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"comment" : "fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题\u000a\u000a", "date" : "2026-07-06 14:18:24 +0800", "id" : "c3897b9bdb5c83252532e20914509c7d65661fe7", "msg" : "fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题", "paths" : [ { "editType" : "edit", "file" : "ssep/scenarios/tractor_trailer_enter_yard_planner.h" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/pnc_map/routing_extension/routing_data.cpp", "data/map/envelop/map_envelop.cpp", "data/ssep/into_yard_junction_ec.cpp", "data/map/reference/reference_road_section.cpp" ], "commitId" : "6fcf82b0d13d1090da452028fdc98749dc16409d", "timestamp" : 1783321715000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复 GetRoadType 调用点未校验 lane 空指针导致的崩溃隐患\u000a\u000aGetRoadType 内部 CHECK_NOTNULL, 传 null 直接 FATAL。\u000a- routing_data GetOpenSpaceShapeMode: lane/pre_lane/suc_lane 判空后返回 PARALLEL\u000a- into_yard_junction_ec: 修正 lane_ptr 判空顺序倒置\u000a- reference_road_section/map_envelop: .lane 为 null 时降级为 ROAD_TYPE_UNKNOWN\u000a", "date" : "2026-07-06 15:08:35 +0800", "id" : "6fcf82b0d13d1090da452028fdc98749dc16409d", "msg" : "修复 GetRoadType 调用点未校验 lane 空指针导致的崩溃隐患", "paths" : [ { "editType" : "edit", "file" : "data/map/pnc_map/routing_extension/routing_data.cpp" }, { "editType" : "edit", "file" : "data/ssep/into_yard_junction_ec.cpp" }, { "editType" : "edit", "file" : "data/map/reference/reference_road_section.cpp" }, { "editType" : "edit", "file" : "data/map/envelop/map_envelop.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/draw/draw_map.hpp", "hmi/draw/draw_map.cpp" ], "commitId" : "c96eaa847718662964d9474b5d2a825312fe1374", "timestamp" : 1783336140000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃\u000a\u000alane/road/junction 等指针是 offset_ptr(内存映射), 换图重建 HDMap 后旧指针\u000a悬空。DrawMap 跨帧缓存这些指针, 但刷新只看车位移、漏了换图判断, 换图后车未\u000a大幅移动时解引用悬空指针崩溃。DrawBaseMap 增加 map_path 变化检测, 换图时强制\u000a清空重取。\u000a", "date" : "2026-07-06 19:09:00 +0800", "id" : "c96eaa847718662964d9474b5d2a825312fe1374", "msg" : "修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_map.hpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_map.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan_frame.cpp", "data/decide/decide_reaction.hpp" ], "commitId" : "4119dd8a91225742a102087052275e92f31e2741", "timestamp" : 1783342535000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复变道临停标志位在非变道场景残留导致的幽灵停车线\u000a\u000areq_stop_to_wait_change_lane_ 是跨帧锁存位, 原仅在 LaneChangeDecider 内复位,\u000a而 OPEN_SPACE/BULKLOAD/倒车等场景不调度该 decider, 标志位残留会被 constrain_decider\u000a读到并一直在车前挂临停停车线. 改为在 decision_reaction_ 每帧 FromHis 流转处按\u000aplanner 边界兜底清除.\u000a", "date" : "2026-07-06 20:55:35 +0800", "id" : "4119dd8a91225742a102087052275e92f31e2741", "msg" : "修复变道临停标志位在非变道场景残留导致的幽灵停车线", "paths" : [ { "editType" : "edit", "file" : "data/plan_frame.cpp" }, { "editType" : "edit", "file" : "data/decide/decide_reaction.