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2026-11-10 14:15:20 +0800d614056233949fc8cf2895f4a53b53262f68c9a9fix(proto): 按 Protobuf 3.9.1 重新生成回放描述符editreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pb
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#10281028false10281401043FAILURE1794472005454http://159.27.114.184:8080/jenkins/user/wuyanjun110/my-views/view/all/job/module/1028/- algorithm/wbca/wbca_manager.cppTesting/wbca_smooth_continuity_test.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3f676e2239704a72d8be0a0780f4a3907db2cb531788956922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(wbca): align IMV smooth planning with shared route logic
2026-09-09 20:28:42 +08003f676e2239704a72d8be0a0780f4a3907db2cb53fix(wbca): align IMV smooth planning with shared route logiceditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/imv_wbca_manager.cpp
- CMakeLists.txtTesting/trailer_parking_safety_test.cppdata/ssep/trailer_parking_safety.cpp7b28a9cf19d4fe474fff3e76fed2eb528b46681d1789467437000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoFix SSEP straight-tail obstacle extent in tractor goal frame
2026-09-15 18:17:17 +08007b28a9cf19d4fe474fff3e76fed2eb528b46681dFix SSEP straight-tail obstacle extent in tractor goal frameaddTesting/trailer_parking_safety_test.cppeditCMakeLists.txteditdata/ssep/trailer_parking_safety.cpp
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cppa78b22ec362b64575bce78553b3664064f3b438c1789637753000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(routing): keep destination continuous across neighboring lanes
Project same-section neighboring lane positions onto the destination lane instead of accumulating overlapping route entries. Cover the LS020 index transition, differing lane coordinates, and successor distances.
Validation: 15 routing tests pass. Offline destination replay across all 635 LS020 snapshots reproduces the original distances exactly and removes the -204 m jump with the fix.
2026-09-17 17:35:53 +0800a78b22ec362b64575bce78553b3664064f3b438cfix(routing): keep destination continuous across neighboring laneseditTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/vehicle/vehicle_destination.hppTesting/step_align_distance_source_test.cppdata/vehicle/vehicle_destination.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppreplayer/scene_data/compact_numeric_leaf_contract.csvproto/map_data.protoplan/prepare/prepare_status.hppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pb9765986feb718c3dbdb57379e8120a4b455aae4d1792144466000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 统一步进对准地图选源并完善补偿与失效停车
STEP 执行期间使用地图距离计算相对进度，退出后清除步进补偿，避免精停来源切换和旧补偿污染 AA 反馈。
完善地图失效及请求结束时的停车状态流转，补充回归用例与 Full/Compact 回放字段配套。
验证：git diff --cached --check 通过；本次未运行编译和现场回放。
2026-10-16 17:54:26 +08009765986feb718c3dbdb57379e8120a4b455aae4dfeat: 统一步进对准地图选源并完善补偿与失效停车editplan/prepare/prepare_status.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditproto/map_data.protoeditplan/prepare/prepare_status.hppeditdata/vehicle/vehicle_destination.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppaddTesting/step_align_distance_source_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/vehicle/vehicle_destination.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditTesting/CMakeLists.txt
- Testing/ssep_path_corridor_test.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_util.cppTesting/low_bay_replan_gate_test.cppTesting/CMakeLists.txtdocs/ssep_search_lifecycle.md956b9b0aa1f57ba8278e2df0dbf6027a2f82dd041793004245000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复低贝位场桥误判及出口重搜截止
以出口后实际通道与场桥实体框相交判定低贝位，避免缓存 SL 和 U 弯跨支路投影误触发。
使用当前车辆投影与出口停止线判定截止，并在参考线生成前使用本帧已选地图路径。
补充几何、出口截止和 U 弯重搜测试，修正通道过滤日志并整理搜索逻辑。
验证：相关 26 项测试通过；clang-format 21.1.8 与 diff 检查通过。
尚未覆盖整段 bag 连续回放及真实多段地图重建。
2026-10-26 16:44:05 +0800956b9b0aa1f57ba8278e2df0dbf6027a2f82dd04fix: 修复低贝位场桥误判及出口重搜截止editdata/other/flow_control.cppaddTesting/low_bay_replan_gate_test.cppeditdata/ssep/ssep_util.cppeditTesting/ssep_path_corridor_test.cppeditTesting/CMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdocs/ssep_search_lifecycle.md
- ssep/scenarios/tractor_trailer_short_distance_planner.hdocs/ssep_search_lifecycle.md4e5e5eeb162b62bf1f3410716dddc2b792bf7ae01793004253000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高短距离入场优化约束以修复重搜失败
将短距离规划器运动学和动态约束权重对齐进场精优化的 1e6，减少新窄通道下首段横移造成的运动学验收失败。
保留原有碰撞、运动学校验及首次 LOW_BAY 历史初值策略，并记录问题和修复依据。
验证：CPU 回放现场 3 次失败输入均成功，普通进场对照成功，实体阻挡案例正确拒绝，共 5 项验收通过；未进行 GPU 验证。
2026-10-26 16:44:13 +08004e5e5eeb162b62bf1f3410716dddc2b792bf7ae0fix: 提高短距离入场优化约束以修复重搜失败editdocs/ssep_search_lifecycle.mdeditssep/scenarios/tractor_trailer_short_distance_planner.h
- data/ssep/ex_lane_change_ec.cppTesting/search_decider_lifecycle_test.cpp4495cd25e56cfe13a49d8e5d91219e0cb324f1901793005438000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 延长场桥变道搜索约束的前后范围
仅对场桥将两路障碍纵向约束前后分别由 1 m 增至 2 m、0.5 m 增至 1.5 m。
保留原始 SL 诊断数据、障碍筛选和其他类型的约束余量。
验证：生产构造测试覆盖左右方向、曲率开关、类型对照和参考线末端；真实 CPU 场景重搜完成。
2026-10-26 17:03:58 +08004495cd25e56cfe13a49d8e5d91219e0cb324f190fix: 延长场桥变道搜索约束的前后范围editdata/ssep/ex_lane_change_ec.cppeditTesting/search_decider_lifecycle_test.cpp
- Testing/search_decider_lifecycle_test.cppdata/plan/switch_data.cpp43705c5739161f575c10650a25aa7c904dc64bd11793005451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定堆场变道场桥使用原始障碍框校验
在堆场多车道及直进、直出堆场多车道前置段，场桥在变道安全校验中取消额外障碍框膨胀。
静态和动态分支保持一致，自车、其他障碍及其他区域的膨胀保持不变。
验证：四项搜索构造及碰撞回归通过，覆盖六类区域和静动态分支。正式 CPU 复验中，T728 两帧障碍检查通过，截图帧完整安全检查通过。场景采用本机搜索配置和默认环境参数，属于独立帧验证。
2026-10-26 17:04:11 +080043705c5739161f575c10650a25aa7c904dc64bd1fix: 限定堆场变道场桥使用原始障碍框校验editdata/plan/switch_data.cppeditTesting/search_decider_lifecycle_test.cpp
- replayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/plan_frame_decoder.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppreplayer/scene_data/generated/config_schema_inputs.jsonsink/ros_sink_chassis_ctrl.hppreplayer/scene_data/generated/plan_frame_encoder.cppsink/ros_sink_chassis_ctrl.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_plan_frame_fields.protoproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/compact_numeric_policy.yamlreplayer/scene_data/generated/plan_frame_member_inputs.jsontools/pnc_proto_mapper/generator.pyreplayer/scene_data/plan_frame_full_mapping.yamldata/plan_frame.hpptasks/deciders/other_decider/alarm_decider.hppreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protodata/plan_frame.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pbtasks/deciders/other_decider/alarm_decider.cpp1f36e891812dd5cb5f2f81c262fa4f3c19e685091793007756000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 前车倒退预警功能
2026-10-26 17:42:36 +08001f36e891812dd5cb5f2f81c262fa4f3c19e68509feat: 前车倒退预警功能editreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/plan_frame.cppeditproto/config.protoedittasks/deciders/other_decider/alarm_decider.cppedittasks/deciders/other_decider/alarm_decider.hppeditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/CMakeLists.txteditdata/config/cfg_func_sw.cppeditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditsink/ros_sink_chassis_ctrl.hppeditdata/plan_frame.hppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppaddTesting/front_vehicle_reverse_alarm_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditsink/ros_sink_chassis_ctrl.cppedittools/pnc_proto_mapper/generator.pyeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_decoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/plan_frame_field_roles.csv
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/obstacle/decision/obstacle_decision_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/obstacle/decision/obstacle_decision.hppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_numeric_leaf_contract.csvdata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppdata/obstacle/obstacle_decider_attr.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppdata/obstacle/obstacle_decider_attr.hppproto/obstacle.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyreplayer/scene_data/generated/plan_frame_descriptor.pb575f84c73cba6f4cc2f8721bd7fd6009b64aca1c1793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按时间窗口确认障碍物静止状态
使用固定 1.5 秒速度窗口和连续 1 秒静止确认，不新增配置参数。重复帧不累积，观测中断保留同一目标的已确认运动防护，身份变化清空证据。
保存 Full、Compact 和 Candidate 跨帧计时状态，补充精度、旧数据默认行为与动静切换回归测试。
2026-10-26 21:06:04 +0800575f84c73cba6f4cc2f8721bd7fd6009b64aca1cfix: 按时间窗口确认障碍物静止状态editdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditproto/obstacle.protoeditreplayer/scene_data/obstacle_proto_codec.cppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/obstacle/obstacle_decider_attr.hpp
- hmi/common/obstacle_details.hpphmi/common/pnc_graphics_view.cppTesting/obstacle_detail_render_test.cppda047adcda57d76b0ffc780da76c838433df7b1d1793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物静止确认和跟车等待秒数
展示静止确认进度、跟车等待时长及现有超时阈值，明确旧快照缺失计时状态的显示。
2026-10-26 21:06:04 +0800da047adcda57d76b0ffc780da76c838433df7b1dfeat: 显示障碍物静止确认和跟车等待秒数edithmi/common/obstacle_details.hppeditTesting/obstacle_detail_render_test.cppedithmi/common/pnc_graphics_view.cpp
- Testing/compact_driving_corridor_restore_test.cpp91e36e87767b87a45ac3a968281a5973f7ac30381793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加静止计时连续回放验收
使用独立期望窗口校验等待开始期限、计时起点和逐帧计数，拒绝缺帧、计时重置及冻结。覆盖跨验收窗口起点的大缺口。
验证汇总：808 项通过、12 项可选测试跳过；现场 bag 的 569 条快照验收通过。
2026-10-26 21:06:04 +080091e36e87767b87a45ac3a968281a5973f7ac3038test: 增加静止计时连续回放验收editTesting/compact_driving_corridor_restore_test.cpp
