_lat_plan.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/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/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/maps/ogm_builder.heditssep/ssep_planner.ccdata/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.cppplan/prepare/prepare_objs.cppdata/obstacle/obstacle.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editplan/prepare/prepare_objs.cppeditdata/obstacle/obstacle.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.cpptasks/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.cppdata/plan/path_direction_data.cpptasks/deciders/long_decider/constrain_decider.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editdata/plan/path_direction_data.cppedittasks/deciders/long_decider/constrain_decider.cppssep/maps/ogm_builder.hssep/maps/ogm_builder.ccssep/ssep_planner.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/maps/ogm_builder.cceditssep/ssep_planner.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.cppeditssep/common/utils/path_utils.cceditssep/common/utils/path_utils.hedittasks/plan/keb_path_optimize_task.hppdata/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.cppdata/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.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.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 Taskeditssep/ssep_planner.cceditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppaddtasks/plan/keb_lane_follow_path_task.cppaddtasks/plan/keb_lane_follow_path_task.hppedittasks/task_factory.cppssep/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/truck_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/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/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_accurate_reversing_planner.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.cppssep/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/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_exit_parking_spot_planner.hssep/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/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/truck_general_planner.hssep/scenarios/imv_enter_station_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/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.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/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/planner_utils.heditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_general_planner.heditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/planner_utils.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/common/pnc_graphics_view.cpphmi/widget/pnc_mat.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/common/pnc_graphics_view.cppedithmi/common/pnc_graphics_view.hppedithmi/widget/pnc_mat.cppedithmi/widget/replayer_pnc_mat.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/protos/state_match_condition.protossep/offboard/servers/path_repository_vis_server.ccssep/offboard/servers/path_repository_vis_html_template.hssep/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/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/offboard/servers/CMakeLists.txteditssep/CMakeLists.txtaddssep/protos/state_match_condition.protoaddssep/protos/path_repository.protoaddssep/offboard/servers/path_repository_vis_server.ccaddssep/offboard/servers/path_repository_vis_html_template.haddssep/offboard/servers/path_repository_vis_html_template.ccdata/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.hppeditdata/ctrl/lka_start_up.cppthirdparty/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.hppssep/data_structures/state_match_condition.hssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/state_match_condition.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/ssep_planner.hssep/data_structures/path_repository_manager.ccssep/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editssep/ssep_planner.haddssep/data_structures/path_repository_manager.heditssep/protos/path_repository.protoeditssep/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/data_structures/path_repository_manager.ccaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.heditssep/ssep_planner.ccdata/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/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.cppeditdata/obstacle/ogm.hppeditplan/prepare/prepare_ogm.cppeditdata/boundary/driving_corridor.cppdata/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_html_template.hssep/offboard/servers/path_repository_vis_server.ccssep/protos/state_match_condition.protossep/data_structures/state_match_condition.hssep/ssep_planner.hssep/data_structures/path_repository_manager.ccssep/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/data_structures/state_match_condition.ccssep/offboard/generate_path_repository/generate_path_repository_cli.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.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/ssep_planner.ccaddssep/data_structures/state_match_condition.ccaddssep/offboard/servers/path_repository_vis_html_template.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/offboard/servers/CMakeLists.txtaddssep/protos/path_repository.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/ssep_planner.heditssep/CMakeLists.txtaddssep/offboard/servers/path_repository_vis_html_template.haddssep/offboard/generate_path_repository/CMakeLists.txtaddssep/data_structures/path_repository_manager.ccaddssep/data_structures/state_match_condition.haddssep/offboard/servers/path_repository_vis_server.ccaddssep/protos/state_match_condition.protoeditssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/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.protodata/config/cfg_ssep.cppssep/offboard/ssep_planner_wrapper.ccssep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/data_structures/path_repository_manager.ccssep/protos/scene.protodata/config/cfg_ssep.hppssep/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/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/protos/scene.protoeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/protos/path_repository.protoeditssep/offboard/scene_replay/CMakeLists.txteditdata/config/cfg_ssep.cppeditssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/ssep_planner_wrapper.cceditdata/ssep/ssep_activation.cppeditssep/ssep_planner.cceditdata/config/cfg_ssep.hppeditssep/common/utils/map_element_utils.hppaddssep/protos/operation_mode.protoeditssep/data_structures/path_repository_manager.hssep/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.cppdata/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.cppeditdata/config/cfg_lat_plan.hppeditalgorithm/wbca/path_optimization/car_path_optimization.cppedithmi/widget/diagnose.cppthirdparty/lbfgs/lbfgs.hppdata/config/cfg_lat_plan.hppalgorithm/wbca/path_optimization/truck_path_optimization.cppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/imv_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_neweditdata/config/cfg_lat_plan.hppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditthirdparty/lbfgs/lbfgs.hppeditalgorithm/wbca/path_optimization/truck_path_optimization.cppeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/imv_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/imv_path_optimization.cppalgorithm/wbca/path_optimization/truck_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/imv_path_optimization.cppeditalgorithm/wbca/path_optimization/truck_path_optimization.