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "algorithm/wbca/wbca_manager.cpp", "algorithm/wbca/linear_velocity_generator.cpp" ], "commitId" : "d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3", "timestamp" : 1783342788000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/chenran", "fullName" : "chenran" }, "authorEmail" : "chenran@senior.auto", "comment" : "fix: unexpected route inverval\u000a", "date" : "2026-07-06 20:59:48 +0800", "id" : "d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3", "msg" : "fix: unexpected route inverval", "paths" : [ { "editType" : "edit", "file" : "algorithm/wbca/wbca_manager.cpp" }, { "editType" : "edit", "file" : "algorithm/wbca/linear_velocity_generator.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/draw/draw_map.cpp" ], "commitId" : "ad363a6776d190a15f4c8d6f1876c1534647a9b1", "timestamp" : 1783344757000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图\u000a\u000alast_map_path_ 声明后从未被赋值, 恒为空串, 使换图检测 map_changed 恒为\u000atrue, 每帧强制重取 lanes/roads/junctions 等, 架空 IsNeedGetMap 的位移缓存。\u000a在重取分支开头记录当前 map_path(放在后续 Get* 之前, 保证即便中途异常也已\u000a记下, 不会下一帧误判换图)。\u000a", "date" : "2026-07-06 21:32:37 +0800", "id" : "ad363a6776d190a15f4c8d6f1876c1534647a9b1", "msg" : "修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_map.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/ssep/forward_ec.cpp" ], "commitId" : "bc6d86213c1ff15b548abf3dd915b73ea8aa7e57", "timestamp" : 1783390979000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 拖挂进堆场无 passing 途径点时改用单段倒车\u000a\u000aTT 进堆场场景下, 当搜索不到 passing 途径点\u000a(is_have_search_passing_pt_ 为 false)时, 改用\u000akTractorTrailerSingleSegmentParking 单段倒车规划;\u000a并恢复 ScenarioPlannerFactory 中单段倒车 planner 的真正构造\u000a(原先复用 MultiSegmentParkingPlanner)。\u000a", "date" : "2026-07-07 10:22:59 +0800", "id" : "bc6d86213c1ff15b548abf3dd915b73ea8aa7e57", "msg" : "feat: 拖挂进堆场无 passing 途径点时改用单段倒车", "paths" : [ { "editType" : "edit", "file" : "data/ssep/forward_ec.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/ssep/forward_ec.cpp" ], "commitId" : "4fc23d7d0b4236fcac78128c81fc8220c1eb7d48", "timestamp" : 1783391003000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索\u000a", "date" : "2026-07-07 10:23:23 +0800", "id" : "4fc23d7d0b4236fcac78128c81fc8220c1eb7d48", "msg" : "feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索", "paths" : [ { "editType" : "edit", "file" : "data/ssep/forward_ec.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "data/obstacle/ogm.cpp" ], "commitId" : "2019c0c26a27438accffa0ef8c1227a46aa84356", "timestamp" : 1783403360000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "OGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定\u000a\u000a- distanceTransform 带 DIST_LABEL_PIXEL 输出 label_map, 按占用灰度建\u000a label→OccSource(道路边界/沟/上下层点云/实体/预测框) 查表, 供走廊与\u000a DP 按来源分级处理\u000a- mask 3→5: 3×3 掩模斜向 2~5% 低估对小障碍边界定位影响放大\u000a- GetNearestObstacleDistance/GetNearestSource 先截断 x/res 再加 center,\u000a 与写入端同约定, 消除负半平面 1 格系统性偏移\u000a", "date" : "2026-07-07 13:49:20 +0800", "id" : "2019c0c26a27438accffa0ef8c1227a46aa84356", "msg" : "OGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/ogm.