- data/vehicle/request_routing_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/lat_decider/side_pass_decider.cppCMakeLists.txthmi/replayer_hmi.cpphmi/widget/diagnose.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdplan/scenarios/prepare_scenario.cppplan/prepare/prepare_spreader.cppplan/prepare/prepare_objs.cppcore/decision_async.cppdata/map/envelop/map_envelops.cppplan/prepare/prepare_map_related.cppplan/prepare/module.cppreplayer/scene_data/generated/compact_scene_descriptor.pbplan/prepare/prepare_ogm.cppproto/pnc_scene/compact_plan_frame_fields.protohmi/common/plan_timing_history.hppproto/debug.protoreplayer/scene_data/plan_timing_proto_codec.hppproto/pnc_scene/compact_recorded_debug.prototasks/deciders/long_decider/constrain_decider.cppTesting/encoding_benchmark_test.cppreplayer/scene_data/compact_numeric_policy.yamlplan/prepare/prepare_lock_station.cppTesting/plan_timing_render_test.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppplan/prepare/prepare_destination.cppreplayer/scene_data/encoding_benchmark.cppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/plan_timing.hppreplayer/scene_data/plan_frame_full_mapping.yamlcore/node_runtime_timing.hppdata/plan_frame.hppdata/map/reference/center_line.cppproto/pnc_scene/full_plan_frame.protohmi/widget/perf_cost_detail.cppreplayer/scene_data/compact_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppcore/plan_runtime_watchdog.hppplan/prepare/prepare_default.cppplan/prepare/prepare_offset.cppreplayer/scene_data/generated/plan_frame_decoder.cpptasks/deciders/other_decider/stop_decider.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppreplayer/scene_data/plan_timing_proto_codec.cppsink/ros_sink_snapshot_compact_scene.cppnode/logic.cppTesting/scene_replay_foundation_test.cppplan/prepare/prepare_his.cppTesting/plan_timing_capture_test.cpphmi/widget/diagnose.hppreplayer/scene_data/generated/plan_frame_encoder.cppplan/prepare/prepare_priori_bay_info.cppcore/hmi_sync.cppdata/plan/center_line_info.cppreplayer/scene_data/generated/plan_frame_field_roles.jsoncore/plan_async.cppdata/plan/switch_data.cppreplayer/scene_data/generated/compact_typed_field_codec.cppplan/prepare/prepare_state.cppscenarios/stage.cppreplayer/scene_data/generated/plan_frame_member_inputs.jsontools/pnc_proto_mapper/generator.pydata/obstacle/decision/obstacle_decision.cppplan/prepare/prepare_lane_constrain.cpphmi/widget/perf_cost_detail.hppreplayer/scene_data/plan_frame_field_roles.csvcore/snapshot_async.cppTesting/CMakeLists.txtreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan_frame.cppreplayer/scene_data/generated/plan_frame_descriptor.pbhmi/node_hmi.cppede65270ab0adee7356660caa2606072bc923d9e1793022823000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 紧凑记录 PNC 节点模块耗时并复用原界面
按固定编号记录单帧模块与任务耗时，使用执行位图和 0.1 ms 整数编码，
替换 Proto 中重复保存的 50 帧历史及字符串耗时。异步模块携带独立来源帧
和完成时间，watchdog 记录当前执行项；Boost 字段保持不增不删。
原 HMI 本地维护历史平均并展示模块明细，区分实时与录制数据。
规划帧超过 1 秒未更新时保留业务绘制保护，继续刷新实时耗时窗口。
验证：生成与合同检查通过；Icecream 分布式编译 pnc_node、replayer
及测试通过；测试汇总 825 项通过、12 项可选跳过。合成的 30 项模块与任务
统计加 watchdog、5 个异步槽及 Proto 嵌套开销共 167 字节。
2026-10-26 21:53:43 +0800ede65270ab0adee7356660caa2606072bc923d9efeat: 紧凑记录 PNC 节点模块耗时并复用原界面editdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditTesting/CMakeLists.txteditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/lat_decider/side_pass_decider.cppadddata/plan_timing.hppeditplan/prepare/prepare_lane_constrain.cppeditplan/prepare/module.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/plan/center_line_info.cppeditdata/map/reference/center_line.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbedithmi/replayer_hmi.cppeditproto/debug.protoeditdata/map/envelop/map_envelops.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedithmi/widget/diagnose.cppeditplan/scenarios/prepare_scenario.cppeditproto/pnc_scene/compact_recorded_debug.protoaddTesting/plan_timing_capture_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_numeric_leaf_contract.csveditplan/prepare/prepare_destination.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/plan/switch_data.cppeditTesting/encoding_benchmark_test.cppeditplan/prepare/prepare_map_related.cppeditreplayer/scene_data/compact_proto_codec.cppeditcore/snapshot_async.cppeditplan/prepare/prepare_objs.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditplan/prepare/prepare_state.cppedithmi/node_hmi.cppeditsink/ros_sink_snapshot_compact_scene.cppaddTesting/plan_timing_render_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditcore/plan_runtime_watchdog.hppeditTesting/scene_replay_foundation_test.cppeditdata/plan_frame.hppeditdata/vehicle/request_routing_data.cppedithmi/widget/perf_cost_detail.hppedittools/pnc_proto_mapper/generator.pyeditplan/prepare/prepare_offset.cppeditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/encoding_benchmark.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditplan/prepare/prepare_priori_bay_info.cppedithmi/widget/diagnose.hppeditcore/hmi_sync.cppeditplan/prepare/prepare_lock_station.cppeditscenarios/stage.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditproto/pnc_scene/compact_plan_frame_fields.protoaddhmi/common/plan_timing_history.hppaddreplayer/scene_data/plan_timing_proto_codec.hppeditcore/decision_async.cppeditplan/prepare/prepare_his.cppeditnode/logic.cppeditplan/prepare/prepare_default.cppeditplan/prepare/prepare_ogm.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditproto/pnc_scene/full_plan_frame.protoeditcore/plan_async.cppaddreplayer/scene_data/plan_timing_proto_codec.cppaddcore/node_runtime_timing.hppeditreplayer/scene_data/generated/plan_frame_decoder.cppedittasks/deciders/other_decider/stop_decider.cppedithmi/widget/perf_cost_detail.cppeditCMakeLists.txteditplan/prepare/prepare_spreader.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/plan/ssep_data.hppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamlTesting/parking_pass_progress_test.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppdata/other/parking_pass_progress.hppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp2540432575a6afd0326b72a4177a4fd48763eb8f1793028657000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持末段精准倒车阶段并保存跨帧状态
按当前最后分段的前进转倒车切换精准倒车，替代固定两段判断。
将最终倒车阶段绑定任务签名，跨搜索重置和失败重试保留，取消或目标变化后失效。
同步 Full、Compact、候选帧编码及字段合同，旧数据缺字段时默认为 false。
补充任务生命周期、场景参数读取和序列化往返测试。
验证：158 项相关回归通过；生成和 Proto breaking 检查通过；两例 CPU 参数对照完成。
2026-10-26 23:30:57 +08002540432575a6afd0326b72a4177a4fd48763eb8ffix: 保持末段精准倒车阶段并保存跨帧状态editdata/other/parking_pass_progress.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamleditdata/other/parking_pass_progress.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/forward_ec.cppeditproto/plan_data.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/plan/ssep_data.hppeditreplayer/scene_data/full_proto_custom_encoder.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_custom_field_proto_codec.cpp
- Testing/ssep_path_corridor_test.cppscenarios/stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cpptasks/other_tasks/stitch_path_data_to_path.cpp1ba3a01ff6b3ede89c696953fb00b15fee9768d71793028669000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 最后段跳过 PJPO 后优先拼接新 SSEP 路径
共用生产任务组选择逻辑，依据实际跳过 PJPO 的最后段组选择 SSEP 拼接，避免静态规划器可用位导致复用旧路径。
将方向校验放入 SSEP 拼接函数；无可用搜索结果保留历史路径兜底，新结果可用后优先采用。
覆盖正倒车、新旧路径区分、WAIT 优先、公共 PJPO、方向错误及历史兜底后恢复。
验证：6 项拼接回归及 30 项既有选择器/等待回归通过，pnc_node 编译通过。
2026-10-26 23:31:09 +08001ba3a01ff6b3ede89c696953fb00b15fee9768d7fix: 最后段跳过 PJPO 后优先拼接新 SSEP 路径editscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppeditscenarios/stage.cppeditTesting/ssep_path_corridor_test.cppedittasks/other_tasks/stitch_path_data_to_path.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/pnc_scene/full_plan_frame.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbtasks/deciders/other_decider/alarm_decider.cppreplayer/scene_data/generated/plan_frame_descriptor.pbb1002b6a3b41ba8a2c06afa119bb268a3702ae521793068851000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 配置挂车报警范围并精简快照结果保存
2026-10-27 10:40:51 +0800b1002b6a3b41ba8a2c06afa119bb268a3702ae52feat: 配置挂车报警范围并精简快照结果保存editreplayer/scene_data/plan_frame_field_roles.csveditproto/config.protoeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/front_vehicle_reverse_alarm_test.cppeditdata/config/cfg_safe_const.hppeditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/plan_frame_decoder.cppeditdata/config/cfg_safe_const.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/config_schema_inputs.jsonedittasks/deciders/other_decider/alarm_decider.cppeditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_field_roles.json
- ssep/test/truck_parking_retry_test.ccssep/scenarios/truck_accurate_reversing_planner.cc8d596476920b044ec8d28fdcd4826c67d8e1eb0d1793079665000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止精准倒车预优化改变换向方向
校验预优化后的几何运动方向与方向标签，异常时回退已验证的搜索初值。
增加六米硬尾段场景回归，检查运动学和起终点约束。
2026-10-27 13:41:05 +08008d596476920b044ec8d28fdcd4826c67d8e1eb0dfix: 防止精准倒车预优化改变换向方向editssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_accurate_reversing_planner.cc
- ssep/scenarios/stitching_replanner.hssep/test/truck_parking_retry_test.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/test/rigid_truck_parking_validation_test.ccssep/ssep_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/rigid_truck_parking_validation.h011024d861aea1f5abb8fffc2aed8e4dd0994ee61793079673000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制泊车换向段有效长度至少为1.5米
搜索候选与优化结果统一检查换向段长度，最终停车段允许短距离对位。
覆盖历史拼接、路径缓存与实际下发出口，拒绝优化压短或复用的短段路径。
新增边界、重复点、方向标签兼容及候选拒绝测试；相关45项CPU测试通过。
2026-10-27 13:41:13 +0800011024d861aea1f5abb8fffc2aed8e4dd0994ee6fix: 限制泊车换向段有效长度至少为1.5米editssep/scenarios/stitching_replanner.heditssep/test/rigid_truck_parking_validation_test.cceditssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/rigid_truck_parking_validation.h
- data/other/flow_control.cpp14c18c36c3fef3a7241cfa27c3e9b222b7b70e091793079678000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧散货停车与远控的TTC碰撞豁免
使用最终目标剩余距离判断停车豁免，避免中间换向短段提前忽略碰撞。
远控专用豁免分支要求请求显式设置is_ignore_safe。
2026-10-27 13:41:18 +080014c18c36c3fef3a7241cfa27c3e9b222b7b70e09fix: 收紧散货停车与远控的TTC碰撞豁免editdata/other/flow_control.cpp
- ssep/scenarios/stitching_replanner.hssep/test/parking_history_collision_test.ccddcdc24a24079387fad077e7016d45682cc5f92c1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强泊车历史路径的碰撞优化重试
历史路径在曲率通过但车身或前向净空不满足时继续增强碰撞罚项重试，避免复用碰撞初值。保留请求截止时间与最终完整验收，并覆盖超过换向点后的历史路径修复。
2026-10-27 15:44:40 +0800ddcdc24a24079387fad077e7016d45682cc5f92cfix: 增强泊车历史路径的碰撞优化重试editssep/scenarios/stitching_replanner.heditssep/test/parking_history_collision_test.cc
- ssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/rigid_truck_parking_validation.h5dcb35c17c561812fde8b2bdb3cee25c90c69b431793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按真实圆弧长度验收泊车换向段
对严格满足圆弧几何的采样边恢复弧长，避免有效 1.5 米换向段因弦长略短被拒绝。一般折线仍保守取弦长，保持原长度阈值和容差，覆盖 UTM 与异常朝向边界。
2026-10-27 15:44:40 +08005dcb35c17c561812fde8b2bdb3cee25c90c69b43fix: 按真实圆弧长度验收泊车换向段editssep/test/rigid_truck_parking_validation_test.cceditssep/scenarios/rigid_truck_parking_validation.h