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/imv_path_optimization.cppalgorithm/wbca/path_optimization/truck_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/path_optimization/imv_path_optimization.cppeditalgorithm/wbca/path_optimization/truck_path_optimization.cppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditalgorithm/wbca/imv_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.hppssep/data_structures/path_utils.htasks/plan/keb_path_optimize_task.cpp419575f0bc72c58284e15eeb174aeac24f3654e11775135900000http://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。edittasks/plan/keb_path_optimize_task.hppaddalgorithm/plan/keb_optimizer.hppeditssep/data_structures/path_utils.heditdata/common/path.hppedittasks/plan/keb_path_optimize_task.cppaddalgorithm/plan/keb_optimizer.cppreplayer/main.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hpphmi/replayer_hmi.hppreplayer/logic.hppCMakeLists.txtreplayer/logic.cpphmi/replayer_hmi.cppssep/maps/ogm_builder.ccssep/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.txttasks/plan/keb_utils.cppreplayer/replayer_data_process/replayer_data_extraction.hppdata/common/path_point.hppproto/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。edittasks/plan/keb_path_optimize_task.cppedithmi/replayer_hmi.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditreplayer/logic.hppaddtasks/plan/keb_utils.cppeditreplayer/logic.cppeditssep/CMakeLists.txtaddtasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditdata/common/path_point.cppeditreplayer/replayer_data_process/replayer_data_extraction.hppaddproto/data_path.protoeditssep/maps/ogm.heditCMakeLists.txteditdata/common/path_point.hppaddssep/protos/ogm.protoeditreplayer/main.cppeditalgorithm/plan/keb_optimizer.cppeditdata/common/path.hppaddproto/keb_scene.protoeditdata/common/path.cppeditssep/maps/ogm.ccaddproto/CMakeLists.txtedithmi/replayer_hmi.cppeditssep/maps/ogm_builder.cceditalgorithm/plan/keb_optimizer.hppdata/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/fsm/task_command_type.hppdata/app/cmd/cmd_align.cpphmi/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.cppeditdata/vehicle/vehicle_status.hppeditplan/prepare/prepare_status.cppeditdata/vehicle/vehicle_status.cppeditdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_command_type.hppeditdata/app/cmd/cmd_align.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/protos/ogm.protoreplayer/replayer_data_process/replayer_data_process.cppoffboard/keb_vis_server/keb_vis_server.ccoffboard/keb_vis_server/CMakeLists.txtssep/maps/ogm.htasks/plan/keb_path_optimize_task.cppoffboard/keb_vis_server/keb_vis_html_template.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editssep/maps/ogm.cceditreplayer/replayer_data_process/replayer_data_extraction.cppaddoffboard/keb_vis_server/CMakeLists.txteditalgorithm/plan/keb_optimizer.cppaddoffboard/keb_vis_server/keb_vis_server.cceditreplayer/replayer_data_process/replayer_data_process.cppaddoffboard/keb_vis_server/keb_vis_html_template.cceditssep/protos/ogm.protoeditssep/maps/ogm.hedittasks/plan/keb_path_optimize_task.cppeditdata/plan/start_point_data.hppaddoffboard/keb_vis_server/keb_vis_html_template.hdata/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/plan/guide_line_base.hppdata/config/cfg_long_plan.cppdata/config/cfg_long_plan.hppdata/plan/guide_line.cpp03a16b1951a8759def877fa6f2567a4a8ff87ea41775631086000http://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/config/cfg_long_plan.hppeditdata/plan/guide_line.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppdata/ssep/field_junction_ec.hppproto/keb_scene.prototasks/plan/keb_lane_follow_path_task.cppreplayer/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/cost_features/dynamic_constraint.hssep/keb_optimizer/keb_problem.ccdata/config/cfg_lat_plan.hpptasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccdata/ssep/ssep_ec.hppssep/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.haddoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditdata/config/cfg_lat_plan.hppeditdata/ssep/field_junction_ec.hppeditproto/keb_scene.protoeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/plan/keb_utils.cppeditdata/ssep/ssep_ec.hppeditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditCMakeLists.txteditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_vis_server/keb_vis_html_template.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/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/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/scenarios/imv_general_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.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.cppplan/prepare/prepare_objs.cppdata/constrain/block_data.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editplan/prepare/prepare_objs.cppeditdata/constrain/block_data.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/plan/predict_path.cppeditdata/ssep/into_yard_junction_ec.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/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.ccdata/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.protoalgorithm/plan/keb_optimizer.hppssep/maps/ogm.htasks/plan/keb_path_optimize_task.cppreplayer/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.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccalgorithm/plan/keb_optimizer.cppssep/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addssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.heditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditalgorithm/plan/keb_optimizer.hppeditproto/keb_scene.protoeditssep/protos/params.protoeditoffboard/keb_vis_server/CMakeLists.txteditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/maps/ogm.heditssep/param_loader/param.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_utils.hppedittasks/plan/keb_utils.cppaddssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.hedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditoffboard/keb_vis_server/keb_vis_html_template.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/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/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.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/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/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.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/common/image_viewer.cppedithmi/widget/replayer_map.hppedithmi/widget/map.hppedithmi/common/image_viewer.hppedithmi/widget/replayer_map.cpphmi/draw/draw_map.cpphmi/draw/draw_map.hpphmi/replayer_hmi.cpphmi/node_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/replayer_hmi.cppedithmi/draw/draw_map.cppedithmi/draw/draw_map.hppedithmi/node_hmi.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editplan/prepare/prepare_ogm.cppedithmi/common/pnc_graphics_view.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/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.hdeletessep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/param_loader/param.hedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/keb_problem.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_vis_server/keb_vis_html_template.cceditCMakeLists.txteditssep/protos/params.protoedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hedittasks/plan/keb_utils.cppeditssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_scene_converter.