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route_path_idx，避免无效快照触发越界访问。\n\n修正 standby relative segments 访问与清理逻辑，避免接收新路由时同帧重复推进状态，并为在线与 replayer 地图恢复补充失败返回和回归测试。 2026-08-12 16:58:17 +080095b5e370255175e817d97b238fe122a0744da3a3fix: 增强 routing 地图转换边界保护editreplayer/replayer_data_process/replayer_data_process.cppeditdata/vehicle/request_routing_data.cppeditplan/prepare/prepare_map_related.cppaddTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditCMakeLists.txteditdata/map/pnc_map/pnc_map.cppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cppreplayer/replayer_data_process/replayer_data_process.cpphmi/draw/draw_ssep.hppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/other/flow_control.hppCMakeLists.txthmi/widget/diagnose.cpphmi/widget/pnc_mat_shared.cppssep/data_structures/type_definition.htasks/deciders/other_decider/replan_decider.cppssep/data_structures/type_definition.cchmi/draw/draw_all.cpphmi/draw/draw_ssep.cppdata/plan_frame.hppdata/plan_frame.cpp40012dbc845dd0a872f44709638fee5aabd77c401786525140000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 基于 SSEP 包络优化 Bulk 场景判断按搜索路径与换向段构建 SSEP 包络，统一 BulkIn/BulkOut 互斥判断，并支持双向 IMV 倒车航向、入口临界区域和往返路径切段防抖。\n\n序列化 FlowControl、包络用途及保换向拓扑的压缩路径，使 replayer 可稳定恢复诊断与绘制数据；同时增加原地 BulkOut 重规划时间门限和完整归档回归测试。 2026-08-12 16:59:00 +080040012dbc845dd0a872f44709638fee5aabd77c40feat: 基于 SSEP 包络优化 Bulk 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的航向还原，并补充自重叠路径及反转航向回归测试。 2026-08-12 17:15:49 +0800f397d968ee7f58975957d69ac4b5c66426f635fcfix: 修复 SSEP 重叠路径切段失败editdata/plan/ssep_data.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditTesting/ssep_path_corridor_test.cppdata/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/plan/side_pass_data.cppdata/dp_poly_path/dp_road_graph.hpptasks/deciders/long_decider/constrain_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/plan/side_pass_data.hppb40a051be1d4d997c4ac998b331ffa5aab3285c71786531985000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复侧绕历史路径失效触发无轨迹停车 DP 搜索截断时保留当前安全前缀和既有侧绕决策，历史路径校验失败后恢复语义状态，不再使侧绕任务直接失败。\n\n历史路径仅复用当前执行区间内且通过方向、参考线和走廊校验的点；最终执行路径真实余量接入纵向既有无轨迹安全判断，由纵向决定停车时机。 2026-08-12 18:53:05 +0800b40a051be1d4d997c4ac998b331ffa5aab3285c7fix: 修复侧绕历史路径失效触发无轨迹停车editdata/dp_poly_path/dp_road_graph.cppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/dp_poly_path/dp_road_graph.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan/side_pass_data.hppeditdata/plan/side_pass_data.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/ssep/forward_ec.cpp7f8053951a09f4c2392360fc64ac0df62077edd71786535953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整梁山港 Bulk 场景规划模式将梁山港牵引车 Bulk 进出场景从通用规划切换为单段泊车规划，匹配现场作业路径需求。 2026-08-12 19:59:13 +08007f8053951a09f4c2392360fc64ac0df62077edd7fix: 调整梁山港 Bulk 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