- ssep/scenarios/truck_accurate_reversing_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/truck_parking_retry_test.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/test/rigid_truck_tail_connection_test.ccf42ac550d56adfde7577d0b89968e07325d7eb3e1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复狭窄泊车场景的搜索与调整重试
跳过无改进节点以保留搜索预算，保留未延伸换向候选，并在共享截止时间内依次细化步长和补充中间曲率；已配置细步长也能进入曲率补救，复用 planner 时恢复原配置。
双向重试允许另一侧继续展开，软途经参考不再阻挡调整兜底。兜底继承派生默认尾长，保留显式配置优先及粗路径任务换向标记，不伪造纯倒车任务进度。
验证：相关 77 项 C++ 用例最终通过；原始 22 例回放成功，独立 0.25 米步长变体恢复成功。验证使用隔离源码快照，未纳入工作树并行 KEB 改动。
2026-10-27 15:44:40 +0800f42ac550d56adfde7577d0b89968e07325d7eb3efix: 恢复狭窄泊车场景的搜索与调整重试editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/test/truck_parking_retry_test.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/test/rigid_truck_tail_connection_test.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_accurate_reversing_planner.cc
- ssep/test/local_regression/rigid_parking_quality.pyssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/test_rigid_parking_motion_quality.pyssep/test/local_regression/test_weiqiao_rigid_parking_quality.py8e81fbaf65f9bfa662b94525eac04239aab0198b1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐泊车独立验收的换向段长检查
独立按实际几何方向检查非末段至少 1.5 米，并对严格圆弧恢复弧长；保留末段和单向短路径豁免，输出逐段长度指标。
仅在显式 allowed_direct_reverse 验收策略下接受无任务换向标记的纯倒车路径，不改变默认策略或在线任务进度。
验证：30 项 Python 用例通过；原始 22 例及独立步长变体均通过完整几何检查。
2026-10-27 15:44:40 +08008e81fbaf65f9bfa662b94525eac04239aab0198bfix: 补齐泊车独立验收的换向段长检查editssep/test/local_regression/rigid_parking_motion_quality.pyeditssep/test/local_regression/test_rigid_parking_motion_quality.pyeditssep/test/local_regression/rigid_parking_quality.pyeditssep/test/local_regression/test_weiqiao_rigid_parking_quality.py
- Testing/search_decider_lifecycle_test.cppdata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.md4159bbadf81e896d2dcf662798fc6994cf5f58fa1793103247000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 变道任务交接不因道路类型和目的地变化重搜
移除变道复用的堆场区域限制、前后区域相等限制及任务目的地相等检查，保留变道连续性和目标车道覆盖旧完成点等校验。
补充左右变道跨区域及目的地变化回归，并验证连续任务交接保留路径和搜索请求次数、手动重搜仍有效；同步更新生命周期说明。
验证：clang-format 21.1.8；分布式编译通过；reference_line_replan_test 447 项通过、101 项跳过、0 失败。
2026-10-27 20:14:07 +08004159bbadf81e896d2dcf662798fc6994cf5f58fafix: 变道任务交接不因道路类型和目的地变化重搜editTesting/search_decider_lifecycle_test.cppeditdata/plan/ssep_task_context.cppeditdocs/ssep_search_lifecycle.md
- Testing/reference_line_replan_test.cppdata/plan/smooth_data.cppdata/map/reference/bends_decider/bends_decider.cpp9255010d2a0023cf25523e2a98ca92860322ad941793104586000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止弯道缓存覆盖当前路段并修正重搜判断
弯道选线仅允许修改当前路段内的车道，阻止缓存首弯道跨路段覆盖定位索引，并记录不匹配信息。
按旧车道映射到本帧后的索引与当前选线比较，避免索引重排误报并保留真实换线触发；修正历史地图有效性检查。
新增旧弯道、未来弯道、连续帧、真实换线、同车道索引重排及直线路段保护回归。分布式编译通过，452 项测试通过、101 项跳过、0 失败；未执行现场 bag 算法回放，缓存异常来源仍待确认。
2026-10-27 20:36:26 +08009255010d2a0023cf25523e2a98ca92860322ad94fix: 防止弯道缓存覆盖当前路段并修正重搜判断editTesting/reference_line_replan_test.cppeditdata/plan/smooth_data.cppeditdata/map/reference/bends_decider/bends_decider.cpp
- Testing/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp7b277702d39c3c2f9e72ad5f92d3b1f82e469ea81793115188000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免弯中任务后续路线变化触发重搜
弯中最近出口未变时结束出口比较，避免新任务截短远端路线触发 AFTER_BEND_CHANGE；保留直道前方目标检查，并修正历史地图有效性判断。
新增普通路口和桥梁共 12 个回归用例。相关测试 464 个通过、101 个跳过；原始任务 82161 到 19613 生产决策链复现确认修复后不再重搜。
2026-10-27 23:33:08 +08007b277702d39c3c2f9e72ad5f92d3b1f82e469ea8fix: 避免弯中任务后续路线变化触发重搜edittasks/deciders/other_decider/replan_decider.cppeditTesting/continuous_junction_replan_test.cpp
- Testing/search_decider_lifecycle_test.cpptasks/deciders/other_decider/replan_decider.cpp2476fe1a5fde3cbbe1666ab1fb2abe0ba876ac501793166336000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制精准停车换向重搜并校验接入偏差
精准停车内部正常换向时，使用原始 SSEP 下一段检查横偏不超过 10 cm 且车身航向差不超过 1 度，满足双门限才跳过换向重搜。保留首次场景切换及其他重搜触发，拒绝无效和退化路径。
补充生命周期、阈值边界、角度归一化及现场录制路径测试。
2026-10-28 13:45:36 +08002476fe1a5fde3cbbe1666ab1fb2abe0ba876ac50fix: 限制精准停车换向重搜并校验接入偏差editTesting/search_decider_lifecycle_test.cppedittasks/deciders/other_decider/replan_decider.cpp
- Testing/ssep_path_corridor_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cpptasks/other_tasks/stitch_path_data_to_path.cppdata/config/cfg_stage.hpp0984a943991619dd7013d4c57b7c6c7db8138ee21793166345000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景配置选择精准停车原始搜索路径
新增精准停车任务选择条件，由场景配置决定全部分段是否直接输出 SSEP。只有实际选中直出组且未执行其他横向规划器时启用，保留 WAIT 优先级；方向不一致或直出失败时清空输出并报错。
补充配置解析与 codec 往返、Stage 调度及路径输出测试，更新配置成员审计指纹。分布式构建 pnc_node 和相关测试通过，相关测试合计 261 项通过、101 项按参数范围跳过。
2026-10-28 13:45:45 +08000984a943991619dd7013d4c57b7c6c7db8138ee2feat: 支持场景配置选择精准停车原始搜索路径editdata/config/cfg_stage.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/config/cfg_stage.cppeditTesting/ssep_path_corridor_test.cpp
- ssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/ssep/forward_ec.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/keb_problem.hssep/test/rigid_truck_parking_validation_test.ccTesting/ssep_scenario_config_lifecycle_test.cppssep/test/rigid_truck_tail_connection_test.ccssep/keb_optimizer/keb_problem.cca0200b8fa646a7ddcbc38d6ec2b3aaf8a23634241793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持精准停车前进拉直余量及完整候选验收
将实际 KEB 优化和硬约束纳入候选验收，失败后继续搜索。
按场景配置尝试额外前进拉直，空间不足逐级缩短，保持完整碰撞与运动学校验及末端约束。
验证：搜索测试 51 项、配置测试 43 项通过，8 个 CPU 现场场景回放成功。
2026-10-28 16:02:47 +0800a0200b8fa646a7ddcbc38d6ec2b3aaf8a2363424feat: 支持精准停车前进拉直余量及完整候选验收editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/test/rigid_truck_parking_validation_test.cceditssep/test/rigid_truck_tail_connection_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/keb_optimizer/keb_problem.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/keb_optimizer/keb_problem.heditdata/ssep/forward_ec.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.h
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppTesting/reverse_pickup_lifecycle_test.cppda7b1489ff8d91aef548efdd2f7e758a583682e21793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止精准停车中间换向时误入锁定状态
入锁前核对当前与历史帧为同任务同一有效末段，阻止等待重搜时完成。
历史引导线失效时使用实际 SSEP 末点与已有距离阈值判定，保留反向取货及末段料堆分支。
新增 9 项回归通过。
2026-10-28 16:02:47 +0800da7b1489ff8d91aef548efdd2f7e758a583682e2fix: 防止精准停车中间换向时误入锁定状态editdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditTesting/reverse_pickup_lifecycle_test.cpp
- Testing/path_pair_validation_test.cpptasks/plan/reversing_truck_path_task.cpp037c8d0eba35271a0690acf379bf56039c9699561793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 拒绝非有限值及退化的 SSEP 路径
在 WBCA 之前统一检查车头与挂车坐标、角度、曲率及路径长度，允许局部重复点。
非法输入清理优化缓存并沿用历史路径回退；更新已失效的旧切线测试，保留无效几何拒绝断言。
2026-10-28 16:02:47 +0800037c8d0eba35271a0690acf379bf56039c969956fix: 拒绝非有限值及退化的 SSEP 路径edittasks/plan/reversing_truck_path_task.cppeditTesting/path_pair_validation_test.cpp
- Testing/routing_transition_test.cpp633f8b2ff847e3aa2c8eb8ed6ca4ebb6c808ed6b1793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补齐同任务搜索重置测试的历史任务标识
使当前与历史任务 ID 一致，正确验证同任务保留搜索与任务变化清理搜索。
完整 routing_transition 测试 117 项通过，生产 pnc_node 编译通过。
2026-10-28 16:02:47 +0800633f8b2ff847e3aa2c8eb8ed6ca4ebb6c808ed6btest: 补齐同任务搜索重置测试的历史任务标识editTesting/routing_transition_test.cpp
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/long_decider/constrain_decider.cppdata/lattice/longitudinal_comfort.hppdata/lattice/trajectory_evaluator.cpp8a8b6f78956d8d7a85f37e73c6e605f6051c2a671793186158000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: wbca接入lattice的速度考虑载重系数
2026-10-28 19:15:58 +08008a8b6f78956d8d7a85f37e73c6e605f6051c2a67feat: wbca接入lattice的速度考虑载重系数edittasks/deciders/long_decider/constrain_decider.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/lattice/trajectory_evaluator.cppeditdata/lattice/longitudinal_comfort.hpp
- Testing/ssep_path_corridor_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppTesting/search_decider_lifecycle_test.cppTesting/scenario_search_exit_test.cppdata/app/reaction/app_reaction.cpptasks/deciders/other_decider/replan_decider.cpp6094ad89d685cfe28efb384fa96ac504b5906a441793189600000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理跨任务出库状态并限制出库点变化重搜
补齐任务重置时的途经点标志和开放空间点清理，任务切换或取消时清除旧搜索输入，避免历史起点导致新任务提前退出出库。仅在同一有效任务内判断 BULK_OUT_POS_CHANGE，保留同任务重搜及路径复用行为。补充取消、任务切换、位移阈值和出库退出回归测试。
2026-10-28 20:13:20 +08006094ad89d685cfe28efb384fa96ac504b5906a44fix: 清理跨任务出库状态并限制出库点变化重搜editdata/app/reaction/app_reaction.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/search_decider_lifecycle.cppeditTesting/search_decider_lifecycle_test.cppeditTesting/scenario_search_exit_test.cppeditTesting/ssep_path_corridor_test.cpp
- data/app/cmd/cmd_set_target.cppTesting/scenario_search_exit_test.cpp1ca86021a246a2354407e3fc858e57510c9884d81793189613000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 出库阶段拒绝普通新任务
在 TRAVEL_OUT 阶段拒绝普通设置终点命令，覆盖搜索请求尚未发起的窗口，防止新任务替换正在执行的出库任务。保留取消任务和脱困命令例外，补充门禁、取消、正常行驶接收与脱困回归测试。
2026-10-28 20:13:33 +08001ca86021a246a2354407e3fc858e57510c9884d8fix: 出库阶段拒绝普通新任务editTesting/scenario_search_exit_test.cppeditdata/app/cmd/cmd_set_target.cpp
- Testing/parking_pass_progress_test.cpp0925ba44a5874489d9209bda8423fc56fc8a776e1793189624000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补齐 IMV 停车测试夹具车型子类型
设置 IMV 车型时同步填写 Proto 子类型，避免配置解码因车型不一致失败，恢复停车进度测试覆盖。相关测试合计 699 通过、101 跳过、0 失败，pnc_node 编译通过。
2026-10-28 20:13:44 +08000925ba44a5874489d9209bda8423fc56fc8a776etest: 补齐 IMV 停车测试夹具车型子类型editTesting/parking_pass_progress_test.cpp
- ssep/test/truck_parking_retry_test.ccssep/scenarios/truck_multi_segment_parking_planner.h04c09477538edbe70547a5a631db2cc7930b71d21793196268000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整卡车泊车搜索预算并保留细网格重试
前向调整搜索按剩余总预算的三分之一分配时间，最多 4 秒，避免固定
2 秒在短换向候选被拒绝后过早截断后续可修复连接。
首次粗网格调整只使用一半剩余预算；阶段超时且总请求尚未超时时，
继续已有的细位置网格重试。最终阶段使用剩余预算，保持总请求
截止时间以及碰撞、换向长度、末端直线和运动学验收要求。
新增真实不可达场景测试，覆盖阶段超时保留预算、最终总超时及
已过期请求不得继续重试。25 项专项测试通过；魏桥分析包中原参数
末端直线为 2 米的 4 例 CPU 回放全部成功。3–4 米约束下仍可能超时，
不把缩短末端直线的诊断实验计入原参数回归成功。
2026-10-28 22:04:28 +080004c09477538edbe70547a5a631db2cc7930b71d2fix: 调整卡车泊车搜索预算并保留细网格重试editssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_multi_segment_parking_planner.h
- data/ssep/ssep_scenario_config_loader.cppTesting/ssep_scenario_config_lifecycle_test.cppdocs/ssep_scenario_config_lifecycle.md6b52f31415f1bbe21684847b2de269833f181d9e1793284560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景位置条件的或匹配
为 start/end 增加 any_of 和 Lane/YardArea 的 ids 简写，兼容原有单位置配置。
加载阶段展开组合并保留规则优先级，不改变运行时匹配和快照合同。
补充组合、优先级、非法配置测试及配置文档。
验证：场景配置目标 130 项测试通过。
2026-10-29 22:36:00 +08006b52f31415f1bbe21684847b2de269833f181d9efeat: 支持场景位置条件的或匹配editdata/ssep/ssep_scenario_config_loader.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdocs/ssep_scenario_config_lifecycle.md
- data/plan/ssep_data.cppssep/scenarios/head_straight_distance.hssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/scenarios/truck_bulk_yark_in_out_planner.hssep/test/coarse_search_stop_clearance_test.ccssep/data_structures/path_motion_segment.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/test/keb_normal_extension_test.ccssep/test/rigid_parking_collision_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/test/parking_collision_provenance_test.ccdata/ssep/ssep_ec.cppssep/test/head_straight_distance_test.ccssep/scenarios/rigid_parking_collision.hssep/scenarios/first_segment_clearance_checker.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccdocs/ssep_scenario_config_lifecycle.mdssep/test/truck_bulk_exit_fallback_test.ccTesting/parking_pass_progress_test.cppssep/test/forward_clearance_check_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hssep/ssep_planner.ccTesting/ssep_scenario_config_lifecycle_test.cpp51d60f87d931d70ebdb9d53081cc9b25ffd04dc21793284633000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出库起始直线与按行驶段恢复障碍物
新增 head_straight_distance，使用任务锚点及执行期完成锁存，重搜只补剩余直线。
纯前进候选在搜索、优化或验收失败后尝试多段调整，保留固定直线和正确方向标记。
抽象首末段豁免的恢复区间，换向公共点及起点豁免过期后的路径使用恢复障碍物。
统一搜索状态、KEB 选图和连续车身/停车扩展验收，保留终点与出入口清障语义。
恢复起点来源对应的普通和反向膨胀，不重复扩大原图已有障碍。
验证：459 项测试通过；CPU 2 米、3 米及任务进度派生场景复验。
3 米场景输出前进 3.000 米、倒车 2.123 米、前进 21.669 米。
回绕派生输入按生产搜索起点方向构造后成功，旧输出驶入方向不作为新请求方向。
2026-10-29 22:37:13 +080051d60f87d931d70ebdb9d53081cc9b25ffd04dc2feat: 支持出库起始直线与按行驶段恢复障碍物addssep/data_structures/path_motion_segment.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/scenarios/truck_bulk_yark_in_out_planner.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/keb_optimizer/keb_problem.cceditssep/test/coarse_search_stop_clearance_test.cceditdocs/ssep_scenario_config_lifecycle.mdeditssep/test/parking_collision_provenance_test.cceditssep/maps/ogm_config_utils.cceditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/test/rigid_parking_collision_test.cceditssep/keb_optimizer/keb_problem.heditssep/test/keb_normal_extension_test.cceditdata/ssep/ssep_ec.cppeditssep/ssep_planner.cceditdata/plan/ssep_data.cppaddssep/scenarios/head_straight_distance.heditssep/scenarios/rigid_parking_collision.haddssep/test/head_straight_distance_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditTesting/parking_pass_progress_test.cppeditssep/test/CMakeLists.txteditssep/maps/ogm.cceditssep/maps/ogm.heditssep/maps/ogm_builder.ccaddssep/scenarios/first_segment_clearance_checker.haddssep/test/truck_bulk_exit_fallback_test.cceditssep/test/forward_clearance_check_test.cceditssep/maps/ogm_builder.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.h
- data/plan/predict_path.cpp31d897c6fd90bb3e9aab51787e51ac7d919d63f61793287717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复预测路径转向角平滑限速
在 Truck 和 IMV 前后轮预测入口，将方向盘角速度按传动比换算为车轮弧度每秒，修复预测转角直接跳到控制目标的问题。统一增量限幅并处理非法速度和传动比，保留原函数声明。
验证：通过项目分布式入口编译 pnc_node；12 个函数级数值测试通过，默认 0.05 秒步长下每步最大转角变化约 0.402 度。
2026-10-29 23:28:37 +080031d897c6fd90bb3e9aab51787e51ac7d919d63f6fix: 修复预测路径转向角平滑限速editdata/plan/predict_path.cpp
- Testing/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp350899fcd474265a40ef9470a357f0c87c212f1b1793290945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按车道身份判断弯后出口变化
将历史出口车道 ID 映射到当前帧车道索引后再比较，避免索引重排引起误重搜或真实换道漏重搜；缺失匹配证据时继续触发重搜。
增加普通路口和桥梁的同车道重排、真实换道编号不变回归。已运行 clang-format 21.1.8 和 git diff --check，编译测试由合入分支统一执行。
2026-10-30 00:22:25 +0800350899fcd474265a40ef9470a357f0c87c212f1bfix: 按车道身份判断弯后出口变化editTesting/continuous_junction_replan_test.cppedittasks/deciders/other_decider/replan_decider.cpp
- Testing/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp5609d7fd460d641821becc569742693e93fb6f9f1793292748000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 仅凭明确出口变化触发重搜
删除重复的车道匹配失败判断；校验出口决策索引与车道 ID 一致。旧车道缺失时，通过前后帧唯一的路口 ID 及紧邻完整出口确认目标变化，不再把地图裁剪或缺失决策直接当成换线。保持最近出口未知时的弯中检查范围。新增裁剪、缺失与越界目标、完整出口替换和重复路口身份回归。已完成 clang-format 21.1.8 与差异检查，编译测试由主代理统一执行。
2026-10-30 00:52:28 +08005609d7fd460d641821becc569742693e93fb6f9ffix: 仅凭明确出口变化触发重搜edittasks/deciders/other_decider/replan_decider.cppeditTesting/continuous_junction_replan_test.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbdata/decide/decide_reaction.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/decide/decide_reaction.hppdocs/ssep_scenario_config_lifecycle.mddata/ssep/accurate_parking_switch_config.hppTesting/search_decider_lifecycle_test.cpptasks/deciders/other_decider/replan_decider.cppreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/decision.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp9264d875d842aaa04e36dd2e0b3f080fbfc701441793329960000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制精准倒车换向追加调整并支持参数配置
换向接入超差默认最多追加重规划 3 次，横偏和航向门限默认 0.10 米和 1 度，均按实际精准倒车场景配置。计数跨搜索继承，在任务取消、失效或目标变化时清零，无效路径不按次数放行。
补齐多段泊车切入精准倒车时的参数传递，增加 Full/Compact Bootstrap 计数持久化及旧快照默认值，覆盖次数、误差边界、生命周期、配置切换和回放往返测试。
验证：26 个精准倒车专项测试、131 个场景配置测试通过；回放基础测试 442 通过、9 个外部数据用例跳过；生成合同及兼容性检查通过。
2026-10-30 11:12:40 +08009264d875d842aaa04e36dd2e0b3f080fbfc70144fix: 限制精准倒车换向追加调整并支持参数配置editreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppadddata/ssep/accurate_parking_switch_config.hppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/search_decider_lifecycle_test.cppeditdata/decide/decide_reaction.cppeditdocs/ssep_scenario_config_lifecycle.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/ssep/forward_ec.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/decide/decide_reaction.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditproto/decision.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/other_decider/replan_decider.cpp
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/base_stop_line_filter.cppdata/ssep/base_stop_line_filter.hppTesting/pnc_map_overlap_test.cppdata/ssep/junction_exit_stop_line.hpp7ecda84517c5e50293523a0b9acbff6066e0cf7a1793340287000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐路口出口边界停止线并统一目标筛选
对仅有入口停止线的路口，按已选参考线的直接后继拓扑和边界范围补配唯一出口线；拒绝短连接、下一路口邻近及多候选歧义。
目标路口筛选与最终输出共用局部停止线对，修复越过 junction 边界但尚未越过出口时漏选路口的问题，保留原地图归属。
增加精确大榭地图、出口前后、连续搜索和歧义拒绝测试，并刷新生成审计摘要。分布式编译及 165 项测试通过；完整 bag 搜索链仍受后续起始车姿构建限制。
2026-10-30 14:04:47 +08007ecda84517c5e50293523a0b9acbff6066e0cf7afix: 补齐路口出口边界停止线并统一目标筛选editdata/ssep/base_stop_line_filter.hppeditdata/ssep/base_stop_line_filter.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/pnc_map_overlap_test.cppadddata/ssep/junction_exit_stop_line.hpp
- data/config/cfg_safe_const.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cpptasks/deciders/other_decider/alarm_decider.cppe5667cae323b43dbb5392445a4183fdb31512a891793340608000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认开启前车倒车报警并设为5米
2026-10-30 14:10:08 +0800e5667cae323b43dbb5392445a4183fdb31512a89fix: 默认开启前车倒车报警并设为5米editdata/config/cfg_safe_const.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/config/cfg_func_sw.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csvedittasks/deciders/other_decider/alarm_decider.cppeditTesting/front_vehicle_reverse_alarm_test.cpp
- replayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonea4d671ee9f4073d13dc4d6f2b69132e187641c31793341140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 同步报警默认值修改后的Proto声明记录
2026-10-30 14:19:00 +0800ea4d671ee9f4073d13dc4d6f2b69132e187641c3fix: 同步报警默认值修改后的Proto声明记录editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/config_schema_inputs.json
- tools/pnc_proto_mapper/sync_config_schema.pytools/pnc_proto_mapper/test_config_schema_presence.pyedb64c5b1bf910600ddafc429fdcc2f41bbca3601793349964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止配置 Proto 生成器复用保留字段
支持显式分配跨分支字段号，并保留 reserved 声明。
拒绝复用保留名称、单号和编号范围，补充生成稳定性与冲突回归。
2026-10-30 16:46:04 +0800edb64c5b1bf910600ddafc429fdcc2f41bbca360fix: 防止配置 Proto 生成器复用保留字段edittools/pnc_proto_mapper/sync_config_schema.pyedittools/pnc_proto_mapper/test_config_schema_presence.py
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protodata/vehicle/lock_station_data.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonconfig/config_imv/plan.yamlreplayer/scene_data/compact_numeric_policy.yamlTesting/routing_map_guard_test.cppdata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbf227e302e1039319e01082b425810d4229a9c86a1793349983000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置缓冲点横向匹配距离
将 UpdateBufferRange 横向阈值参数化，默认保持 3 米。
配置加载及运行时对负数和非有限值回退默认值，保留零值语义。
同步 Full/Compact 配置合同与旧数据缺省恢复，补充过滤及往返回归。
2026-10-30 16:46:23 +0800f227e302e1039319e01082b425810d4229a9c86afeat: 支持配置缓冲点横向匹配距离editreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/config/cfg_safe_const.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditconfig/config_imv/plan.yamleditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_safe_const.cppeditdata/vehicle/lock_station_data.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/routing_map_guard_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/config.protoeditreplayer/scene_data/generated/plan_frame_encoder.cpp
- Testing/routing_map_guard_test.cppdata/app/fsm/motion_fsm/motion_fsm.cppTesting/compact_driving_corridor_restore_test.cpp2ef00f120fe4f8a1a9dbbf4bebae84bf5b836a5f1793349998000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐双向 IMV 普通路由换向停车处理
复用 SSEP 近换向线停稳处理，支持普通路由换向停车原因及解除前保持。
保留安全停车优先级，并使普通路由不受遗留 SSEP 首段倒车状态限制。
补充嵌套运动状态机回归及带 routing 初始化的可选 bag 验证入口。
现场 bag 回放仍受备用参考线索引缺失阻断，未作为通过验收依据。
2026-10-30 16:46:38 +08002ef00f120fe4f8a1a9dbbf4bebae84bf5b836a5ffix: 补齐双向 IMV 普通路由换向停车处理editTesting/compact_driving_corridor_restore_test.cppeditTesting/routing_map_guard_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cpp
- data/ssep/into_yard_junction_ec.cpp68d673201540f19e3c0dbfbec43c6a12f7e8974e1793350024000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整中铁联集多车道进场末端直线距离
IMV 目标车道数不超过两条时保持末端附加直线距离 20 米，
超过两条时调整为 5 米。
2026-10-30 16:47:04 +080068d673201540f19e3c0dbfbec43c6a12f7e8974efix: 调整中铁联集多车道进场末端直线距离editdata/ssep/into_yard_junction_ec.cpp
- ssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/gpu_collision_test.ccssep/coarse_search/evaluator/forward_collision_check_lengths.hssep/gpu/device_types.hssep/test/keb_normal_extension_test.ccssep/test/forward_clearance_check_test.ccssep/coarse_search/gpu_context.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/coarse_search/evaluator/collision_cost_computer.hssep/coarse_search/gpu_context.hdocs/ssep_stop_collision_extension.mdssep/scenarios/forward_clearance_check.hssep/gpu/collision/collision_checker.cuhb14ea17bdfc87648c930c6c959699a203885539e1793374487000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按驶入方向检查准确倒车换向安全距离
将搜索 stop 长度接入倒车停点包络，CPU 与 GPU 使用独立的后向停车圆盘，
保留普通倒车的旧收缩行为及未配置时的默认值。
准确倒车的前置和精细 KEB 使用配置的后向停车长度；最终硬验收按驶入
方向检查车头或车尾额外区域，并恢复换向调整期间的终点清障线段。
保留最终倒车入位语义，补充参数说明及方向、阈值和清障回归用例。
验证：分布式构建通过，57 项相关 CPU 测试通过，魏桥 2026-10-30
16:26:15 原场景 CPU 回放成功，两处换向点均满足纵向 0.5 米检查。
GPU 代码和回归用例已同步；服务器 SSH 认证失败，尚未编译或实机运行。
2026-10-30 23:34:47 +0800b14ea17bdfc87648c930c6c959699a203885539efix: 按驶入方向检查准确倒车换向安全距离editssep/gpu/collision/collision_checker.cuheditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdocs/ssep_stop_collision_extension.mdeditssep/test/forward_clearance_check_test.cceditssep/test/gpu_collision_test.cceditssep/coarse_search/gpu_context.heditssep/gpu/device_types.heditssep/scenarios/forward_clearance_check.heditssep/coarse_search/evaluator/collision_cost_computer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/keb_normal_extension_test.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/evaluator/forward_collision_check_lengths.heditssep/coarse_search/gpu_context.cc
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/keb_normal_extension_test.ccssep/scenarios/imv_parking_validation.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/forward_collision_check_params.hssep/test/parking_collision_provenance_test.ccssep/scenarios/scenario_planner_interface.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/first_segment_clearance_checker.hssep/scenarios/forward_clearance_check.hssep/gpu/collision/collision_checker.cuhssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/scenarios/legacy_planner.hssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/test/gpu_collision_test.ccssep/coarse_search/evaluator/forward_collision_check_lengths.hssep/gpu/device_types.hssep/test/forward_clearance_check_test.ccssep/coarse_search/gpu_context.ccssep/maps/ogm_config_utils.ccssep/test/forward_collision_check_params_test.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccdocs/ssep_stop_collision_extension.md7d5017e869db07dcdd69961f20b4c3c11b203a201793377361000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一全场景换向点前后安全距离检查
将显式 stop 距离统一接入刚性车、IMV 和拖挂车搜索及 KEB，按驶入方向检查车头或车尾，并以搜索和优化距离的较大值验收最终分段换向点。
复用公共换向几何检查，覆盖历史重优化和路径复用；保留普通行驶及末段入位策略，恢复换向区域被起终点清障移除的障碍来源。修正 CPU 挂车碰撞检查的有符号铰接点偏移，与 GPU 和最终验收坐标保持一致。
验证：627 项非交互 C++ 测试通过，1 项既有 disabled；全量场景回归使用固定二进制并单独归档。GPU 服务器认证受阻，本次未完成 GPU 编译和运行验证。
2026-10-31 00:22:41 +08007d5017e869db07dcdd69961f20b4c3c11b203a20fix: 统一全场景换向点前后安全距离检查editssep/coarse_search/evaluator/evaluator.heditssep/maps/ogm_config_utils.cceditssep/scenarios/first_segment_clearance_checker.heditssep/gpu/collision/collision_checker.cuheditssep/test/forward_collision_check_params_test.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/truck_multi_segment_parking_planner.heditdocs/ssep_stop_collision_extension.mdeditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/stitching_replanner.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/test/forward_clearance_check_test.cceditssep/scenarios/forward_collision_check_params.heditssep/test/parking_collision_provenance_test.cceditssep/ssep_planner.cceditssep/scenarios/imv_parking_validation.heditssep/scenarios/forward_clearance_check.heditssep/test/gpu_collision_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/gpu_context.cceditssep/test/keb_normal_extension_test.cceditssep/scenarios/legacy_planner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/gpu/device_types.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/scenario_planner_interface.heditssep/coarse_search/evaluator/forward_collision_check_lengths.h
- ssep/scenarios/forward_clearance_check.hssep/test/forward_clearance_check_test.cc3b7ae0760720f85c98156ad358b477d458f92d9a1793377853000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许换向校验路径无运动边端点方向未定
多点路径的驶入首点和驶出末点不描述实际运动边，允许保留 kUndetermined，避免统一启用 stop 参数后误拒绝 IMV 搜索候选。实际运动边、单点停车、非法枚举和非有限几何仍严格校验。
新增端点标签与倒车安全距离边界测试，629 项非交互 C++ 测试通过。使用新冻结程序重跑全部 377 例，保留补修前结果。
2026-10-31 00:30:53 +08003b7ae0760720f85c98156ad358b477d458f92d9afix: 允许换向校验路径无运动边端点方向未定editssep/scenarios/forward_clearance_check.heditssep/test/forward_clearance_check_test.cc
- data/plan/lane_change_space_check.cppTesting/routing_transition_test.cppe727e3b3c278ea01b26b676aa9d10eb97693301c1793464622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解除变道途经终点的完成位置硬限制
允许候选变道完成点超过任务指定的变道途经终点，避免短窗口下执行检查持续拒绝并导致停车等待。保留起点、安全检查、有效候选及实际路由终点约束，不改变实时变道意图判断。
补充 PARK_WAIT 恢复变道、当前候选复核和停车请求解除的回归，并验证路由终点不足时仍拒绝。统一格式化及 diff 检查通过，routing_transition_test 全部 122 项通过。
(cherry picked from commit 6439b056085d3bcb01daebdc55c1e73ae3a124c6)
2026-11-01 00:37:02 +0800e727e3b3c278ea01b26b676aa9d10eb97693301cfix: 解除变道途经终点的完成位置硬限制editdata/plan/lane_change_space_check.cppeditTesting/routing_transition_test.cpp
- ssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/local_regression/README.mdssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/test/local_regression/weiqiao_heading_20261101_manifest.tsvssep/test/rigid_truck_parking_validation_test.ccssep/offboard/scene_replay/CMakeLists.txtssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/rigid_truck_continuous_model.hssep/keb_optimizer/tractor_trailer_continuous_model.hssep/keb_optimizer/cost_features/truck_kinematic_constraint.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/test/truck_kinematic_constraint_test.ccssep/scenarios/rigid_truck_parking_validation.h09a6bf4e031f3336348136d5bb51700fb48fff171793597824000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复刚体倒车路径几何航向与 KEB 姿态不一致
统一刚体 KEB 代价与可行性验收的连续曲率积分，复用集卡车头传播模型，
保留零曲率梯度，并隔离换向前后曲率及出发边 pinch 约束。
停车优化为自由曲率设置机械硬边界，为几何软约束保留求解余量，
固定实测起点仍按真实机械上限检查；补齐存储曲率验收并提高精细
运动学权重，减少位置和航向软约束残差。
补充数值积分、自动微分、换向和固定首曲率边界测试，登记魏桥
7 个原始场景及 SHA256，记录几何角差从 1.12–1.60 度降至
0.28–0.65 度的 CPU 回放结果。
验证：目标 7 例、已有停车 21 例及普通刚体/堆场 2 例均通过；
486 项单测通过，13 项缺数据跳过，1 项原有禁用。GPU 与实车闭环未覆盖。
2026-11-02 13:37:04 +080009a6bf4e031f3336348136d5bb51700fb48fff17fix: 修复刚体倒车路径几何航向与 KEB 姿态不一致addssep/test/truck_kinematic_constraint_test.cceditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/rigid_truck_parking_validation.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/test/rigid_truck_parking_validation_test.cceditssep/test/local_regression/README.mdeditssep/keb_optimizer/tractor_trailer_continuous_model.heditssep/test/CMakeLists.txtaddssep/keb_optimizer/rigid_truck_continuous_model.haddssep/test/local_regression/weiqiao_heading_20261101_manifest.tsveditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/offboard/scene_replay/CMakeLists.txt
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cpp51bfad5b41f2686e9e62c6b67403fd4f303799a41793610553000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复切入保护误压走廊导致无路径停车
校验断面车道边距，仅收回来源侧额外借道空间，保留道路生成约定的最小引导包络，同时不扩大原有窄通道。
采样前检查搜索宽度、分辨率及索引上界；非法断面清除旧可行段和距离场，避免负数转无符号数造成分配异常。补充左右切入、恢复、窄通道和异常采样回归测试。
验证：109 项相关单元测试通过；录制版本 43705c573 加本次生产补丁完成 30 个 CPU 横向快照回放案例，全部通过。第三段仍有路径截短，未验证完整纵向/FSM 及实车表现。
2026-11-02 17:09:13 +080051bfad5b41f2686e9e62c6b67403fd4f303799a4fix: 修复切入保护误压走廊导致无路径停车editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cpp
- data/ssep/out_yard_junction_ec.hppTesting/out_yard_bag_regression_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppTesting/continuous_junction_replan_test.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpptasks/deciders/search_decider/search_decider_lifecycle.hppdata/ssep/out_yard_junction_ec.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/plan/start_point_data.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdocs/ssep_search_lifecycle.mdTesting/routing_map_guard_test.cppdata/plan/start_point_data.cppTesting/search_decider_lifecycle_test.cpptasks/deciders/search_decider/normal_junction_search_decider.cppreplayer/scene_data/generated/state_schema_inputs.jsontasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/search_decider/bridge_junction_search_decider.cpp35a883c55693a4f4381e9ba3d9db2c1d00c8d5171793610749000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复路口搜索构建失败后的停车与恢复生命周期
五类路口在环境构建失败时撤销等待搜索停止线，保留请求和重试上下文。
补齐失败后的路口与 routing 失效核验，避免旧请求绕过停稳门禁。
预构造按帧刷新出堆场连续搜索状态，防止区域漂移选错后继路口。
撤销搜索等待后允许受约束的 FSM 行驶恢复，并保持有效拼接点速度和加速度连续。
增加生命周期、双路口过滤、真实 FSM 和原 bag 连续回归。
验证：500 项通过、134 项跳过，bag 43/43 帧通过；生成及 Proto 兼容检查通过。
2026-11-02 17:12:29 +080035a883c55693a4f4381e9ba3d9db2c1d00c8d517fix: 修复路口搜索构建失败后的停车与恢复生命周期editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/out_yard_junction_ec.hppedittasks/deciders/search_decider/search_decider_lifecycle.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppeditdata/plan/start_point_data.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppeditdocs/ssep_search_lifecycle.mdedittasks/deciders/search_decider/search_decider_lifecycle.hppeditreplayer/scene_data/generated/state_schema_inputs.jsonedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditTesting/continuous_junction_replan_test.cppeditTesting/out_yard_bag_regression_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/search_decider_lifecycle_test.cppeditTesting/routing_map_guard_test.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/plan/start_point_data.hppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hpp
- plan/pilot/pilot_update.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/obstacle/decision/obstacle_decision.cppTesting/compact_driving_corridor_restore_test.cppTesting/scene_replay_foundation_test.cpp0d51092de424d4a2224a3e301b606b96d593c9fb1793668242000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留重发任务的绕行判断并校正切入几何证据
取消和空闲期间保留连续静止目标的等待起点及标签确认进度，恢复任务后重新校验身份、运动和准入条件。使用真实车道边界、车辆轮廓与来源拓扑判定切入，覆盖曲线边界和方向确认。补充状态生命周期、几何及序列化回归测试。
2026-11-03 09:10:42 +08000d51092de424d4a2224a3e301b606b96d593c9fbfix: 保留重发任务的绕行判断并校正切入几何证据editdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditTesting/compact_driving_corridor_restore_test.cppeditTesting/scene_replay_foundation_test.cppeditplan/pilot/pilot_update.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.md