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccoffboard/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/keb_scene_converter.cceditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddoffboard/keb_path_opt_cli/keb_scene_converter.hppaddoffboard/keb_path_opt_cli/keb_simulator.ccaddoffboard/keb_path_opt_cli/keb_simulator.hppaddoffboard/keb_path_opt_cli/closed_loop_utils.cceditCMakeLists.txtssep/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.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/path_optimization.cppeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditalgorithm/wbca/path_optimization/path_optimization.hppeditalgorithm/wbca/path_optimization/truck_path_optimization.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 60editalgorithm/wbca/wbca_manager.cppeditdata/config/cfg_lat_plan.cppoffboard/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.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_motion_fsm.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/app/fsm_interface.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hppeditdata/app/fsm/task_fsm/task_fsm.hppeditdata/app/fsm_interface.cppeditdata/app/fsm/task_motion_fsm.hppdata/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.cppplan/prepare/module.cppdata/app/fsm/task_command_type.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bugeditplan/prepare/prepare_status.cppeditdata/app/fsm/task_command_type.hppeditplan/prepare/module.cppedithmi/widget/command.cppeditdata/app/cmd/cmd_remote_ctrl.cppeditdata/app/fsm/task_command_type.cppeditdata/app/cmd/cmd_align.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/data_structures/path_utils.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/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/maps/ogm.ccssep/offboard/scene_replay/CMakeLists.txtssep/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/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/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/maps/ogm.heditssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cceditssep/maps/ogm.ccaddssep/protos/ogm.protoeditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/offboard/scene_replay/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/protos/path_repository.protoeditssep/protos/params.protoeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/maps/ogm_builder.cceditssep/data_structures/path_repository_manager.heditssep/offboard/servers/path_repository_vis_server.cceditssep/ssep_planner.cceditssep/keb_optimizer/keb_problem.heditssep/offboard/servers/path_repository_vis_html_template.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/CMakeLists.txtaddssep/protos/operation_mode.protoeditssep/data_structures/path_repository_manager.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/path_utils.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/stitching_replanner.heditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/offboard/ssep_planner_wrapper.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/protos/scene.protoeditssep/param_loader/param.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h4b4d21aeba2a5465e2532f017b9f5725d703037a1776159355000http://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/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.hdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.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editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_safe_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/long_decider/constrain_decider.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/path_drawing_html_template.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.haddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/offboard/path_drawing_tool/hermite_path_generator.ccaddssep/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.ccssep/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/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/common/utils/scene_frame_visualization.cceditssep/data_structures/ssep_scenario_type.hppeditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/ssep_scenario_type.protoaddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/scenario_planner_factory.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/hermite_path_generator.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/path_drawing_tool_main.cceditssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/offboard/path_drawing_tool/path_drawing_html_template.ccdata/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.hppnode/logic.cpphmi/draw/draw_map.hpphmi/widget/perf_cost_detail.hpphmi/widget/pnc_mat.cpphmi/widget/pnc_mat_shared.hppdata/plan_frame.hppnode/main.cpphmi/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/widget/pnc_mat.cppedithmi/draw/draw_map.cppaddhmi/widget/perf_cost_detail.hppeditnode/logic.hppeditdata/plan_frame.hppeditnode/logic.cppaddhmi/widget/pnc_mat_shared.cppeditCMakeLists.txtedithmi/node_hmi.cppaddhmi/widget/pnc_mat_shared.hppeditreplayer/logic.cppedithmi/node_hmi.hppedithmi/replayer_hmi.hppaddhmi/widget/perf_cost_detail.cppeditdata/hmi_frame.hppedithmi/widget/pnc_mat.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_map.hppedithmi/replayer_hmi.cppeditreplayer/main.cppeditreplayer/logic.hppedithmi/widget/replayer_pnc_mat.hppeditnode/main.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.cppdata/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.cppdata/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.cppproto/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.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editalgorithm/plan/keb_optimizer.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_utils.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_utils.hppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_path_opt_cli/closed_loop_utils.ccedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditalgorithm/plan/keb_optimizer.cppproto/keb_scene.protooffboard/keb_path_opt_cli/closed_loop_utils.cctasks/plan/keb_utils.cpptasks/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edittasks/plan/keb_path_optimize_task.hppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_path_opt_cli/keb_simulator.ccedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppeditproto/keb_scene.protoeditreplayer/replayer_data_process/replayer_data_extraction.cppeditoffboard/keb_vis_server/keb_vis_html_template.ccedittasks/plan/keb_path_optimize_task.cppeditalgorithm/plan/keb_optimizer.cpptasks/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/widget/perf_cost_detail.cppedithmi/node_hmi.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.heditssep/scenarios/scenario_planner_factory.heditssep/data_structures/pose.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.hproto/keb_scene.prototasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/closed_loop_utils.ccoffboard/keb_path_opt_cli/closed_loop_utils.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppalgorithm/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_vis_server/keb_vis_html_template.ccedittasks/plan/keb_path_optimize_task.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditoffboard/keb_path_opt_cli/closed_loop_utils.ccedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.hppeditproto/keb_scene.protoedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.hppplan/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.cppeditplan/prepare/prepare_status.hpp.