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Changes

Summary

  1. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  2. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  3. fix: disable wbca during esdf_map = nullptr (details)
  4. fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题 (details)
  5. fix: unexpected route inverval (details)
  6. feat: 拖挂进堆场无 passing 途径点时改用单段倒车 (details)
  7. feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索 (details)
  8. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
  9. chore: Keb: 优化imv避障效果（回退sdf loss） (details)
  10. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
  11. fix: warm-start bug (details)
  12. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
  13. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
  14. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
  15. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
  16. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
  17. scenario BT: 出桥区进入普通路口区时立即退出 BRIDGE_JUNCTION planner (details)
  18. fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题 (details)
  19. fix: SSEP: remove strcat (details)
  20. fix: destination distance exception (details)
  21. block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) (details)
  22. block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) (details)
  23. ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 (details)
  24. boundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关) (details)
  25. fix:出堆场 直接open sapce上码头面搜索起点不合适的bug (details)
  26. ssep: 删除路口终点位姿的车头点框内回退校验 (details)
  27. feat:删除打印的日志 (details)
  28. fix: 禁用前向搜索设置中的 theta 功能 (details)
  29. fix: imv wbca smooth mode bug (details)
  30. ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 (details)
  31. fix:出堆场 直接open sapce上码头面搜索起点不合适的bug (details)
  32. ssep: 删除路口终点位姿的车头点框内回退校验 (details)
  33. feat:删除打印的日志 (details)
  34. fix: 禁用前向搜索设置中的 theta 功能 (details)
  35. fix: wbca direct link mode bug (details)
  36. fix: wbca velocity profile bug (details)
  37. fix: wbca velocity profile bug (details)
  38. feat: 适配云端access line (details)
  39. boundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩 (details)
  40. feat: 云端pnc config适配access line转换, 补HMI绘制与收包打印 (details)
  41. fix: 修正云端访问线路的yard_id赋值 (details)
  42. fix: Keb: 修复Warm start频繁失败的问题 (details)
  43. fix: 修正云端配置中access line的yard_id赋值 (details)
  44. fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 (details)
Commit 682605ae5942205627501f18eef3ba732dd2ee3c by wuyanjun110
场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判

- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit d34f7fb6b1983910d947ca2f83ee585ab76f2447 by wuyanjun110
BTActRunPlanner: 进入海侧路口区域时退出常规 planner
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 41cc53088e5d158cc575af869afd1cc111c22720 by chenran
fix: disable wbca during esdf_map = nullptr
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit c3897b9bdb5c83252532e20914509c7d65661fe7 by tangwenqing
fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3 by chenran
fix: unexpected route inverval
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit bc6d86213c1ff15b548abf3dd915b73ea8aa7e57 by wuyanjun110
feat: 拖挂进堆场无 passing 途径点时改用单段倒车

TT 进堆场场景下, 当搜索不到 passing 途径点
(is_have_search_passing_pt_ 为 false)时, 改用
kTractorTrailerSingleSegmentParking 单段倒车规划;
并恢复 ScenarioPlannerFactory 中单段倒车 planner 的真正构造
(原先复用 MultiSegmentParkingPlanner)。
The file was modifieddata/ssep/forward_ec.cpp
Commit 4fc23d7d0b4236fcac78128c81fc8220c1eb7d48 by wuyanjun110
feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索
The file was modifieddata/ssep/forward_ec.cpp
Commit 469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93 by tangwenqing
fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹

The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
Commit a22277a45eff23c403063d58134dbdbd99da90ca by tangwenqing
chore: Keb: 优化imv避障效果（回退sdf loss）

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 3dd0f964b8c77d1b46a674becce1734c72e06054 by tangwenqing
chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit d08cbc8be096ae820b866a3dde2d1771342a3b63 by chenran
fix: warm-start bug
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 21a0e06624f66dc6703d77bd676c5703caf4fc77 by tangwenqing
feat: SSEP: 调整集卡多段倒车拉直逻辑

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit c8867e6bfb420f15e74e702dc7eaff1d9aab4fb9 by wuyanjun110
桥区重规划: 上桥切下桥触发重规划并重置搜索状态

- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a0b56a44d0f53a5e1b9edc91b6f6b3dc43448b84 by wuyanjun110
桥区重规划: 上桥切下桥触发重规划并重置搜索状态

- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
Commit 1b62851c5b8b3657e8f36f0a6907e07d57a6b74b by wuyanjun110
refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks

任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
Commit c990680486ac0315a6dc372a54824e66f9cf4b7a by wuyanjun110
桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索

ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
The file was modifieddata/ssep/bridge_junction_ec.cpp
Commit dfc82bc615e203baa61b9e6dccc5a1f623c163b9 by wuyanjun110
scenario BT: 出桥区进入普通路口区时立即退出 BRIDGE_JUNCTION planner
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 4d3241f90aeda494cce7064f1ee3afdfa6991103 by tangwenqing
fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit 705d55953bfa28c60e7c32205a25fce0642c4088 by tangwenqing
fix: SSEP: remove strcat

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 4b940c29b51dd847bea5729ac85f01c9b5837b2d by chenran
fix: destination distance exception
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit c87ab5c742c1ab47bbb67327191b68d32269ec0e by wuyanjun110
block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)
The file was modifieddata/obstacle/block.cpp
Commit 72cb8313bcdb67e98625e34abb90fc48dac09efb by wuyanjun110
block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)
The file was modifieddata/obstacle/block.cpp
Commit 2c663fc2e3eb7ba04d86a73d6c074e7ef2fd6b61 by wuyanjun110
ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a156a6dbb9763d6fb15daf0e957a4dce81d11ac2 by wuyanjun110
boundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关)

旧逻辑逐点垂线射线与手工过滤的多边形边集求交, 对凹形/异形路口取
最近交点语义错误, 门边剔除脆弱, 单点失败兜底值无限传播。

新增 PolygonSLProjector: 将路口多边形/envelope 轮廓离散投影到
guide line SL 系逐格聚合左右边界。要点:
- 门区(出入口 ±gate_window)样本一律不采信, 防异形门口的门柱顶点
  把 l≈0 砸进门口格子(实车日志实证)
- 横跨 guide line 且交叉点落在门区内的门边整条剔除
- max_slope=3.0 限坡磨尖刺, 不削直角外凸的可行驶区
- max_lateral=50 覆盖大路口敞开区, 避免人为截断走廊
- 出入口不与车道宽度混合, 门口宽度台阶是放宽方向, 与旧逻辑一致

顺手修复 Path::GetProjection s_range 窗口两处隐藏 bug(上界 fmax
应为 fmin; 平方距离误与 50.0 比较), 新增显式窗口投影接口
GetProjectionInRange(不回退全线扫描)。

开关 use_func_junction_boundary_sl_projection 默认关闭; 开启时
每帧输出 [sl_bd] 新旧对比与边界表摘要日志, 供灰度期 replay 排查,
默认打开后随旧射线路径一并清理。

单测 pnc_polygon_sl_projector_test(-DPNC_BUILD_TESTS=ON) 覆盖
矩形/凹形/直角外凸/门柱坑/单侧无约束/退化输入与窗口投影。
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was addeddata/boundary/polygon_sl_projector_test.cpp
The file was modifiedCMakeLists.txt
The file was addeddata/boundary/polygon_sl_projector.cpp
The file was modifieddata/common/path.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was addeddata/boundary/polygon_sl_projector.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/common/path.cpp
Commit 9b202b39519038925ea10704abad7c572fc8c21a by wuyanjun110
fix:出堆场 直接open sapce上码头面搜索起点不合适的bug
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/reference/reference_line.cpp
The file was modifieddata/map/reference/reference_line.hpp
Commit 0528362a8f7311d237c27a23d17b41227443cddb by wuyanjun110
ssep: 删除路口终点位姿的车头点框内回退校验

终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义,
且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit fb51a26b1bdd53e3f14d69ad32617986390f2833 by wuyanjun110
feat:删除打印的日志
The file was modifiedssep/maps/ogm.cc
Commit a8c764bfaa62b8a6fd5f3ae8525f2f040260ff66 by wuyanjun110
fix: 禁用前向搜索设置中的 theta 功能
The file was modifieddata/config/cfg_func_sw.cpp
Commit 753c91b3c2828e366752290b615b03dd2503db2b by chenran
fix: imv wbca smooth mode bug
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit db9852088a8685659c5d2a514467f0c3a043a94d by wuyanjun110
ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 334f7e6b591f70224a2ce59a9bf77c8e5f92ec64 by wuyanjun110
fix:出堆场 直接open sapce上码头面搜索起点不合适的bug
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/reference/reference_line.hpp
The file was modifieddata/map/reference/reference_line.cpp
Commit 2b8475bdb14b662acfee2cb39481684d3113ae6a by wuyanjun110
ssep: 删除路口终点位姿的车头点框内回退校验