- data/plan/side_pass_data.cppreplayer/replayer_data_process/replayer_data_process.cppreplayer/algorithm_replay/production_variant_runner.cppreplayer/algorithm_replay/production_variant_runner.hppTesting/scene_replay_foundation_test.cppreplayer/replayer_data_process/replayer_computation_policy.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonTesting/experiment_session_test.cppdata/plan/side_pass_data.hppdocs/pnc_algorithm_replay/dp_corridor_performance.md9b4538ca218b8796dfe5836cb25bec0ee1315f041793668255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 连续回放按源时间维护绕行状态与历史有效期
空闲帧继续维护真实观测并传递本次候选状态，不执行路径任务。绕行计时在单帧内冻结，仅随连续源时间推进；重复帧不累计，断档、倒退和任务取消清除失效动作。限制求解历史继承，避免录制结果与外部候选墙钟污染本次回放。补充连续历史、计时及空闲恢复测试和字段扫描产物。
2026-11-03 09:10:55 +08009b4538ca218b8796dfe5836cb25bec0ee1315f04fix: 连续回放按源时间维护绕行状态与历史有效期editdata/plan/side_pass_data.cppeditreplayer/replayer_data_process/replayer_computation_policy.hppeditdata/plan/side_pass_data.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/algorithm_replay/production_variant_runner.cppeditTesting/experiment_session_test.cppeditdocs/pnc_algorithm_replay/dp_corridor_performance.mdeditreplayer/algorithm_replay/production_variant_runner.hppeditreplayer/replayer_data_process/replayer_data_process.cpp
- docs/pnc_algorithm_replay/usage.mdreplayer/scene_data/compact_replay_session.cppTesting/compact_replay_session_test.cppreplayer/scene_data/compact_scene_archive_codec.cppTesting/scene_replay_foundation_test.cppeb0ae808400360c21407143543eef1482ada4df11793668267000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持逐帧归档以保留任务状态变化
显式允许 chunk_frames=1，使取消与重发任务的每帧 Bootstrap 独立保存；默认分块与既有格式不变，仍拒绝其他非法块大小。补充随机读取、候选恢复和非法配置测试，说明旧 reader 兼容性及存储开销。归档测试 8 项通过，真实 bag 599 快照连续回放完成；截图及重发后路径几何通过，早期远端相交项仍未通过验收。
2026-11-03 09:11:07 +0800eb0ae808400360c21407143543eef1482ada4df1fix: 支持逐帧归档以保留任务状态变化editTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_replay_session.cppeditreplayer/scene_data/compact_scene_archive_codec.cppeditTesting/compact_replay_session_test.cppeditdocs/pnc_algorithm_replay/usage.md
- ssep/keb_optimizer/control_space_path_adapter.ccssep/keb_optimizer/control_space_path_adapter.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9c86ba303cb7982edf31448c905ed9130e8ac3be1793677692000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持 KEB 严格几何一致性验收
增加可配置的连续运动学位置残差阈值和绝对误差豁免，保持默认行为。
严格场景支持无预热收尾优化，并向控制空间修正传递相同阈值。
允许释放固定段时显式保留终点约束，补充侧移、非法参数及固定段回归。
验证：65 项几何相关测试通过。
2026-11-03 11:48:12 +08009c86ba303cb7982edf31448c905ed9130e8ac3befix: 支持 KEB 严格几何一致性验收editssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/control_space_path_adapter.cceditssep/test/tractor_trailer_kinematic_weight_test.cceditssep/keb_optimizer/control_space_path_adapter.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
- Testing/out_yard_bag_regression_test.cppdata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cpp0bdd9eb3d133ac600deb99ed6108b4fc79dfdcdd1793677709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前构造动态上码头搜索起点
仅对存在有效同向邻居的码头连接提前至 70 m 进入及准备备用地图。
上码头起点提前 42 m，并在路口和停止线选择后保留提前量及前视下限。
强化 bag 回归基准、首次有效构造和最终起点断言，作用域恢复全局配置。
验证：33 项路由测试及 2 项 bag 测试通过；196 帧重建成功，
首次有效构造提前约 6.30 s，同帧起点提前 19.85 m。
2026-11-03 11:48:29 +08000bdd9eb3d133ac600deb99ed6108b4fc79dfdcddfix: 提前构造动态上码头搜索起点editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppeditTesting/out_yard_bag_regression_test.cppeditdata/ssep/open_space_ec.cpp
- data/ssep/open_space_ec.cppssep/test/forward_precise_planner_test.ccdata/ssep/open_space_ec.hppdata/ssep/ssep_ec.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/tractor_trailer_general_planner.hssep/ssep_planner.ccTesting/ssep_scenario_config_lifecycle_test.cpp85176f4206daa062aed8ce6dbeb111fd91cd208b1793677728000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按场景配置验收上码头车身净距
从场景 custom_params 读取 minimum_obstacle_clearance，贯穿起点守卫、
粗搜索、优化及完整车身扫掠验收，禁止未经相同约束的历史路径复用。
保留原起终点局部清障，框外仍检查净距，起点整车深陷继续拒绝。
严格场景释放固定首尾段并保留终点约束，避免绕过几何验收。
更新源成员审计摘要，未修改 Proto 字段合同。
验证：61 项配置、清障及规划器测试通过；现场 CPU 场景回放成功。
2026-11-03 11:48:48 +080085176f4206daa062aed8ce6dbeb111fd91cd208bfix: 按场景配置验收上码头车身净距editssep/test/forward_precise_planner_test.cceditdata/ssep/ssep_ec.hppeditssep/ssep_planner.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/open_space_ec.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/scenarios/tractor_trailer_general_planner.h
- ssep/scenarios/tractor_trailer_parking_collision.hssep/offboard/ssep_planner_wrapper.ccssep/maps/ogm.hssep/ssep_planner.hssep/maps/ogm_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/maps/ogm_config_utils.ccssep/maps/ogm_builder.hssep/test/parking_collision_provenance_test.ccssep/test/scene_replay_obstacle_inputs_test.ccssep/ssep_planner.ccssep/maps/ogm_config_utils.hssep/offboard/main_test/main_ssep_input.ccdata/ssep/ssep_activation.cppdocs/ssep_stop_collision_extension.mde9ff87baa59edeefdef653f3a67f93fd8d7e22201793694944000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持末端直线清障并限定首末段豁免
新增 terminal_collision_ignore_distance，默认关闭并限制在末端拉直距离内。
统一生产与 PB 回放建图参数，裁剪终点直线区域实体来源，保留区外障碍和道路约束。
取消粗搜索按整个拉直长度无条件跳过碰撞的行为。
复用公共运动分段规则：起点清障仅首段有效，终点清障仅末段有效，
中间段和共享换向点恢复原始来源、派生线与膨胀占用并检查连续头挂扫掠。
同步优化碰撞约束，并在抽稀分段后合并完整输出再次验收。
验证：clang-format 21.1.8、diff 检查、分布式生产及回放编译通过；
91 项分段回归及 97 项共享调用方测试通过。
威海录制 CPU 回放默认配置碰撞拒绝，显式 3 米和 8 米各输出 84 点；未执行 GPU 验证。
2026-11-03 16:35:44 +0800e9ff87baa59edeefdef653f3a67f93fd8d7e2220feat: 支持末端直线清障并限定首末段豁免editssep/maps/ogm_config_utils.heditdocs/ssep_stop_collision_extension.mdeditssep/offboard/main_test/main_ssep_input.cceditdata/ssep/ssep_activation.cppeditssep/ssep_planner.cceditssep/maps/ogm_builder.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/tractor_trailer_parking_collision.heditssep/test/parking_collision_provenance_test.cceditssep/maps/ogm_config_utils.cceditssep/ssep_planner.heditssep/maps/ogm.heditssep/test/scene_replay_obstacle_inputs_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/maps/ogm_builder.h
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/open_space_ec.cppdata/ssep/ssep_util.hppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cppdata/ssep/ssep_util.cppbc4b7564ad07e4879569912a6bc0e204e849fec51793706832000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定指定途经点的上码头提前策略
仅对 UTM (308844.028240, 2181447.135336) 半径 1 米内的有效途经点启用提前。
场景进入和备用地图准备保留多车道码头条件，搜索起点明确限定 UP_SEASIDE。
其他途经点恢复原场景距离和起点选择，避免直角上码头等场景过早进入搜索。
补充位置范围、距离边界、上下码头及起点对照回归，并刷新头文件生成校验指纹。
验证：分布式编译、121 项回归测试和生成文件/Proto 兼容性检查通过。
2026-11-03 19:53:52 +0800bc4b7564ad07e4879569912a6bc0e204e849fec5fix: 限定指定途经点的上码头提前策略editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/routing_transition_test.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_util.hppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- Testing/routing_transition_test.cppdata/ssep/open_space_ec.cppc6c7a9156f303e695a8188cfa01a5687b90b40121793706841000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留直角上码头的路由终点搜索起点
普通直角上码头成功投影当前路由段终点后，禁止后续场内停止线覆盖起点选择。
指定途经点的特殊提前逻辑及其他场景的停止线规则保持原行为。
新增真实参考线、路口和成对停止线回归，覆盖 YARD/STACKER 共 12 组选择条件。
验证：分布式编译及全部 122 项回归测试通过；新 bag 与日志确认录制使用停止线起点。
未执行该 bag 的完整闭环搜索回放。
2026-11-03 19:54:01 +0800c6c7a9156f303e695a8188cfa01a5687b90b4012fix: 保留直角上码头的路由终点搜索起点editdata/ssep/open_space_ec.cppeditTesting/routing_transition_test.cpp
- replayer/scene_data/compact_proto_codec.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protoreplayer/scene_replay/scene_replay_service.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_env_const.cppreplayer/scene_data/compact_scene_archive_codec.cppTesting/lane_change_space_check_test.cppTesting/routing_transition_test.cppdata/obstacle/cluster_lane_change_safety_test.cppTesting/scene_replay_foundation_test.cppdata/plan/lane_change_preview.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/plan/lane_change_preview.hppreplayer/algorithm_replay/profile_collectors.cppdata/plan/switch_data.hppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/plan/lane_change_junction_wait.cppdata/plan/switch_data.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamltasks/deciders/long_decider/constrain_decider.cppTesting/lane_change_junction_geometry_test.cppscenarios/stage.cppreplayer/scene_data/config_proto_codec.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/plan/lane_change_space_check.hppreplayer/scene_data/generated/state_schema_inputs.jsonreplayer/scene_data/plan_frame_field_roles.csvdata/map/reference/center_line.cppdata/plan/lane_change_space_check.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb53a03fe0698e8ea7d0709fd967e5db0e4189c34e1793762630000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善途经点变道提前执行与停车等待
按等待距离预算扩展显式途经点变道的提前条件，检查普通路由提前候选的跨线边界；提前积累准备与安全确认，保留经验证的等待资格并校验候选回退后的授权。
增加已加载路段的途经点预识别、减速和等待交接，保存目标车道及原始点对身份，处理连续缺图、任务变更和目标完成；忽略已确认无效的点对并记录原因。
同步 Full/Compact 状态合同和生成产物，补齐 27 个等待相关配置与来源版本检查，保留旧 Compact 重编码的配置缺口，增加变道诊断字段与组件回归。
验证：分布式编译 6 个目标成功；166 项组件测试通过；生成检查及 Proto 兼容性检查通过。
已知问题按本次审查决定保留：多个点对下原目标暂缺图可能被其他有效预览解除等待；Legacy Boost 导入可能将缺失等待配置标记为完整。本次验证不代表障碍场景闭环变道通过。
2026-11-04 11:23:50 +080053a03fe0698e8ea7d0709fd967e5db0e4189c34efeat: 完善途经点变道提前执行与停车等待editproto/config.protoeditreplayer/algorithm_replay/profile_collectors.cppadddata/plan/lane_change_preview.cppeditdata/plan/lane_change_space_check.hppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_proto_codec.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_replay/scene_replay_service.cppeditdata/config/cfg_env_const.cppeditscenarios/stage.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan/switch_data.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/lane_change_junction_geometry_test.cppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/obstacle/cluster_lane_change_safety_test.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/config_proto_codec.hppadddata/plan/lane_change_preview.hppeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/plan/lane_change_junction_wait.cppeditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan/switch_data.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/lane_change_space_check_test.cppeditdata/map/reference/center_line.cppeditproto/plan_data.protoeditTesting/routing_transition_test.cppeditdata/plan/lane_change_space_check.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pb