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/throttle_chart.hpphmi/widget/velocity_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/steer_chart.hpphmi/widget/brake_chart.cpphmi/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/diagnose.hppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/common/chart.cppedithmi/widget/throttle_chart.hppedithmi/widget/command.hppedithmi/widget/steer_chart.cppedithmi/widget/velocity_chart.cppedithmi/widget/velocity_chart.hppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.cppdata/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.hppeditdata/constrain/longitude_constrain.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.ccssep/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。addssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/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.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/offboard/path_drawing_tool/hermite_path_generator.hdata/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.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.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.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/disable_stop_range.cppeditdata/constrain/block_data.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.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/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。editoffboard/keb_path_opt_cli/keb_simulator.cceditproto/keb_scene.protoeditoffboard/keb_vis_server/keb_vis_html_template.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/imv_keb_optimizer.hedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.hppeditssep/keb_optimizer/rigid_truck_keb_optimizer.hedittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils.hppeditssep/keb_optimizer/keb_utils.heditdata/plan/ssep_data.hppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/data_structures/path.heditssep/keb_optimizer/keb_utils.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.cppadddata/ssep/online_region_contour_creator_test.cppeditdata/ssep/online_region_contour_creator.hppssep/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.heditssep/ssep_planner.ccdata/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.cppdata/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/config/cfg_func_sw.hppeditdata/map/envelop/map_envelops.cppeditdata/config/cfg_func_sw.cppdata/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/scenario/scenario_planner_condition.cppeditdata/scenario/scenario_planner_bt.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/bridge_junction_ec.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/disable_stop_range.cppeditdata/constrain/block_data.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.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.htasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/keb_scene_converter.hppoffboard/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.hoffboard/keb_vis_server/crow/socket_acceptors.hssep/keb_optimizer/imv_keb_optimizer.ccoffboard/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/http_parser_merged.haddoffboard/keb_vis_server/crow/http_connection.haddoffboard/keb_vis_server/crow/websocket.heditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddoffboard/keb_vis_server/crow/http_response.hedittasks/plan/keb_utils.hppaddoffboard/keb_vis_server/crow/returnable.haddoffboard/keb_vis_server/crow/middleware_context.haddoffboard/keb_vis_server/crow/parser.haddoffboard/keb_vis_server/crow/mime_types.haddoffboard/keb_vis_server/crow/socket_acceptors.hedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/keb_problem.haddoffboard/keb_vis_server/crow/exceptions.haddoffboard/keb_vis_server/crow/routing.heditssep/keb_optimizer/keb_utils.cceditdata/config/cfg_ssep.cppaddoffboard/keb_vis_server/crow/middlewares/cors.haddoffboard/keb_vis_server/crow/app.haddoffboard/keb_vis_server/crow/compression.haddoffboard/keb_vis_server/crow/http_server.haddoffboard/keb_vis_server/crow/version.heditoffboard/keb_path_opt_cli/keb_simulator.ccaddoffboard/keb_vis_server/crow/common.heditssep/maps/ogm.haddoffboard/keb_vis_server/crow.haddoffboard/keb_vis_server/crow/socket_adaptors.haddoffboard/keb_vis_server/crow/http_request.haddoffboard/keb_vis_server/crow/settings.haddoffboard/keb_vis_server/crow/mustache.haddoffboard/keb_vis_server/crow/middlewares/session.heditssep/data_structures/path.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditoffboard/keb_path_opt_cli/keb_simulator.hppaddoffboard/keb_vis_server/crow/multipart_view.heditCMakeLists.txteditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddoffboard/keb_vis_server/crow/middlewares/utf-8.heditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_utils.cppaddoffboard/keb_vis_server/crow/middleware.heditssep/keb_optimizer/imv_keb_optimizer.haddoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccaddoffboard/keb_vis_server/crow/utility.heditssep/keb_optimizer/cost_features/ref_line_cost.haddoffboard/keb_vis_server/crow/multipart.haddoffboard/keb_vis_server/crow/TinySHA1.hppaddoffboard/keb_vis_server/crow/task_timer.heditssep/param_loader/param.heditalgorithm/plan/keb_optimizer.hppaddoffboard/keb_vis_server/crow/logging.heditssep/keb_optimizer/imv_keb_optimizer.ccaddoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppaddoffboard/keb_vis_server/crow/middlewares/cookie_parser.heditoffboard/keb_path_opt_cli/keb_scene_converter.hppaddoffboard/keb_vis_server/crow/json.haddoffboard/keb_vis_server/crow/query_string.haddoffboard/keb_vis_server/crow/ci_map.heditssep/maps/ogm.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/scenarios/scenario_planner_factory.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。addssep/scenarios/tractor_trailer_short_distance_planner.heditssep/scenarios/scenario_planner_factory.htasks/plan/keb_utils_core.cppdata/semantic/collision_position.hppmath/curve2d/curve2d.hppdata/semantic/vehicle.cppCMakeLists.txtdata/common/path_point.hpptasks/plan/keb_utils.cppdata/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/decision/path_turn_type.cppalgorithm/plan/keb_optimizer.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editdata/obstacle/occupy_grid.hppeditalgorithm/decision/path_turn_type.cppeditdata/semantic/collision_position.hppeditoffboard/keb_path_opt_cli/keb_simulator.cceditdata/semantic/vehicle.cppeditmath/curve2d/curve2d.hppeditCMakeLists.txteditdata/common/guide_path.cppeditdata/common/path.cppeditdata/common/path.hppeditalgorithm/plan/keb_optimizer.cppeditdata/common/path_point.hppedittasks/plan/keb_utils.hppaddtasks/plan/keb_utils_core.hppedittasks/plan/keb_utils.cppaddtasks/plan/keb_utils_core.cppeditdata/common/path_point.cppaddoffboard/keb_path_opt_cli/CMakeLists.txtdata/constrain/block_data.cppdata/scenario/scenario_planner_action.cppdata/app/fsm/task_fsm/task_fsm.cppdata/vehicle/lock_station_data.hpptasks/deciders/long_decider/constrain_decider.hppdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.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.cppeditdata/scenario/scenario_planner_action.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/app/fsm/task_fsm/task_fsm.cppeditdata/vehicle/lock_station_data.hppeditdata/vehicle/lock_station_data.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hppeditdata/constrain/block_data.cppssep/scenarios/truck_general_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/ssep_planner.ccde88c099a7d7c1516cee194407392871901a23e71777287360000http://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/truck_general_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/ssep_planner.ccdata/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editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppdata/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.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.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.cpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.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 openspaceedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.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/keb_problem.heditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/cost_features/ref_line_cost.hedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_utils_core.hppeditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_utils.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/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.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bugeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/keb_optimizer/cost_features/temporal_consistency_cost.hedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_utils.cppeditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.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.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/imv_keb_optimizer.ccssep/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）editoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/imv_dynamic_constraint.hedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/keb_problem.ccdata/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/config/cfg_func_sw.cppdata/obstacle/block.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editdata/config/cfg_func_sw.cppedittasks/deciders/long_decider/time_path_graph_decider.cppeditdata/obstacle/block.cppeditdata/other/flow_control.cppeditcommon/util/crash_helper.cppeditcommon/util/crash_helper.hppeditdata/obstacle/block.hppeditdata/config/cfg_func_sw.hppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.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.cpp.gitignoressep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hscripts/keb_diagnostic_vis.pyssep/keb_optimizer/imv_keb_optimizer.ccssep/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.haddscripts/keb_diagnostic_vis.pyeditssep/keb_optimizer/keb_problem.hedit.gitignoreeditssep/keb_optimizer/keb_problem.cceditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.haddssep/keb_optimizer/keb_problem_diagnostic.haddssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.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.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/bag_reader.hppaddoffboard/bag_to_keb_scene/bag_reader.ccaddoffboard/bag_to_keb_scene/bag_to_keb_scene.ccaddoffboard/bag_to_keb_scene/CMakeLists.txtaddoffboard/bag_to_keb_scene/README.mdeditCMakeLists.txtssep/keb_optimizer/keb_problem_diagnostic.ccssep/keb_optimizer/keb_problem_diagnostic.hssep/keb_optimizer/keb_problem.ccc291f23eaf81a12b77b9dfc825f868bd5a3f45191777556762000http://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_diagnostic.heditssep/keb_optimizer/keb_problem.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.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editCMakeLists.txtaddoffboard/bag_to_keb_scene/bag_reader.hppaddoffboard/bag_to_keb_scene/bag_reader.ccaddoffboard/bag_to_keb_scene/bag_to_keb_scene.ccaddoffboard/bag_to_keb_scene/README.mdaddoffboard/bag_to_keb_scene/CMakeLists.txtdata/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.cppeditdata/config/cfg_func_sw.hppeditdata/other/flow_control.cppeditplan/prepare/prepare_ogm.hppeditdata/scenario/scenario_planner_condition.cppeditdata/vehicle/cloud_pnc_config.hppedithmi/draw/draw_intersection.cppeditplan/prepare/prepare_ogm.cppeditdata/vehicle/cloud_pnc_config.cppeditdata/ssep/ssep_ec.cppedithmi/draw/draw_map.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.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.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/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.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_to_keb_scene.cceditoffboard/bag_to_keb_scene/bag_reader.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/protos/ssep_scenario_type.protoeditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/data_structures/ssep_scenario_type.hppeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccaddssep/scenarios/straddle_carrier_general_planner.hoffboard/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/README.mdeditoffboard/bag_to_keb_scene/bag_to_keb_scene.ccscenarios/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/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/field_junction_ec.cppeditdata/ssep/bridge_junction_ec.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/README.mdoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.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/TriangleListPrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.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/foxglove_schemas/foxglove/SpherePrimitive.protooffboard/keb_vis_server/foxglove/requirements.txtoffboard/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/CylinderPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.protoaddoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.protoaddoffboard/keb_vis_server/foxglove/keb_to_mcap.pyaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.protoaddoffboard/keb_vis_server/foxglove/requirements.txtaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.protoedit.gitignoreaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.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editoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/generate_protos.shssep/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/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.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.txttasks/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.protooffboard/keb_path_opt_cli/keb_simulator.hppssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/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editoffboard/keb_path_opt_cli/keb_simulator.hppeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditalgorithm/plan/keb_optimizer.hppeditssep/CMakeLists.txteditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/keb_problem_diagnostic.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/protos/diagnostic.protoeditproto/keb_scene.protoeditssep/keb_optimizer/keb_problem_diagnostic.heditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/imv_keb_optimizer.cceditproto/CMakeLists.txteditoffboard/keb_vis_server/foxglove/generate_protos.sheditoffboard/keb_path_opt_cli/CMakeLists.txtdata/map/reference/reference_road_section.cpp.gitignore016c1c47dab8fedb1d3a7577ac83684b561c844e1778564370000http://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editdata/map/reference/reference_road_section.cppedit.gitignoredata/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.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/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/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/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editdata/plan/center_line_info.cppedittasks/other_tasks/create_center_lines.