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/boundary/driving_corridor.cpp", "data/boundary/driving_corridor.hpp" ], "commitId" : "194f7ed1a5314077a82ef32190909f6d32359516", "timestamp" : 1783403410000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件\u000a\u000a- BuildOgm 按危险度排序写占用灰度(道路边界200/沟248/下层253/上层255/\u000a obj251/预测250), 道路边界墙沿 shift 边界左右分开画折线, 防 uturn 宽\u000a 边界闭合多边形自相交\u000a- gap 扫描顺存与 SDF 同索引的最近占用来源行(set_sdf_source/\u000a GetSdfSourceByIdx), 供 DP/限速按来源分级\u000a- 幻影挖窗: free 段内 SDF 局部极小 < interval/2 判为断面间小障碍, 按等\u000a 值弦宽挖占用窗, 治小障碍随车前进可见/消失闪烁; 大障碍边界仍由细等值\u000a 线定位不损通道宽\u000a- gap 帧间 EMA 改端点双条件匹配, 防新障碍切出的子 gap 错配上帧大 gap\u000a 被拉走边界\u000a- 限速: 最近占用为道路边界/沟点的角点不触发降速, 只对障碍类降速\u000a", "date" : "2026-07-07 13:50:10 +0800", "id" : "194f7ed1a5314077a82ef32190909f6d32359516", "msg" : "走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件", "paths" : [ { "editType" : "edit", "file" : "data/boundary/driving_corridor.hpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_lat_decide.cpp", "data/dp_poly_path/comparable_cost.hpp", "data/config/cfg_lat_decide.hpp", "data/dp_poly_path/trajectory_cost.cpp", "data/dp_poly_path/comparable_cost.cpp" ], "commitId" : "cb118a9628e712bb6e5cd1ebed337ffbca061b5b", "timestamp" : 1783403467000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "DP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录\u000a\u000a治绕行后不回目标车道的三层叠加缺陷 + 低速晚急拐形态:\u000a- SDF 软罚预留量按占用来源分档(cfg dp_poly_sdf_margin_*, 道路边界 0.3\u000a 其余 1.0): 原统一 1m 使普通车道纯居中也背 safety, 路径无故偏心 ~0.8m\u000a- SDF 碰撞硬判只统计非道路来源: 车身斜穿时角点横甩 1~2m 必扫进道路边\u000a 界硬判带,致回中心必碰整列 HAS_COLLISION; 道路越界由 gap 硬判+\u000a deficit+软罚兜底\u000a- path_l/path_end 偏离量改米制: 原 /(left+right) 归一化使回正拉力随走\u000a 廊宽度稀释, 高速压不过 v⁴ 级 ddl 机动代价; 权重换算 800→50/1e4\u000a- 末层判定 curr_level+1==total_level: 原 ==total_level 永不成立, 终点\u000a 回正罚从未生效\u000a- dl/ddl 等效车速下限 cfg 化(dp_poly_lat_v_floor): 低速急拐不再近乎免\u000a 费, 恢复早而缓的绕行形态偏好\u000a- ComparableCost 新增 first_coll_s 随碰撞位传播(取链上最小), 供 trace/\u000a HMI 把红×画在真实碰撞位置\u000a- CfgLatDecide 序列化 bump v4(新字段分版本 gate, 旧 dump 可回放)\u000a", "date" : "2026-07-07 13:51:07 +0800", "id" : "cb118a9628e712bb6e5cd1ebed337ffbca061b5b", "msg" : "DP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_lat_decide.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/trajectory_cost.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/comparable_cost.hpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_decide.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/comparable_cost.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/dp_poly_path/dp_road_graph.cpp", "data/dp_poly_path/dp_road_graph.hpp" ], "commitId" : "feef2cf71d58677b8d9e71c41a573e349b6dd80f", "timestamp" : 1783403527000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "DP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持\u000a\u000a- dl 档 {±0.2,0}→{±0.2,±0.1,0}: 补中间档使匀速缓爬可表达, 治低速\"贴 0\u000a 到临近才集中爬完\"的晚急形态\u000a- 转移剪枝: 端点 dl 档与段平均斜率偏差 >0.15 的曲线不构不算(直行区只留\u000a |dl|≤0.1 档), 把 5 档转移量压回 3 档量级; level1 起点真实 dl 不剪\u000a- 边界邻近 dl 档过滤: 到 gap 车中心可行边界余量 < 档位×5m 的\"冲向边界\"\u000a 档不生成节点, 贴边死节点连同其全部入边转移一并省掉\u000a- side_pass_range 改真实绕行区间[起坡点,回正点](沿路径回溯/延伸到偏移\u000a 回落 ≤0.3m); 旧 {触发s, +0.5} 起点晚报且终点无意义\u000a- 回正保持 KeepSidePassUntilCentered: 上帧在绕行且车实际仍偏 >0.5m 时\u000a 延续 label 直到回落, 三个无触发出口(路径空/dp_search_ok=false/前方无\u000a 障碍侧 gap)统一接入; 失败帧只延续不新发起, 依据车辆实际位置而非失败\u000a 路径形状, 治障碍甩到车后或单帧搜索失败时状态机提前退出绕行态\u000a", "date" : "2026-07-07 13:52:07 +0800", "id" : "feef2cf71d58677b8d9e71c41a573e349b6dd80f", "msg" : "DP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/widget/dp_decision_detail.hpp", "data/dp_poly_path/decision_trace.cpp", "data/dp_poly_path/decision_trace.hpp", "hmi/widget/dp_decision_detail.cpp" ], "commitId" : "b66975cb75f6934e16c59124411a873aa7cbd2fe", "timestamp" : 1783403558000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "side-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置\u000a\u000a- HMI \"DP决策过程\" gap 边界按 Gap::Source 分 5 类散点(道路/静障/OGM/\u000a 动态/未知), 空类型不占图例\u000a- trace 节点带 coll_s(链上首碰实际 s), 红×画在首碰位置而非节点 s(节点\u000a 记账有层间距+半车长视觉偏差, 易误读为障碍定位错), 红×聚成障碍轮廓;\u000a tooltip 增加首碰 s 与节点 s 对照\u000a- dl 档摊开系数 0.75→2.5 适配 5 档(相邻档 s 偏 0.25m 可分辨/可分别 hover)\u000a- DumpTraceJson 对 inf/nan clamp(不可达节点原写出裸 inf 致 JSON 非法)\u000a", "date" : "2026-07-07 13:52:38 +0800", "id" : "b66975cb75f6934e16c59124411a873aa7cbd2fe", "msg" : "side-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置", "paths" : [ { "editType" : "edit", "file" : "hmi/widget/dp_decision_detail.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.cpp" }, { "editType" : "edit", "file" : "hmi/widget/dp_decision_detail.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp" ], "commitId" : "0fe2532aafdf938b5180b486f12e94de923a10ee", "timestamp" : 1783403590000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "wbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽\u000a\u000a- 查 driving_corridor path_bound() 原取\"右邻\"断面(单向 0~0.5m s 偏),\u000a 叠加 path_bound 标签在段中点(+0.25)后小障碍凹口与障碍 s 明显错位;\u000a 改取左右邻中更近者, 偏差降为 ±0.25(0.5m 断面结构下限)\u000a- 右边界原误加 UnderlyingHeadBase2left(复制粘贴), 左右半宽不同车型\u000a 右侧凹口深度偏差, 改 Base2right\u000a", "date" : "2026-07-07 13:53:10 +0800", "id" : "0fe2532aafdf938b5180b486f12e94de923a10ee", "msg" : "wbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/boundary/driving_corridor.cpp" ], "commitId" : "ec46acf9b3f93515568d6f4e9e0a5686c0f20ce3", "timestamp" : 1783406310000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "gap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路\u000a\u000aBuildGaps 端点来源原是几何猜测(距 shift 边界 0.3m 内标 ROAD, 否则一律\u000aSTATIC_OBS), 贴路沿的 obj 会被误标成道路; 道路边界被滤波/挖窗内侵超\u000a0.3m 时也会被误标静障、凑出假绕行 side。\u000a\u000a改为优先查 source_at_l(往占用侧外探半步防窄 gap 查到对侧), 按 OccSource\u000a映射: ROAD/DITCH→道路, UNDERLYING/UPPER→OGM, OBJ→静障, PRED_OBJ→动态;\u000aSDF 无信息才回退几何判定。side 触发判定同步从 ==STATIC_OBS 放宽为\u000a!=ROAD, 保持 OGM/动态切出边界仍可触发绕行的原行为。\u000a", "date" : "2026-07-07 14:38:30 +0800", "id" : "ec46acf9b3f93515568d6f4e9e0a5686c0f20ce3", "msg" : "gap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路", "paths" : [ { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/scenarios/tractor_trailer_single_segment_parking_planner.h" ], "commitId" : "469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93", "timestamp" : 1783410693000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/tangwenqing", "fullName" : "tangwenqing" }, "authorEmail" : "tangwenqing@senior.auto", "comment" : "fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹\u000a\u000a", "date" : "2026-07-07 15:51:33 +0800", "id" : "469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93", "msg" : "fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹", "paths" : [ { "editType" : "edit", "file" : "ssep/scenarios/tractor_trailer_single_segment_parking_planner.h" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "data/boundary/driving_corridor.cpp", "data/obstacle/ogm.cpp" ], "commitId" : "116049d3a4a9a36d52f65de598509154ca22795b", "timestamp" : 1783413671000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志\u000a\u000a修\"贴道路边界就降速\": 真实路沿的下层/上层点云叠在/紧邻几何边界墙,\u000a按 253/255 写入后最近占用查出\"障碍\", ROAD/DITCH 豁免形同虚设。BuildOgm\u000a画完墙后对墙单独求距离场, 距墙 0.75m 带内的下层/上层点改标 200(路沿\u000a观测归道路边界); band 覆盖地图偏差(实测 0.46m 例)+截断离散 1 格。\u000aobj/预测框后画覆盖不受影响。\u000a\u000a修兜底误限: 轮廓顶点全被豁免时 clearance==DBL_MAX 被误判\"轮廓不可用\",\u000a退静态半宽兜底把已豁免占用重新罚回。contour_clearance 回传 any_valid,\u000a轮廓有效但全豁免=余量充足, 不再退兜底。\u000a\u000a可观测: 每段限速输出 [boundary_limit] 日志(最窄余量/来源/触发角点/\u000a占用像素 Frenet 位置); OgmDistance 新增 label_pos_ 表与 GetNearestOccPos\u000a反查最近占用位置。限速上限逐点取该 s 处地图限速(原用 ego 处一刀切)。\u000a", "date" : "2026-07-07 16:41:11 +0800", "id" : "116049d3a4a9a36d52f65de598509154ca22795b", "msg" : "边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_safe_const.cpp", "tasks/deciders/long_decider/constrain_decider.cpp" ], "commitId" : "d2cf01ba41650367ce28ef310b4f14b9665013b5", "timestamp" : 1783413693000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量\u000a\u000amin_boundary_distance_thr 0→0.25: 余量低于 0.25m 即压到最低限速,\u000a线性段从 0.25 起算, 贴障碍时限速更果断。\u000aCreateBoundaryConstrain 约束位置去掉固定 -10m 提前量, 按窄区真实\u000a入口下发(原提前量叠加窄区入口, 减速点过早)。\u000a", "date" : "2026-07-07 16:41:33 +0800", "id" : "d2cf01ba41650367ce28ef310b4f14b9665013b5", "msg" : "边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_safe_const.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/long_decider/constrain_decider.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/keb_optimizer/imv_keb_optimizer.cc" ], "commitId" : "a22277a45eff23c403063d58134dbdbd99da90ca", "timestamp" : 1783416089000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/tangwenqing", "fullName" : "tangwenqing" }, "authorEmail" : "tangwenqing@senior.auto", "comment" : "chore: Keb: 优化imv避障效果（回退sdf loss）\u000a\u000a", "date" : "2026-07-07 17:21:29 +0800", "id" : "a22277a45eff23c403063d58134dbdbd99da90ca", "msg" : "chore: Keb: 优化imv避障效果（回退sdf loss）", "paths" : [ { "editType" : "edit", "file" : "ssep/keb_optimizer/imv_keb_optimizer.cc" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "data/boundary/driving_corridor.cpp", "data/obstacle/ogm.cpp" ], "commitId" : "a0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd2", "timestamp" : 1783417370000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "移除边界限速调试日志与占用反查诊断\u000a\u000a问题已定位修复([boundary_limit] 日志完成使命), 摘除诊断链路:\u000aflush_segment 的日志与 occ 反查、NarrowInfo 收集、OgmDistance 的\u000alabel_pos_ 表与 GetNearestOccPos。保留功能性修复不动: 贴墙点云改标\u000aROAD、兜底 any_valid(轮廓全豁免不退兜底)。需要时从 116049d3a 找回。\u000a", "date" : "2026-07-07 17:42:50 +0800", "id" : "a0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd2", "msg" : "移除边界限速调试日志与占用反查诊断", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "tasks/deciders/long_decider/constrain_decider.cpp" ], "commitId" : "8f8bf8b409923b1283029be33419cab8d2f98a64", "timestamp" : 1783417390000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "边界限速约束点再去车头偏置, 按窄区入口原值下发\u000a\u000aCreateBoundaryConstrain 的 distance 去掉 -HeadBase2front: 窄区入口\u000a距离本就是沿路径到该断面的量, 再减车头偏置会把减速点提前一个车头。\u000a", "date" : "2026-07-07 17:43:10 +0800", "id" : "8f8bf8b409923b1283029be33419cab8d2f98a64", "msg" : "边界限速约束点再去车头偏置, 按窄区入口原值下发", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/long_decider/constrain_decider.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h" ], "commitId" : "3dd0f964b8c77d1b46a674becce1734c72e06054", "timestamp" : 1783422965000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/tangwenqing", "fullName" : "tangwenqing" }, "authorEmail" : "tangwenqing@senior.auto", "comment" : "chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束\u000a\u000a", "date" : "2026-07-07 19:16:05 +0800", "id" : "3dd0f964b8c77d1b46a674becce1734c72e06054", "msg" : "chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束", "paths" : [ { "editType" : "edit", "file" : "ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/dp_poly_path/dp_road_graph.cpp", "data/plan/side_pass_data.cpp" ], "commitId" : "788df06af2b12c622211308281cda512ac56ca5a", "timestamp" : 1783426041000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态\u000a\u000a两半同一 bug: ① IsNeedUseHis 手误写成 status_==RIGHT_SIDE_PASS → 右绕行\u000a期间每帧触发 UseHis; ② UseHis 不清空直接 append, his 又是上帧拼接结果\u000a→ frenet_frame_path 每帧净增约一条路径长, 线性膨胀且 s 失序(下游\u000aGenerateBoundary/EvaluateByS 按 s 有序二分, 边界被带乱)。\u000a\u000a修: UseHis 先 clear 再整体替换(s 平移到本帧参考系); 触发条件改回\u000astatus_==USE_HIS(状态机判定本帧 DP 结果不可信时才沿用上帧)。附带行为\u000a修正: 右绕行恢复与左绕一致、每帧使用 DP 新结果, 不再执行首帧旧路径的\u000a平移拼接版。\u000a", "date" : "2026-07-07 20:07:21 +0800", "id" : "788df06af2b12c622211308281cda512ac56ca5a", "msg" : "修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.cpp" }, { "editType" : "edit", "file" : "data/plan/side_pass_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "algorithm/wbca/wbca_manager.cpp" ], "commitId" : "dbd4b15f7d7bb90ad6666103ccf4eb966fec5a10", "timestamp" : 1783426056000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "wbca 热启动: route_info 空容器防护\u000a\u000aWarmStartFromHistory 访问 route_info.front() 前补 empty 检查, 防空容器\u000a未定义行为。\u000a", "date" : "2026-07-07 20:07:36 +0800", "id" : "dbd4b15f7d7bb90ad6666103ccf4eb966fec5a10", "msg" : "wbca 热启动: route_info 空容器防护", "paths" : [ { "editType" : "edit", "file" : "algorithm/wbca/wbca_manager.cpp" } ] 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"tasks/deciders/search_decider/bridge_junction_search_decider.cpp" ], "commitId" : "c8867e6bfb420f15e74e702dc7eaff1d9aab4fb9", "timestamp" : 1783504854000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "桥区重规划: 上桥切下桥触发重规划并重置搜索状态\u000a\u000a- 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\u000a- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态\u000a- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数\u000a", "date" : "2026-07-08 18:00:54 +0800", "id" : "c8867e6bfb420f15e74e702dc7eaff1d9aab4fb9", "msg" : "桥区重规划: 上桥切下桥触发重规划并重置搜索状态", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/other_decider/replan_decider.hpp" }, { "editType" : "edit", "file" : "tasks/deciders/other_decider/replan_decider.cpp" }, { "editType" : "edit", "file" : 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