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp4ef682261f5cfef3202714bdbb52fd089f55585b1793958562000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按实际车道航向判断上码头连接形状
前后车道已知且目标为码头车道时，比较连接处实际航向，避免港口岸线配置将同向或反向平行连接误判为直角上码头。保留纵向道路分类和配置兜底。
新增旋转、正反向、30 度和 150 度邻近边界及潍坊错误岸线配置回归。分布式编译完成，当前工作区 129 项路由相关测试通过；未执行完整搜索回放。
2026-11-06 17:49:22 +08004ef682261f5cfef3202714bdbb52fd089f55585bfix: 按实际车道航向判断上码头连接形状editTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- Testing/routing_transition_test.cppdata/config/cfg_func_sw.cpp7b4342f85e049949a16d79a38c6fbeebc5b353221793958575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按潍坊 4552 车道校正默认岸线航向
将潍坊默认岸线航向由 2.346 rad 调整为地图 4552_0_3 轴线的 3.9150972784460487 rad，供缺少前车道等分支使用；保留显式 ROS 参数覆盖。
补充缺前车道时的同向、反向、跨 2π 和垂直方向测试，覆盖横向道路与码头道路。clang-format 21 格式化及分布式编译通过，129 项路由相关测试全部通过。
2026-11-06 17:49:35 +08007b4342f85e049949a16d79a38c6fbeebc5b35322fix: 按潍坊 4552 车道校正默认岸线航向editTesting/routing_transition_test.cppeditdata/config/cfg_func_sw.cpp
- ssep/data_structures/path_validation.hssep/test/forward_clearance_check_test.ccssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/test/imv_enter_station_candidate_test.ccssep/scenarios/truck_bulk_yark_in_out_planner.hssep/scenarios/imv_enter_station_candidate.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/ssep_planner.ccssep/scenarios/forward_clearance_check.hssep/scenarios/first_segment_clearance_checker.hssep/test/truck_bulk_exit_fallback_test.cc92b48add30ec766584605be2418097cf6d503a9a1793983424000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化堆场出库搜索并补齐候选路径验收
对带固定前进头段的双向兜底搜索降低保守圆盘软罚权重，使用真实车身连续碰撞检查约束可行性，避免短距离调整被长距离绕行挤掉。
按新增运动基元检查首段清障与换向接缝，空占用区域快速跳过；最后一个搜索器的候选经过优化和完整验收后才返回，失败继续原队列。统一规划时限，补齐优化后的障碍、约束图与分段自相交验收，并完善自交诊断。
验证：相关 113 项测试通过；魏桥原始场景及另一出库场景通过；现有同类型回归集 1 例基础验收通过；青岛 372 原始输入 21 例 CPU 回放中 16 例基础验收通过，5 例达到搜索节点上限，未完成修改前后对照，不宣称全量无回归。
2026-11-07 00:43:44 +080092b48add30ec766584605be2418097cf6d503a9afix: 优化堆场出库搜索并补齐候选路径验收editssep/scenarios/truck_bulk_yark_in_out_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/test/forward_clearance_check_test.cceditssep/test/truck_bulk_exit_fallback_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/test/imv_enter_station_candidate_test.ccaddssep/data_structures/path_validation.heditssep/scenarios/imv_enter_station_candidate.heditssep/scenarios/forward_clearance_check.heditssep/ssep_planner.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditssep/scenarios/first_segment_clearance_checker.h
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/full_custom_codec_exclusions.yamlreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoTesting/disable_stop_regression_test.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppreplayer/scene_data/generated/config_schema_inputs.jsonTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbb53a46f85c8dfac191f4007dd24181b3fe3e40341794073087000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加直行出堆场弯道禁停独立开关
新增 use_func_straight_out_yard_park，默认启用；按路口通行方向单独过滤直行出堆场禁停，保留原出堆场总开关及转弯、穿场行为。
补齐 Full 和 Compact ReplayInput 的反向布尔编码，旧快照缺字段默认启用；新增行为与回放兼容测试。
2026-11-08 01:38:07 +0800b53a46f85c8dfac191f4007dd24181b3fe3e4034feat: 增加直行出堆场弯道禁停独立开关editreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/full_custom_codec_exclusions.yamleditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditproto/config.protoeditdata/config/cfg_func_sw.hppeditTesting/disable_stop_regression_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/hmi_collision_render_test.cppae2163483da602ea6cd0ee66626ed3fcab28fd671794074671000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 拒绝包含非连续车道链的任务路由
在路由扩展前校验所有 passage 的地图车道和 successor 关系，
避免将上游错误的跨车道连接直接拼为中心线。多路径接收失败时
清空部分结果，由现有路径解析失败流程拒绝新任务并保留原任务。
补充异常路由、合法换道和接收失败生命周期测试，以及 IGV03
原始任务字段专项验证。旧分支不支持整帧 encoding v10，专项仅
通过已核对兼容的 context 和 exact_numeric 解码恢复任务路由。
验证：130 项路由回归通过；现场 115 帧正常任务接收、329 帧异常
任务拒绝，15 帧无任务单列。clang-format 21.1.8 及 diff 检查通过。
2026-11-08 02:04:31 +0800ae2163483da602ea6cd0ee66626ed3fcab28fd67fix: 拒绝包含非连续车道链的任务路由editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppeditTesting/hmi_collision_render_test.cpp
- data/plan/ssep_data.cppreplayer/scene_data/compact_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/plan/ssep_data.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/other/head_straight_progress.hppreplayer/scene_data/compact_custom_field_proto_codec.cppdata/other/head_straight_progress.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/plan/ssep_task_context.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_replay_input.protodata/plan/ssep_task_context.hppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamldocs/ssep_search_lifecycle.mdTesting/routing_map_guard_test.cppplan/prepare/prepare_state.cppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppdata/other/task_progress.hppreplayer/scene_data/generated/plan_frame_descriptor.pb18f980d13dac11b925a60f7d862e59c6d26d5f051794151419000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索任务进度并保留跨场景初始直行状态
抽取公共任务签名和进度失效清理，供初始直行与脱挂车出库倒车复用。
将初始直行锚点和完成状态独立保存在 SsepData，依据实际车辆位置更新，避免场景切换后重搜再次要求直行 2.5 米。
补齐旧请求迁移、Full/Compact 编解码和生命周期回归测试。
验证：pnc_node 构建及 Proto 合同检查通过；1066 项测试通过，14 项可选数据测试跳过。尚未执行原始 bag 连续回放。
2026-11-08 23:23:39 +080018f980d13dac11b925a60f7d862e59c6d26d5f05fix: 统一搜索任务进度并保留跨场景初始直行状态editTesting/parking_pass_progress_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditdata/plan/ssep_data.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdocs/ssep_search_lifecycle.mdeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditproto/pnc_scene/compact_replay_input.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditplan/prepare/prepare_state.cppeditdata/plan/ssep_task_context.cppadddata/other/head_straight_progress.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan/ssep_data.cppeditdata/plan/ssep_task_context.hppeditreplayer/scene_data/compact_proto_codec.cppeditdata/ssep/ssep_ec.cppadddata/other/head_straight_progress.cppadddata/other/task_progress.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/plan_frame_descriptor.pbeditproto/plan_data.protoeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yaml
- ssep/scenarios/truck_accurate_reversing_planner.cc09e90baa4f94b732f1dabfba5e5535f9b36e52171794152936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免精准倒车候选优化被搜索子阶段时限截断
节点展开继续使用子阶段截止时间，已生成候选的净空检查、优化和延伸
改用本次调整请求的剩余总预算，避免仍有时间的有效候选被提前丢弃。
保留总时限、外层细网格重试预留以及碰撞和运动学硬约束。
验证：相关单元测试 30/30、已有刚性停车回归 21/21 通过。
现场 10 例在显式 1.5 米拉直实验下全部通过独立验收，最后两例复测通过；
保留 2 米、仅修预算的代表对照为 2/3 通过。未修改默认拉直距离或任务点。
2026-11-08 23:48:56 +080009e90baa4f94b732f1dabfba5e5535f9b36e5217fix: 避免精准倒车候选优化被搜索子阶段时限截断editssep/scenarios/truck_accurate_reversing_planner.cc
- data/ssep/forward_ec.cppTesting/parking_pass_progress_test.cpp60c1d9379949c885c603ce98f0325c0acc2407011794203208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留牵引车重规划时未完成的任务途经点
牵引车多段泊车拉直重规划复用任务途经点构造，避免以终点延伸的合成点覆盖尚未完成的任务点。保留任务点完成后及未配置任务点时的显式拉直行为。
增加威海现场坐标回归，覆盖重复重规划和任务点生命周期。分布式编译通过，相关 224 项测试全部通过；尚未验证完整泊车搜索。
2026-11-09 13:46:48 +080060c1d9379949c885c603ce98f0325c0acc240701fix: 保留牵引车重规划时未完成的任务途经点editTesting/parking_pass_progress_test.cppeditdata/ssep/forward_ec.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/dp_poly_path/dp_road_graph.cppdata/plan/start_point_data.cppdata/plan/predict_path.cppdata/config/cfg_dynamic.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_dynamic.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvalgorithm/decision/semantic_set_transformation_2.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan_frame.cppreplayer/scene_data/generated/plan_frame_descriptor.pb8623bcf5e4ec5086aafd1b04cac7432238486fdb1794279951000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解耦与底盘约定的最大角度值和keb规定的最大角度值
2026-11-10 11:05:51 +08008623bcf5e4ec5086aafd1b04cac7432238486fdbfeat: 解耦与底盘约定的最大角度值和keb规定的最大角度值editTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/plan/start_point_data.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/plan_frame.cppeditdata/config/cfg_dynamic.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditproto/config.protoeditdata/config/cfg_dynamic.hppeditreplayer/scene_data/compact_numeric_policy.yamleditalgorithm/decision/semantic_set_transformation_2.cppeditdata/plan/predict_path.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/config_proto_codec.cpp
- Testing/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cpp62885152c75772075c26f3f7e9f4e2c21b3670ae1794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 复用直行出堆场开关控制入堆场弯道禁停
直行入堆场与出堆场共用 use_func_straight_out_yard_park 参数，保留各自总开关及转弯、穿堆场策略。
扩展回归覆盖入场、出场、穿场、转弯及开关恢复；修改已在 feat_daxie_proto 完成分布式编译，17 项禁停相关测试通过。
2026-11-10 11:54:27 +080062885152c75772075c26f3f7e9f4e2c21b3670aefix: 复用直行出堆场开关控制入堆场弯道禁停editdata/constrain/disable_stop_range.cppeditTesting/disable_stop_regression_test.cpp
- data/map/pnc_map/routing_extension/routing_data.cpptasks/deciders/long_decider/constrain_decider.cppTesting/routing_transition_test.cppTesting/bulk_speed_limit_test.cppf86e45c7294f184fa67775f6d80a65bc9771dc451794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐普通路由非末段终点停车防护
普通 routing 在非 bulk in 场景使用当前段终点距离创建停止线，避免同向
分段路由索引未切换时丢失终点停车约束；保留 bulk in、SSEP 和混合
路径的末段判断，并过滤无效终点距离。越过终点后继续保留停车约束。
接收任务时对换向途经点连接同向路由记录错误日志，不改变任务、
操作方向或停车策略。补充录制负距离、连续重规划、真实换向、
bulk in 切换及无效数据回归，并修正双向 IMV 测试的车型子类型配置。
2026-11-10 11:54:27 +0800f86e45c7294f184fa67775f6d80a65bc9771dc45fix: 补齐普通路由非末段终点停车防护editdata/map/pnc_map/routing_extension/routing_data.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/routing_transition_test.cppeditTesting/bulk_speed_limit_test.cpp
- Testing/compact_driving_corridor_restore_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cpp3f75b855094641c5d375307be7180a5ab3050ef71794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 cluster 速度滤波残值误触发变道临停
动静确认改用当前有效刚体位移测量的速度累计证据，避免单次位移的
滤波残值在后续零位移测量中重复计为运动证据。预测与关联继续使用
滤波速度，并保留原有动静确认阈值及静止迟滞。
补充单次跳动后静止、持续运动目标仍触发碰撞风险的回归测试，
为连续 bag 回放增加 cluster 风险、轮廓和独立停车 Range 诊断。
验证：相关 100 项测试通过；津西 bag 使用指纹一致的 1.0.15 地图，
460 帧 CPU 子链连续回放中，修复前重现录制的 12 帧临停，修复后为 0。
验证覆盖跟踪、风险评估和 Range 创建，不包含完整车辆闭环。
2026-11-10 11:54:27 +08003f75b855094641c5d375307be7180a5ab3050ef7fix: 修复 cluster 速度滤波残值误触发变道临停editTesting/compact_driving_corridor_restore_test.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.cpp