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.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/obstacle/occupy_grid.cppdata/config/cfg_safe_const.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/obstacle/occupy_grid.cppeditdata/obstacle/occupy_grid.hppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cppplan/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editcommon/util/crash_helper.cppedithmi/draw/draw_collision_detection.cppeditdata/plan/predict_path.cppedithmi/draw/draw_constrain.cppeditdata/constrain/long_target.cppeditdata/obstacle/ogm.hppeditdata/constrain/longitude_constrain.hppeditdata/obstacle/ogm.cppeditdata/constrain/longitude_constrain.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hppedittasks/deciders/long_decider/constrain_decider.cppeditcommon/util/crash_helper.hppeditdata/plan/predict_path.hppedittasks/deciders/other_decider/replan_decider.cppdata/plan/ssep_data.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.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/stop_reason.cppeditdata/plan/ssep_data.cppeditdata/app/fsm/stop_reason.hppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditcommon/util/express.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.heditdata/ssep/ssep_ec.cppeditssep/scenarios/straddle_carrier_general_planner.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccdata/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/tractor_trailer_enter_yard_planner.heditssep/scenarios/planner_utils.cceditssep/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.htasks/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/config/cfg_safe_const.hppdata/app/fsm/task_done_verification.cppdata/config/cfg_safe_const.cppdata/app/fsm/task_done_verification.hpp1d9ef3640faf47d9567abcfdb76b10ea40ad3bc21779089483000http://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/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cppeditdata/app/fsm/task_done_verification.cppeditdata/app/fsm/task_done_verification.hppdata/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.hscenarios/lane_follow_scenario/lane_follow_stage.cppplan/prepare/module.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppcore/plan_async.cppplan/pilot/module.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_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/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_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editscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditcore/plan_async.cppeditnode/logic.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditplan/pilot/module.cppaddcore/plan_runtime_watchdog.hppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditplan/prepare/module.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppdata/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/long_decider/constrain_decider.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.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/map/pnc_map/routing_extension/routing_data.hppdata/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/app/cmd/cmd_dead_lock_force_park.hppeditdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hppeditdata/plan/guide_line.cppgitsrc/zenoh_node/include/zenoh_node/zenoh_node.hsrc/test/bench_ros_sub.cppsrc/test/bench_zenoh_raw_pub.cppsrc/test/bench_zenoh_sub.cppsrc/test/run_benchmark.shsrc/zenoh_node/src/subscriber.cppsrc/test/bench_zenoh_pub.cppCMakeLists.txtsrc/zenoh_node/include/zenoh_node/subscriber.hsrc/zenoh_node/CMakeLists.txtsrc/zenoh_node/include/zenoh_node/zenoh_session_manager.hsrc/zenoh_node/src/publisher.cppsrc/test/bench_ros_pub.cppsrc/zenoh_node/include/zenoh_node/node_handle.hsrc/zenoh_node/src/node_handle.cppsrc/zenoh_node/include/zenoh_node/publisher.hsrc/test/CMakeLists.txtsrc/test/bench_zenoh_raw_sub.cppsrc/test/bench_common.h1a74e661bd2c1e1b556980757600d1aed12d94a51775012552000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加zenoh 2026-04-01 11:02:32 +08001a74e661bd2c1e1b556980757600d1aed12d94a5feat_out:增加zenohaddsrc/zenoh_node/include/zenoh_node/zenoh_session_manager.haddsrc/test/bench_ros_pub.cppaddsrc/zenoh_node/include/zenoh_node/subscriber.haddsrc/zenoh_node/include/zenoh_node/publisher.haddsrc/test/bench_ros_sub.cppaddsrc/test/run_benchmark.shaddsrc/test/bench_common.haddsrc/zenoh_node/include/zenoh_node/node_handle.haddsrc/test/bench_zenoh_pub.cppaddsrc/test/bench_zenoh_raw_sub.cppaddsrc/test/bench_zenoh_raw_pub.cppaddsrc/zenoh_node/include/zenoh_node/zenoh_node.haddsrc/zenoh_node/src/node_handle.cppaddsrc/test/bench_zenoh_sub.cppaddsrc/zenoh_node/src/subscriber.cppeditCMakeLists.txtaddsrc/zenoh_node/CMakeLists.txteditsrc/test/CMakeLists.txtaddsrc/zenoh_node/src/publisher.cppsrc/zenoh_node/include/zenoh_node/zenoh_session_manager.hsrc/zenoh_node/src/publisher.cppsrc/zenoh_node/src/zenoh_session_manager.cppsrc/zenoh_node/include/zenoh_node/node_handle.hsrc/zenoh_node/src/node_handle.cppsrc/zenoh_node/include/zenoh_node/publisher.hsrc/zenoh_node/src/subscriber.cppsrc/zenoh_node/include/zenoh_node/subscriber.hsrc/zenoh_node/src/zenoh_types.hpp5b06b3bcee4f614fa4562ddd3cf46d9a8df9b7471775215969000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:不暴露zenoh文件 2026-04-03 19:32:49 +08005b06b3bcee4f614fa4562ddd3cf46d9a8df9b747feat_out:不暴露zenoh文件editsrc/zenoh_node/include/zenoh_node/zenoh_session_manager.heditsrc/zenoh_node/include/zenoh_node/subscriber.heditsrc/zenoh_node/src/publisher.cppeditsrc/zenoh_node/src/node_handle.cppaddsrc/zenoh_node/src/zenoh_types.hppeditsrc/zenoh_node/include/zenoh_node/node_handle.heditsrc/zenoh_node/src/subscriber.cppaddsrc/zenoh_node/src/zenoh_session_manager.cppeditsrc/zenoh_node/include/zenoh_node/publisher.hsrc/zenoh_node/CMakeLists.txt51a3d37aabf73c7600abd2c030f2095f9e51f9fd1775638130000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:编译问题 2026-04-08 16:48:50 +080051a3d37aabf73c7600abd2c030f2095f9e51f9fdfeat_out:编译问题editsrc/zenoh_node/CMakeLists.txtsrc/zenoh_node/src/zenoh_session_manager.cppsrc/test/zenoh_lidar_sub.cppsrc/test/bench_zenoh_sub.cppsrc/zenoh_node/src/subscriber.cppsrc/test/bench_zenoh_pub.cppsrc/zenoh_node/include/zenoh_node/subscriber.hsrc/zenoh_node/src/zenoh_types.hppsrc/zenoh_node/src/publisher.cppsrc/zenoh_node/include/zenoh_node/zenoh_session_manager.hsrc/test/zenoh_pandar_sub.cppsrc/zenoh_node/include/zenoh_node/node_handle.hsrc/zenoh_node/src/node_handle.cppsrc/test/CMakeLists.txtsrc/zenoh_node/include/zenoh_node/publisher.h5bb8d8947474c4ca8a29efdcff18a2b653ba4d8c1775724444000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:zenoh ns修改 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> 2026-04-09 16:47:24 +08005bb8d8947474c4ca8a29efdcff18a2b653ba4d8cfeat_out:zenoh ns修改addsrc/test/zenoh_lidar_sub.cppeditsrc/zenoh_node/include/zenoh_node/subscriber.heditsrc/zenoh_node/src/publisher.cppeditsrc/zenoh_node/src/zenoh_types.hppeditsrc/zenoh_node/src/zenoh_session_manager.cppaddsrc/test/zenoh_pandar_sub.cppeditsrc/test/CMakeLists.txteditsrc/zenoh_node/include/zenoh_node/publisher.heditsrc/test/bench_zenoh_sub.cppeditsrc/zenoh_node/include/zenoh_node/node_handle.heditsrc/zenoh_node/src/node_handle.cppeditsrc/test/bench_zenoh_pub.cppeditsrc/zenoh_node/src/subscriber.cppeditsrc/zenoh_node/include/zenoh_node/zenoh_session_manager.hsrc/zenoh_node/src/subscriber.cppa23955c25ab47e2b9822550e5ea60f571e2066851776319236000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix_bug:zenoh订阅生命周期问题 