终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义,
且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit 8328dcf4d1ffd9899770b804a78dc318a6700d42 by wuyanjun110
feat:删除打印的日志
The file was modifiedssep/maps/ogm.cc
Commit dce71e2b8c063039797da73999b2986ad4e6f52d by wuyanjun110
fix: 禁用前向搜索设置中的 theta 功能
The file was modifieddata/config/cfg_func_sw.cpp
Commit 7a2e36942a4c2b3bf93b0d98d1a6340e31595aeb by chenran
fix: wbca direct link mode bug
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
Commit 7aae25bd393db481ed8f8640a5caec04821f7546 by chenran
fix: wbca velocity profile bug
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit f85431cb05e0e7c164cf3be366a708c89e795640 by chenran
fix: wbca velocity profile bug
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 360e40ff32048f35c5c75bcd9f4be93ab6768510 by tangwenqing
feat: 适配云端access line

The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 213b9b1ba2fdfd2c2cca12ee810cd90698c7167a by wuyanjun110
boundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩

旧的贴边点云改标 200 方案用无符号距离带, 边界内侧真障碍点云也被吞成
道路(限速被豁免+不发绕行+HMI 显示错), 且写入时销毁真源。改为:

- 点云一律写真实灰度(253/255); BuildOgm 构建有符号边界带 mask(外侧
  0.75m+内侧 2 格离散容差), ConstructDistanceMap 给占用像素打
  kOccInBandBit 高位, 低 7 位保真源, 消费端各自解释: 限速豁免
  in_band 亦豁免; DP 软罚按真源档(贴边点云 underlying 1.0m > 几何墙
  road 0.3m, 观测优先于几何), in_band 只豁免硬判; gap 分型贴边点云
  归 ROAD 不发绕行
- Gap::Source 扩 7 值与 OccSource 数值一一对齐, side 判定改
  IsBoundarySource(ROAD||DITCH), HMI DP 窗 7 桶分色, trace 数值语义
  同步(旧 dump 不兼容)
- 修无障碍下走廊边界内缩(路口张开区不跟随/直线段锯齿/加点反而外扩):
  挖窗豁免 ROAD(墙斜连线平坦垂距区被误判局部极小整片挖占用);
  墙折线宽度突变阶梯化(斜连线贴线带啃噬 ~0.2*Δl);
  扫描端点带 0.3m 内纯几何墙豁免(封边由扫描范围表达, 消像素基线锯齿);
  EMA 匹配容差 0.6→0.35(防历史系统性偏差持续混入不收敛)
- HMI DP 窗加 shift 边界白点线(gap 端点对比定位内缩来源)
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/boundary/driving_corridor.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedhmi/widget/dp_decision_detail.cpp
The file was modifieddata/dp_poly_path/decision_trace.hpp
The file was modifieddata/dp_poly_path/trajectory_cost.cpp
The file was modifiedhmi/widget/dp_decision_detail.hpp
Commit 86128a399f44d1f70d71b1cb91cd19c8ec03043d by wuyanjun110
feat: 云端pnc config适配access line转换, 补HMI绘制与收包打印
The file was modifiedsource/ros_source_pnc_config.cpp
The file was modifiedsource/ros_source_pnc_config.hpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 03260cb307241474583031ba804545e680c3466c by wuyanjun110
fix: 修正云端访问线路的yard_id赋值
The file was modifieddata/vehicle/cloud_pnc_config.cpp
Commit e2f0c15e9a21b38099c5448c01e4b4e244f4d386 by tangwenqing
fix: Keb: 修复Warm start频繁失败的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 44d902e0bf0b25cdb826c586914fcaf8958e3900 by wuyanjun110
fix: 修正云端配置中access line的yard_id赋值
The file was modifieddata/vehicle/cloud_pnc_config.cpp
Commit 824daf8445e92722d6ce546b2e8a03a11c876376 by wuyanjun110
fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp