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09:08:30 +00000b2ca116160ad4844e7d56a0b0498b2c372b195cUpdate jili-xiasha-submodule.jenkinsfileaddparams/hangzhou-xiasha-submodule.jenkinsfiledeleteparams/jili-xiasha-submodule.jenkinsfileparams/hangzhou-xiasha-submodule.jenkinsfile5b2dc1fe505ca2644924e4b4870033bd68e459b01787649356000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile 2026-08-25 09:15:56 +00005b2dc1fe505ca2644924e4b4870033bd68e459b0Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfileparams/hangzhou-xiasha-submodule.jenkinsfile1dd8657cccae3ac4fd74bfd5bf352f2c289c63e61787649527000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile 2026-08-25 09:18:47 +00001dd8657cccae3ac4fd74bfd5bf352f2c289c63e6Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfileparams/hangzhou-xiasha-submodule.jenkinsfilec139f8cd28125dfe6ca12522fbf56fa2372356051787649725000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile 2026-08-25 09:22:05 +0000c139f8cd28125dfe6ca12522fbf56fa237235605Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfileparams/tangshan-jinxi-submodule.jenkinsfile818edade35f721b82593fddc38bf9a631dac7aa01788168962000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file 2026-08-31 09:36:02 +0000818edade35f721b82593fddc38bf9a631dac7aa0Add new fileaddparams/tangshan-jinxi-submodule.jenkinsfilehdmap/map-png.jenkinsfile48fc663c5bdcd24c74e28e8c73019f205fd7d1051788316453000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-09-02 02:34:13 +000048fc663c5bdcd24c74e28e8c73019f205fd7d105Update map-png.jenkinsfileedithdmap/map-png.jenkinsfilemodule-confname.jenkinsfile324d989b4040c8f5595d0b74a7b32d6bf09d09d51788329097000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-confname.jenkinsfile 2026-09-02 06:04:57 +0000324d989b4040c8f5595d0b74a7b32d6bf09d09d5Update module-confname.jenkinsfileeditmodule-confname.jenkinsfilemodule-ros2.jenkinsfile9d98a7b9106e1c12b7af2b971e6dad91a4a7cc4d1788332983000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file 2026-09-02 07:09:43 +00009d98a7b9106e1c12b7af2b971e6dad91a4a7cc4dAdd new fileaddmodule-ros2.jenkinsfilemodule-ros2-pncreplayer.jenkinsfile2b3c61e1694bf9cc3af534d5fe7ba5353dc611051788333291000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file 2026-09-02 07:14:51 +00002b3c61e1694bf9cc3af534d5fe7ba5353dc61105Add new fileaddmodule-ros2-pncreplayer.jenkinsfilemodule-ros2-pncreplayer.jenkinsfileb55eeb1f099d48141e130712ddc79f1659d98b251788334078000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2-pncreplayer.jenkinsfile 2026-09-02 07:27:58 +0000b55eeb1f099d48141e130712ddc79f1659d98b25Update module-ros2-pncreplayer.jenkinsfileeditmodule-ros2-pncreplayer.jenkinsfilemodule-ros2.jenkinsfile5d4dd9cd11c3628c5f6a0111fc74d2fec947ca741788334101000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-02 07:28:21 +00005d4dd9cd11c3628c5f6a0111fc74d2fec947ca74Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfilea8c9cb50ce695f142cbe94a23fec47903092ce981788335844000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-02 07:57:24 +0000a8c9cb50ce695f142cbe94a23fec47903092ce98Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilegittos_msgs/msg/PncConfiguration.msgtos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msga6cc2eba4e6500eb50f7c134c69130ed5961609d1788166534000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-08-31 16:55:34 +0800a6cc2eba4e6500eb50f7c134c69130ed5961609dtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义addtos_msgs/msg/AccessLine.msgedittos_msgs/msg/PncConfiguration.msgedittos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg2d6540ee99dacd1ead24c835cb63c9282bc40ec71788166541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-08-31 16:55:41 +08002d6540ee99dacd1ead24c835cb63c9282bc40ec7tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msggittasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppplan/prepare/prepare_ogm.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.hpphmi/draw/draw_map.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测 通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。 将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppeditcommon/util/hdmap_wrapper.cppeditcommon/util/hdmap_wrapper.hppedithmi/draw/draw_map.hppeditplan/prepare/prepare_ogm.hppedithmi/draw/draw_map.cpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理 将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。 同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用 成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。 同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展 叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常 合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。 恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editdata/map/pnc_map/pnc_map.hppeditTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续edittasks/plan/pjpo_task.cppeditdata/plan/switch_data.cppeditdata/plan/start_point_data.cppeditdata/plan/start_point_data.hppedittasks/deciders/lat_decider/switching_bounds_decider.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppcommon/log/log_config.cppdata/plan/start_point_data.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hppcommon/log/log_config.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_utils.cppeditssep/data_structures/path.cceditcommon/log/log_config.cppedittasks/plan/keb_utils.hppeditcommon/log/log_config.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.hppeditdata/plan/start_point_data.hppeditssep/protos/path.protoeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditoffboard/keb_path_opt_cli/keb_simulator.ccedittasks/plan/keb_lane_follow_path_task.cppeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/constrain/disable_stop_range.cpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关 新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppeditdata/constrain/disable_stop_range.