2026-04-16 14:00:36 +0800a23955c25ab47e2b9822550e5ea60f571e206685fix_bug:zenoh订阅生命周期问题editsrc/zenoh_node/src/subscriber.cppsrc/zenoh_node/src/zenoh_session_manager.cppsrc/test/test_zenoh_shm_pub.cppsrc/zenoh_node/include/zenoh_node/zenoh_node.hsrc/test/QUICK_START.mdsrc/test/bench_ros_sub.cppsrc/test/bench_zenoh_sub.cppsrc/test/HOW_TO_USE_SHM.mdsrc/test/verify_test.pysrc/test/FIX_SUMMARY.mdCMakeLists.txtsrc/zenoh_node/src/zenoh_types.hppsrc/zenoh_node/include/zenoh_node/subscriber.hsrc/zenoh_node/CMakeLists.txtsrc/test/test_zenoh_shm_subsrc/test/test_zenoh_shm_sub.cppsrc/test/test_zenoh_shm_pubsrc/test/bench_ros_pub.cppsrc/zenoh_node/src/node_handle.cppsrc/test/CMakeLists.txtsrc/test/run_shm_test_parallel.shsrc/test/bench_common.hsrc/test/UPDATES.mdsrc/test/PURE_COMMAND_QUICK_REF.txtsrc/test/zenoh_lidar_sub.cppsrc/zenoh_node/src/subscriber.cppsrc/test/run_shm_test_shm_mode.shsrc/test/FILES_CREATED.mdsrc/test/TEST_SUMMARY.mdsrc/test/CHEATSHEET.mdsrc/test/TEST_ZENOH_SHM_README.mdsrc/test/bench_zenoh_pub.cppsrc/test/PURE_COMMAND_GUIDE.mdsrc/zenoh_node/src/publisher.cppsrc/test/ANALYSIS_SHM_NOT_WORKING.mdpackage.xmlsrc/test/zenoh_pandar_sub.cppsrc/zenoh_node/include/zenoh_node/node_handle.hsrc/test/run_shm_test.shsrc/zenoh_node/include/zenoh_node/publisher.hsrc/test/diagnose_shm.shsrc/test/SHM_QUICK_FIX.txtzenoh_hybrid_config.json5.marscode/deviceInfo.json48469456a4a92cd42256e33241dad3cbdd12a3a71776856438000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix: enable Zenoh discovery for shared_memory_only mode Fixed data reception issue where subscriber could not receive messages from publisher in ZENOH_MODE=shared_memory_only. Root cause: Discovery mechanisms (multicast and Gossip) were completely disabled, preventing publisher and subscriber from discovering each other. Publisher's matching check would fail, causing it to skip publishing. Solution: Enable both multicast (on loopback interface) and Gossip discovery for shared_memory_only mode. This allows pub/sub discovery while keeping network communication confined to localhost. Changes: - Modified zenoh_session_manager.cpp to enable multicast on 'lo' interface - Added IPv6 loopback TCP endpoint for Gossip support - Kept multicast address restricted to localhost only Testing confirms data now flows correctly: - throughput mode: 85.248 MB/s, 1151 msgs over 13.5s - basic mode: 96 msgs over 11.5s with 0.265ms avg latency Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:13:58 +080048469456a4a92cd42256e33241dad3cbdd12a3a7fix: enable Zenoh discovery for shared_memory_only modeadd.marscode/deviceInfo.jsoneditpackage.xmleditsrc/test/bench_ros_sub.cppeditsrc/test/bench_zenoh_sub.cppeditsrc/test/bench_common.haddsrc/test/FILES_CREATED.mdaddsrc/test/UPDATES.mdeditsrc/zenoh_node/src/publisher.cppaddsrc/test/CHEATSHEET.mdaddsrc/test/PURE_COMMAND_QUICK_REF.txtaddsrc/test/verify_test.pyaddsrc/test/SHM_QUICK_FIX.txtaddsrc/test/test_zenoh_shm_pubaddsrc/test/TEST_ZENOH_SHM_README.mdaddzenoh_hybrid_config.json5addsrc/test/run_shm_test.sheditsrc/zenoh_node/src/node_handle.cppeditsrc/zenoh_node/src/zenoh_types.hppeditCMakeLists.txteditsrc/zenoh_node/src/subscriber.cppaddsrc/test/HOW_TO_USE_SHM.mdeditsrc/test/bench_ros_pub.cppaddsrc/test/run_shm_test_parallel.shaddsrc/test/PURE_COMMAND_GUIDE.mdaddsrc/test/diagnose_shm.sheditsrc/zenoh_node/src/zenoh_session_manager.cppaddsrc/test/QUICK_START.mdeditsrc/zenoh_node/include/zenoh_node/zenoh_node.haddsrc/test/TEST_SUMMARY.mdaddsrc/test/ANALYSIS_SHM_NOT_WORKING.mdaddsrc/test/FIX_SUMMARY.mdaddsrc/test/run_shm_test_shm_mode.shaddsrc/test/test_zenoh_shm_subeditsrc/test/zenoh_lidar_sub.cppeditsrc/zenoh_node/CMakeLists.txteditsrc/test/zenoh_pandar_sub.cppeditsrc/zenoh_node/include/zenoh_node/subscriber.heditsrc/test/bench_zenoh_pub.cppeditsrc/zenoh_node/include/zenoh_node/publisher.heditsrc/zenoh_node/include/zenoh_node/node_handle.haddsrc/test/test_zenoh_shm_sub.cppaddsrc/test/test_zenoh_shm_pub.cppeditsrc/test/CMakeLists.txtsrc/test/SOLUTION_COMPLETE.md4e07e34fcf643abfaaee526ca86bf1e37ff320c21776856556000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: add comprehensive fix and solution documentation - FIX_SUMMARY.md: Explains root cause and solution for data reception issue - SOLUTION_COMPLETE.md: Complete guide to using the test programs - Documents all modes, parameters, test results, and build instructions - Includes performance metrics and output examples Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:15:56 +08004e07e34fcf643abfaaee526ca86bf1e37ff320c2docs: add comprehensive fix and solution documentationaddsrc/test/SOLUTION_COMPLETE.mdsrc/test/verify_fix.shd035a3d066a5b005065ee65e9b0aeb017a81c7ab1776856585000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autotest: add verification script for SHM communication fix Provides automated testing for all three modes (basic, throughput, latency) to quickly verify that data reception is working correctly. Usage: ./verify_fix.sh Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:16:25 +0800d035a3d066a5b005065ee65e9b0aeb017a81c7abtest: add verification script for SHM communication fixaddsrc/test/verify_fix.shsrc/test/SOLUTION_COMPLETE.mdsrc/test/verify_fix.shsrc/test/FIX_SUMMARY.md589a480a4b9bc394072b2904794b0cc9f75e6a1d1776856781000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: translate documentation to Chinese - FIX_SUMMARY.md: 翻译为中文，详细说明修复 - SOLUTION_COMPLETE.md: 翻译为中文，完整使用指南 - verify_fix.sh: 翻译为中文，自动化验证脚本提供了所有关键文档的中文版本，包括问题分析、解决方案、使用方法和测试结果。 Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:19:41 +0800589a480a4b9bc394072b2904794b0cc9f75e6a1ddocs: translate documentation to Chineseeditsrc/test/verify_fix.sheditsrc/test/FIX_SUMMARY.mdeditsrc/test/SOLUTION_COMPLETE.mdsrc/test/SHM_LIMITATION.md1534107cb2b9276a5f670e73742634f94e3bab5e1776858437000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: add SHM support limitation documentation Zenoh-C 1.7.2 does not include SHM transport support. Available transports: TCP, UDP, QUIC, TLS, WebSocket, Unix Socket Missing: shared-memory transport Current implementation uses TCP on localhost (127.0.0.1) despite the ZENOH_MODE=shared_memory_only configuration. While not true zero-copy SHM, performance is still good with low latency and no network overhead. To enable true SHM: - Recompile Zenoh-C with --features shared-memory - Or upgrade to a Zenoh version with SHM support enabled Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:47:17 +08001534107cb2b9276a5f670e73742634f94e3bab5edocs: add SHM support limitation documentationaddsrc/test/SHM_LIMITATION.mdsrc/zenoh_node/src/zenoh_session_manager.cppsrc/test/test_zenoh_shm_subsrc/test/test_zenoh_shm_puba286ada8a9579ccb1ce0bb341af34fe7b56a76271776924612000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix: configure Zenoh for true SHM transport with recompiled library With Zenoh-C 1.7.1 recompiled with SHM support (Z_FEATURE_SHARED_MEMORY), configure shared_memory_only mode to use actual SHM transport: - Listen on TCP 127.0.0.1 and [::1] for discovery and control - Enable Z_FEATURE_SHARED_MEMORY transport - Use multicast scouting for peer discovery - Enable Gossip protocol for connection establishment via TCP - SHM files created in /dev/shm/ for data transfer Verification: - 1MB messages now use 16MB+ SHM buffers - Throughput: 86-93 MB/s - Latency: ~1.1ms average (SHM has different characteristics than TCP-only) - No network traffic outside localhost - True zero-copy data transfer via shared memory Test with: ZENOH_MODE=shared_memory_only ./test_zenoh_shm_pub --mode throughput Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-23 14:10:12 +0800a286ada8a9579ccb1ce0bb341af34fe7b56a7627fix: configure Zenoh for true SHM transport with recompiled libraryeditsrc/test/test_zenoh_shm_pubeditsrc/zenoh_node/src/zenoh_session_manager.cppeditsrc/test/test_zenoh_shm_subsrc/test/SHM_ENABLED.mdsrc/test/SHM_LIMITATION.md498c8b0ccb153908ab0a88fe1abca724a9db54bd1776924804000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: rename SHM limitation doc to SHM enabled SHM is now fully working with recompiled Zenoh-C library. Document renamed and updated to reflect current status. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-23 14:13:24 +0800498c8b0ccb153908ab0a88fe1abca724a9db54bddocs: rename SHM limitation doc to SHM enabledaddsrc/test/SHM_ENABLED.mddeletesrc/test/SHM_LIMITATION.mdsrc/test/SHM_SUCCESS.md8e88d1f0af994f837b5979cf5ff6080c361572ee1776924979000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: add comprehensive SHM success documentation Explains the working architecture after recompiling Zenoh-C with SHM support: - TCP handles discovery/control plane (127.0.0.1) - SHM handles data plane (/dev/shm/*.zenoh files) - Multicast UDP for peer discovery - Gossip protocol for connection negotiation Performance achieved: - 1MB messages at 100Hz: 86.9 MB/s, 1.1ms avg latency - True zero-copy via shared memory buffers - Only discovery/control on network, data via SHM Includes verification methods and configuration details. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-23 14:16:19 +08008e88d1f0af994f837b5979cf5ff6080c361572eedocs: add comprehensive SHM success documentationaddsrc/test/SHM_SUCCESS.mdpackage.xmlsrc/test/CMakeLists.txt8a48972ce17db52d38a5c52d3dc616802dcee4071777462737000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:移除不必要依赖 2026-04-29 19:38:57 +08008a48972ce17db52d38a5c52d3dc616802dcee407feat_out:移除不必要依赖editpackage.xmleditsrc/test/CMakeLists.txtgitzenoh-cpp/x86_64/include/zenoh/api/session.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/common/common.hxxzenoh-cpp/aarch64/include/zenoh/api/scout.hxxzenoh-cpp/aarch64/include/zenoh/api/source_info.hxxzenoh-cpp/aarch64/include/zenoh/api/ext/publication_cache.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/buffer/buffer.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/cleanup.hxxzenoh-cpp/x86_64/include/zenoh/api/querier.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/common/types.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/provider/precomputed_layout.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/client/shm_segment.hxxCMakeLists.txtzenoh-cpp/aarch64/include/zenoh/detail/closures_concrete.hxxzenoh-c/x86_64/include/zenoh_memory.hzenoh-cpp/aarch64/include/zenoh/api/base.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/provider/types.hxxzenoh-cpp/aarch64/include/zenoh/api/sample.hxxzenoh-c/aarch64/lib/pkgconfig/zenohc.pczenoh-cpp/aarch64/include/zenoh/api/enums.hxxzenoh-c/aarch64/lib/cmake/zenohc/zenohcConfig.cmakezenoh-c/x86_64/lib/cmake/zenohc/zenohcConfigVersion.cmakezenoh-cpp/aarch64/include/zenoh/api/shm/cleanup.hxxzenoh-c/x86_64/include/zenoh.hzenoh-cpp/x86_64/include/zenoh/api/shm/common/common.hxxzenoh-c/x86_64/lib/cmake/zenohc/zenohcConfig.cmakezenoh-c/aarch64/include/zenoh_concrete.hzenoh-cpp/x86_64/include/zenoh/api/query.hxxzenoh-cpp/aarch64/include/zenoh/api/session.hxxzenoh-cpp/aarch64/include/zenoh/api/closures.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/provider/types.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/client_storage/client_storage.hxxzenoh-cpp/aarch64/include/zenoh/api/querier.hxxzenoh-cpp/aarch64/lib/cmake/zenohcxx/zenohcxxConfig.cmakezenoh-cpp/x86_64/include/zenoh/api/reply.hxxzenoh-c/aarch64/include/zenoh_opaque.hzenoh-c/aarch64/include/zenoh_commons.hzenoh-cpp/x86_64/include/zenoh/api/ext/miss.hxxzenoh-c/aarch64/lib/libzenohc.azenoh-cpp/aarch64/include/zenoh/detail/closures.hxxzenoh-c/x86_64/include/zenoh_macros.hzenoh-cpp/aarch64/include/zenoh/api/channels.hxxzenoh-c/x86_64/include/zenoh_constants.hzenoh-cpp/aarch64/include/zenoh/api/bytes.hxxzenoh-cpp/x86_64/include/zenoh/api/sample.hxxzenoh-c/aarch64/lib/libzenohc.sozenoh-cpp/x86_64/include/zenoh/api/hello.hxxzenoh-cpp/aarch64/include/zenoh/api/liveliness.hxxzenoh-cpp/aarch64/include/zenoh/api/cancellation.hxxzenoh-cpp/x86_64/lib/cmake/zenohcxx/zenohcxxConfigVersion.cmakezenoh-cpp/aarch64/include/zenoh/api/shm/buffer/zshm.hxxzenoh-cpp/x86_64/include/zenoh/api/queryable.hxxzenoh-cpp/aarch64/include/zenoh/api/ext/advanced_subscriber.hxxzenoh-cpp/aarch64/include/zenoh/api/interop.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/protocol_implementations/posix/posix.hxxzenoh-cpp/aarch64/include/zenoh/api/ext/serialization.hxxzenoh-cpp/x86_64/include/zenoh/api/id.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/shm.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/provider/shm_provider.hxxzenoh-cpp/x86_64/lib/cmake/zenohcxx/zenohcxxConfig.cmakezenoh-c/x86_64/include/zenoh_concrete.hzenoh-cpp/x86_64/include/zenoh/api/subscriber.hxxzenoh-cpp/aarch64/include/zenoh/api/encoding.hxxzenoh-cpp/x86_64/include/zenoh/api/liveliness.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/provider/precomputed_layout.hxxzenoh-cpp/x86_64/include/zenoh/api/interop.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/client/shm_client.hxxzenoh-c/aarch64/include/zenoh_memory.hzenoh-cpp/x86_64/include/zenoh/api.hxxzenoh-c/aarch64/include/zenoh_configure.hzenoh-cpp/aarch64/include/zenoh/api/ext/querying_subscriber.hxxzenoh-cpp/x86_64/include/zenoh/api/source_info.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/provider/shm_provider_backend.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/buffer/buffer.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/shm.hxxzenoh-cpp/aarch64/include/zenoh/detail/availability_checks.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/provider/chunk.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/client/client.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/buffer/zshm.hxxzenoh-cpp/x86_64/include/zenoh/api/matching.hxxzenoh-cpp/aarch64/include/zenoh/api/ext/miss.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/client/client.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/provider/chunk.hxxzenoh-cpp/x86_64/include/zenoh/api/channels.hxxzenoh-cpp/aarch64/include/zenoh/api/ext/session_ext.hxxzenoh-c/x86_64/lib/pkgconfig/zenohc.pczenoh-cpp/x86_64/include/zenoh/api/shm/protocol_implementations/posix/posix.hxxzenoh-cpp/x86_64/include/zenoh/api/shm/provider/types_impl.hxxzenoh-cpp/aarch64/include/zenoh/detail/commons.hxxzenoh-cpp/x86_64/include/zenoh/api/enums.hxxzenoh-cpp/aarch64/include/zenoh/api/shm/buffer/zshmmut.hxxzenoh-cpp/aarch64/lib/cmake/zenohcxx/zenohcxxConfigVersion.cmakezenoh-cpp/aarch64/include/zenoh/api/shm/protocol_implementations/posix/posix_shm_client.hxxzenoh-cpp/aarch64/include/zenoh/api/queryable.hxxzenoh-cpp/aarch64/include/zenoh/api/config.hxxzenoh-cpp/x86_64/include/zenoh/api/logging.hxxzenoh-c/aarch64/include/zenoh_macros.hzenoh-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zenoh 2026-04-29 16:22:28 +080026906400d8641ad3fe03f32af57bf855c1078876feat_out:updaet 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