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车 基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。 新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamlssep/data_structures/ssep_input.hppssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放 在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。 统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/offboard/ssep_planner_wrapper.cceditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.hppeditssep/data_structures/ssep_input.cceditssep/protos/scene.protossep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化 增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。 完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/scenarios/imv_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力 修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。 为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.heditdata/ssep/forward_ec.cppeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/imv_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hedittasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判 为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。 保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器 新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/.gitignoressep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/replay_scene_frame_cli.ccssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集 新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。 回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdaddssep/test/local_regression/README.mdaddssep/test/local_regression/imv_multisegment_manifest.tsvaddssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/test/ssep_planner_test.ccdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染 首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。 贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor_test.cppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.hppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车 接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/plan/guide_line_base.hppeditdata/config/cfg_long_plan.cppeditCMakeLists.txteditdata/constrain/longitude_constrain.cppeditdata/other/flow_control.hppeditdata/config/cfg_func_sw.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/plan/guide_line.cppeditdata/map/pnc_map/path_overlap.hppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.hppeditdata/other/flow_control.cppeditconfig/config_imv/plan.yamleditdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cppadddata/other/flow_control_test.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云 依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editdata/config/cfg_safe_const.cppeditconfig/config_imv/plan.yamleditdata/other/flow_control_test.cppeditdata/config/cfg_safe_const.hppeditdata/config/cfg_func_sw.cppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.hpphmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写 沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.hppedithmi/draw/draw_guide_line.cppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持 新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.cppeditdata/config/cfg_region.hppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败 当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效 倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持 新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。 调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/ssep/out_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车 绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断 场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。 网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/offboard/ssep_planner_wrapper.cceditdata/ssep/ssep_activation.cppeditssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_interface.heditssep/offboard/scene_replay/README.mdeditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.hppeditssep/protos/scene.protossep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/imv_general_keb_manifest.tsvssep/test/local_regression/README.mdssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配 按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。 补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.ccaddssep/test/local_regression/imv_general_keb_manifest.tsveditssep/scenarios/imv_general_planner.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/test/local_regression/README.mdtasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围 仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离 将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机 新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。 关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护 在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editTesting/routing_map_guard_test.cppeditdata/map/reference/reference_road_section.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划 新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/protos/scene.protoeditssep/ssep_planner.cceditssep/scenarios/stitching_replanner.heditssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/offboard/ssep_planner_wrapper.ccdata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cppdata/plan/guide_line.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性 集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。 输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。 人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性edittasks/plan/ssep_task.cppeditdata/ssep/ssep_common.hppeditscenarios/task_condition_evaluator.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/open_space_search_decider.cppeditdata/plan/ssep_data.cppeditTesting/ssep_path_corridor_test.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/reverse_ec.cppeditdata/ssep/ssep_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppeditdata/ssep/forward_ec.cppeditdata/plan/ssep_data.hppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/seaside_junction_search_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/forward_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.hppeditdata/plan/guide_line.cppeditdata/other/flow_control.hppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_path_optimize_task.hppeditdata/other/flow_control.cppedittasks/other_tasks/stitch_path_to_reference_line.cppreplayer/replayer_data_process/replayer_data_extraction.cpphmi/widget/diagnose.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记editreplayer/replayer_data_process/replayer_data_extraction.cppedithmi/widget/diagnose.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃 在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。 将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃editdata/plan/guide_line.cppeditTesting/routing_map_guard_test.cppedittasks/deciders/long_decider/constrain_decider.hppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查 缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。 同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护 建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。 变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。 增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/obstacle/cluster_motion_tracker.cppeditdata/config/cfg_func_sw.hppeditdata/constrain/disable_stop_range.hppeditdata/constrain/temporary_stop_data.cppeditdata/plan/switch_data.cppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_safe_const.hppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppeditdata/obstacle/cluster_motion_tracker.hppedithmi/draw/draw_perception.cppeditCMakeLists.txteditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.cppeditdata/plan/switch_data.hppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/config/cfg_func_sw.cppadddata/obstacle/cluster_lane_change_safety_test.cppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hppdata/config/cfg_safe_const.hpptasks/deciders/lat_decider/switching_bounds_decider.cppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamldata/config/cfg_lat_decide.hppconfig/config_truck/config_truck_reverse/plan.yamlc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接 使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editdata/config/cfg_safe_const.cppeditdata/plan/switch_data.cppeditconfig/config_truck/plan.yamleditdata/config/cfg_lat_decide.hppeditconfig/config_car/plan.yamleditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditconfig/config_truck/config_truck_reverse/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/config/cfg_lat_decide.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditconfig/config_imv/plan.yamldata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶 等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护 仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/bridge_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线 将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。 避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/seaside_junction_ec.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_env_const.cppssep/scenarios/scenario_planner_factory.hssep/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.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingedittasks/deciders/long_decider/constrain_decider.cppadddata/ssep/trailer_parking_safety.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditdata/plan_frame.cppadddata/ssep/trailer_parking_safety.cppeditssep/scenarios/scenario_planner_factory.hedittasks/deciders/long_decider/constrain_decider.hppedithmi/draw/draw_map.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/ssep/forward_ec.cppeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/plan_frame.hppedithmi/draw/draw_map.hppeditssep/scenarios/tractor_trailer_single_segment_parking_planner.htasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/bag_to_keb_scene/bag_to_keb_scene.cctasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hpptasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划 将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。 完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划edittasks/plan/keb_utils.hppeditproto/keb_scene.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.ccedittasks/plan/keb_utils_core.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_lat_plan.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.hedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.ccedittasks/plan/keb_utils.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_utils_core.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppeditalgorithm/plan/keb_optimizer.hppeditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/generate_protos.shhmi/draw/draw_perception.cppoffboard/keb_vis_server/keb_vis_html_template.ccoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化 在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。 同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化edithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.ccedithmi/widget/diagnose.cppeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集 新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。 加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/.gitignoreeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明 补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明editoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.mdaddoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyedittasks/deciders/long_decider/constrain_decider.hppeditsource/ros_source_pnc_config.cppeditdata/vehicle/deviation_status.hppedithmi/draw/draw_map.cppeditdata/ssep/trailer_parking_safety.hppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_objs.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/trailer_parking_safety.cpphmi/draw/draw_map.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logseditdata/ssep/trailer_parking_safety.cppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppedittasks/deciders/long_decider/constrain_decider.cppeditplan/prepare/prepare_objs.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/common/utils/path_utils.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量 增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。 开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/path_utils.hTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hppdata/ssep/ssep_util.hpptasks/deciders/long_decider/constrain_decider.cpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略 允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。 车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/decide/decide_reaction.hppedithmi/widget/diagnose.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_util.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/ssep_ec.cppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedittasks/deciders/other_decider/replan_decider.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续 将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续edithmi/widget/diagnose.cppeditTesting/ssep_path_corridor_test.cppeditTesting/routing_map_guard_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/other/ssep_path_corridor.hppeditdata/plan/ssep_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditdata/other/ssep_path_corridor.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库 在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。 避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/README.mdoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.proto8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系 新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。 统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃 重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。 对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖 闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。 控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranchenrangetBranchstruedeviceChoicetruecommitChoicerc_devmsgBranchrc_dev_qiangang_configpncBranchfeat_sidepass_latticehdmapBranchrc_devtelediagnosticBranchfeat_qiangang_refactorhdmapInterfaceBranchrc_devnotesQDQG-telediagnosticusersStarted by user 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11:51:27 +00007f07134ab64bf3db57ae6b510a13c4132085e6f3Update orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovygithdmap/map-png.jenkinsfile335705026031bb26248c652bfeeeb979920099e21787210873000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-08-20 07:27:53 +0000335705026031bb26248c652bfeeeb979920099e2Update map-png.jenkinsfileedithdmap/map-png.jenkinsfilehdmap/map-png.jenkinsfile1893e57fdebf08a6c15348f074292cfcd6feed621787211019000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-08-20 07:30:19 +00001893e57fdebf08a6c15348f074292cfcd6feed62Update map-png.jenkinsfileedithdmap/map-png.jenkinsfilegittasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpphmi/widget/pnc_mat_shared.cpptasks/plan/keb_utils.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cppdata/plan_frame.hpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断 新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。 补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断editdata/plan_frame.cppeditalgorithm/plan/keb_optimizer.cppeditdata/config/cfg_hmi.cppedithmi/replayer_hmi.cppeditscenarios/scenario.cppeditdata/plan_frame.hppedithmi/draw/draw_all.cppeditdata/plan/keb_visualize_data.hppedithmi/widget/diagnose.cppedithmi/widget/pnc_mat_shared.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppaddhmi/draw/draw_keb_debug.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_utils.cppedithmi/node_hmi.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.hppaddhmi/draw/draw_keb_debug.cppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlCMakeLists.txtdata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应 取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。 让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editCMakeLists.txteditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppadddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppeditdata/config/cfg_lat_decide.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/config/cfg_lat_decide.hppeditdata/dp_poly_path/trajectory_cost.cppeditdata/dp_poly_path/trajectory_cost.hppreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断 记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案 规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划 默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。 保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级 已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。 同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/plan/side_pass_data.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/plan/side_pass_data.hppgitinterface/parser/map_loader.ccinterface/hdmap_impl.ccinclude/hdmap_interface/hdmap_impl.hinclude/hdmap_interface/public_data_struct.hinclude/hdmap_interface/hdmap.hinterface/hdmap.cc3418a9269a0892424cb5b1b42528fd3cdc725e921787219670000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: "增加GetConditionNoDrivingRegions接口" 2026-08-20 17:54:30 +08003418a9269a0892424cb5b1b42528fd3cdc725e92feat_out: "增加GetConditionNoDrivingRegions接口"editinclude/hdmap_interface/hdmap_impl.heditinclude/hdmap_interface/public_data_struct.heditinterface/hdmap.cceditinterface/parser/map_loader.cceditinclude/hdmap_interface/hdmap.heditinterface/hdmap_impl.ccinclude/hdmap_interface/public_data_struct.hbaaa7dbe0743898225ca422520bae8e624a4d3e11787284505000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加Region_Gate类型 2026-08-21 11:55:05 +0800baaa7dbe0743898225ca422520bae8e624a4d3e1feat_out: 增加Region_Gate类型editinclude/hdmap_interface/public_data_struct.hgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/caoxuecaoxue261http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/261/259http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/259/