- ssep/test/ssep_planner_test.ccssep/test/forward_clearance_check_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.h4bad66115966ad2e0f52c11bb72fb96e162c05c61794282867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 减少拖挂多段搜索的重复碰撞验收耗时
为单次静态地图搜索构建碰撞线段空间索引，并按完整边几何缓存
normal 扩展检查结果；缓存有容量上限，超时不缓存，stop 仍独立验收。
窄换向偏好阶段没有有效候选且再次命中同一精确碰撞边时，提前转入
已有任务区域兜底，保留总请求时限、最终碰撞检查和换向区域上限。
增加索引等价性、缓存生命周期、超时及阶段切换测试。
验证：105 项相关单测通过，1 项原有禁用；Orin 两个现场场景共 6 次
实际 GPU 回放成功，独立碰撞检查为零。拖挂回归执行 37 条真实 GPU
测试，9 条原规则失败在修复前同样失败；另有途经点走向不符合业务
要求但被旧规则判过的案例，两版 273 个路径状态完全一致，仍待修复。
2026-11-10 11:54:27 +08004bad66115966ad2e0f52c11bb72fb96e162c05c6fix: 减少拖挂多段搜索的重复碰撞验收耗时editssep/test/forward_clearance_check_test.cceditssep/scenarios/forward_clearance_check.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/ssep_planner_test.cc
- data/plan/ssep_data.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/plan/ssep_data.hppdata/ssep/parking_task_params.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/plan/ssep_task.cppdata/ssep/ssep_scenario_config_loader.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamlplan/prepare/prepare_state.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp9c065453895757fcf39346e2aa6265d24a24ccd11794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 同一停车任务沿用起点规则选定的曲率参数
通过 task_persistent_params 显式选择完整的三项停车曲率参数，
在实际提交搜索后绑定，同任务跨位置、途经点完成和倒车重搜保留。
任务身份或终点变化、取消、结束时清除，仅向停车规划器恢复参数。
补齐跨帧继承、Full/Compact/Candidate 类型化状态与缺字段兼容，
增加配置校验、生命周期及实际任务身份回放测试。
验证：146 项场景配置测试、46 项状态与配置回放测试通过；
生成文件、字段覆盖及 Proto breaking 检查通过。
2026-11-10 11:58:44 +08009c065453895757fcf39346e2aa6265d24a24ccd1feat: 同一停车任务沿用起点规则选定的曲率参数editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/plan/ssep_data.cppeditdata/other/parking_pass_progress.cppeditdata/ssep/ssep_ec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbadddata/ssep/parking_task_params.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/ssep/ssep_scenario_config_loader.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/plan/ssep_data.hppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditplan/prepare/prepare_state.cppeditreplayer/scene_data/compact_numeric_policy.yamledittasks/plan/ssep_task.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditproto/plan_data.proto
- Testing/ssep_path_corridor_test.cppdata/ssep/ssep_ec.cpp41636368c43329dddd33897cdeeb1da138d9a5f91794283124000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留 IMV 禁止翻头时的起始操作头身份
IMVGeneral 禁止起点翻头时保留当前操作模式，避免首次同点搜索丢失换向信息。补充首次搜索、换向和停稳重搜的输入及场景导出回归用例，并更新起点偏移任务退出后的预期。
2026-11-10 11:58:44 +080041636368c43329dddd33897cdeeb1da138d9a5f9fix: 保留 IMV 禁止翻头时的起始操作头身份editdata/ssep/ssep_ec.cppeditTesting/ssep_path_corridor_test.cpp
- hmi/widget/diagnose.cppscenarios/scenario.cppscenarios/stage.cpp5c25d678b02ef79a686dade0330785c3a26bbda41794295830000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 诊断窗口显示实际执行的横向规划器
按任务实际执行情况记录规划器，逐帧清除历史记录；SSEP 原始路径直出时显示无横向规划器。
2026-11-10 15:30:30 +08005c25d678b02ef79a686dade0330785c3a26bbda4fix: 诊断窗口显示实际执行的横向规划器editscenarios/scenario.cppeditscenarios/stage.cppedithmi/widget/diagnose.cpp
- replayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonscenarios/task_condition_evaluator.hppdata/ssep/ssep_scenario_config_loader.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppTesting/cfg_scenarios_proto_codec_test.cppssep/scenarios/imv_general_planner.hdata/ssep/offline_obstacles_loader.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/other/head_straight_progress.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/test/head_straight_distance_test.ccdata/ssep/ssep_ec.cpptasks/other_tasks/stitch_path_data_to_path.cppTesting/ssep_path_corridor_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbTesting/reverse_pickup_stage_selector_test.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/config.protodata/ssep/location_condition.hppssep/scenarios/scenario_planner_factory.hdata/config/cfg_stage.cppreplayer/scene_data/compact_numeric_policy.yamldata/ssep/location_condition.cpptools/pnc_proto_mapper/test_exact_numeric_codegen.pydata/ssep/offline_obstacles_loader.hppdata/config/cfg_stage.hppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyc466a901055983a21871cb475392d8a6ef5147951794295845000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景组合条件与 IMV 出库固定直行
兼容原有 OR 条件列表，增加 all/any、库区位置及 SSEP 首末中段条件，同步 Full/Compact 配置合同。
支持指定分段直接使用 SSEP 路径及 BulkOut 末段选择 KEB；IMV 沿物理车头直行并在重搜时保留剩余距离，两段式搜索不重复施加首段约束。
验证：foundation 541 项、routing 138 项、corridor 237 项通过；SSEP 相关 29 项通过，foundation 13 项可选测试跳过。
2026-11-10 15:30:45 +0800c466a901055983a21871cb475392d8a6ef514795feat: 支持场景组合条件与 IMV 出库固定直行editreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/plan_frame_field_roles.jsonedittools/pnc_proto_mapper/test_exact_numeric_codegen.pyeditssep/test/head_straight_distance_test.cceditdata/other/head_straight_progress.cppeditTesting/cfg_scenarios_proto_codec_test.cppeditssep/scenarios/scenario_planner_factory.hedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/cfg_scenarios_proto_codec.cppeditdata/ssep/ssep_scenario_config_loader.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/config/cfg_stage.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditssep/scenarios/imv_general_planner.heditscenarios/task_condition_evaluator.hppeditTesting/reverse_pickup_stage_selector_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonadddata/ssep/location_condition.cppeditTesting/ssep_path_corridor_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/compact_numeric_policy.yamleditproto/config.protoadddata/ssep/location_condition.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditscenarios/task_condition_evaluator.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_stage.hppeditdata/ssep/offline_obstacles_loader.hppeditTesting/scene_replay_foundation_test.cppeditdata/ssep/offline_obstacles_loader.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
- data/boundary/road_boundary.cppdccb10f976ff8a4e11c758ec1d710d0cf8d99b3a1794300031000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换
2026-11-10 16:40:31 +0800dccb10f976ff8a4e11c758ec1d710d0cf8d99b3afix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换editdata/boundary/road_boundary.cpp
- data/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle.cpp8e72ae7d875c12311da5e7732d260d8c24bf91ee1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(sidepass): 允许绕行合格静止机动车旁的居中两轮车
- 按静止状态、跟踪成熟度、邻接距离及预测运动判断绕行资格
- 先确定机动车策略，避免两轮车准入依赖障碍物遍历顺序
- 保留横穿解除迟滞及条件失效后的绕行承诺撤销
- 保留静止两轮车预测，支持运动风险检查
2026-11-10 17:01:46 +08008e72ae7d875c12311da5e7732d260d8c24bf91eefeat(sidepass): 允许绕行合格静止机动车旁的居中两轮车editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle.cpp
- data/boundary/road_boundary.cpp6c0824c216a0f1640de2398a81eb76966667099b1794301306000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄
路径穿过多边形边时，同时过滤两侧连续共线邻边，
避免入口被多个顶点拆段后残留边参与道路边界求交。
复用现有平行及共线判断，支持闭合首尾并跳过零长度边；
遇到转角停止扩展，不改变合并包络生成逻辑。
2026-11-10 17:01:46 +08006c0824c216a0f1640de2398a81eb76966667099bfix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄editdata/boundary/road_boundary.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbdata/constrain/block_data.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/decision.protodata/constrain/block_data.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb260f1110c6038c9cbd1498a2535be0fefc9b3f001794301964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行
按当前速度、额定加减速度和路口限速计算通行时间。
保持已生效的停车要求，避免减速末段因制动距离豁免撤销停车。
原始停止线一米内经历红转绿后允许放行，不再要求车辆静止。
同步停车保持和放行状态的 Full/Compact 编解码及字段合同。
2026-11-10 17:12:44 +0800260f1110c6038c9cbd1498a2535be0fefc9b3f00fix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行editreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/constrain/disable_stop_range.hppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/constrain/block_data.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditproto/config.protoeditproto/decision.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/constrain/block_data.hppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
- data/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision_test.cpp95a60bf56ca2cdd45d5a0a78b4366ee817697ad61794302457000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(sidepass): 补全两轮车预测运动检查与承诺退出条件
检查原始预测的全部分支，避免零初速 C2V 和非优选运动预测被忽略。未靠边目标仅在本帧满足相邻静止例外时豁免承诺硬退出，不以通用 ALLOW 代替安全判定。
适配两阶段决策与现有取消任务后机动车标签恢复流程，补充正常静止例外、两类预测运动和类型策略关闭时边界缺失的回归。
2026-11-10 17:20:57 +080095a60bf56ca2cdd45d5a0a78b4366ee817697ad6fix(sidepass): 补全两轮车预测运动检查与承诺退出条件editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cpp
- data/plan/ssep_data.cppTesting/ssep_path_curvature_test.cppdata/ssep/ssep_ec.cppdata/ssep/ssep_util.cpp3dcd53eb0eb9d4786209096a235efda466d0dd3b1794319795000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 SSEP 曲率方向与控制转向约定
按路径点序计算左正右负的有符号曲率，消除旧叉积阈值导致的方向反转和采样间距依赖，避免左转路径原地打轮时先向右打。
在倒车分段和挂车参考路径转换处显式转为车头方向曲率，保持与控制原地转向及 MPC 前馈公式一致。重复点返回零曲率，不足五点时清理旧曲率，防止重复计算翻转缓存。
补充魏桥现场样本、左右转、前后换向、不同采样间距、退化点、短路径重复计算及挂车参考方向回归。
验证：clang-format 21.1.8；Icecream 分布式构建成功；pnc_ssep_path_corridor_test 共 244 项通过。
2026-11-10 22:09:55 +08003dcd53eb0eb9d4786209096a235efda466d0dd3bfix: 修正 SSEP 曲率方向与控制转向约定editdata/ssep/ssep_util.cppeditdata/plan/ssep_data.cppeditTesting/ssep_path_curvature_test.cppeditdata/ssep/ssep_ec.cpp
- Testing/CMakeLists.txtTesting/bulk_speed_limit_test.cpptasks/deciders/long_decider/constrain_decider.cpp5d58b8d53e668e7395fb0a3b03e5ed975d12ed951794369300000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复多段路由换向点停车原因冲突
先建立本帧操作头换向停车约束，仅在该约束匹配有效且距离有限时，
抑制普通路由非末段重复的绝对终点停车线，避免 ABSOLUTE_SIGN_STOP
抢占停因后阻止路由释放当前段。保留末段、同向和换向投影失败时的
终点停车防护，并修正操作头数组的边界判断。
新增换向停因及路由释放、模式进入持续退出、无效路由、投影失败恢复
和约束匹配失效的回归；测试只隔离外部地图查询，执行生产约束和停因逻辑。
验证：分布式编译通过，38 项单测通过，clang-format 21 修改范围检查通过。
东方特钢 309 bag 使用精确地图加载成功，但输入恢复报
standby_index_seed_missing，未执行到修复逻辑，现场回放验收尚未完成。
2026-11-11 11:55:00 +08005d58b8d53e668e7395fb0a3b03e5ed975d12ed95fix: 修复多段路由换向点停车原因冲突editTesting/CMakeLists.txtedittasks/deciders/long_decider/constrain_decider.cppeditTesting/bulk_speed_limit_test.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoplan/prepare/prepare_status.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppTesting/step_align_distance_source_test.cppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb3b6c1b5c369cde9c6051551df5f90c0cf4318c091794388502000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准受阻检测功能增加开关 增加静止防抖
2026-11-11 17:15:02 +08003b6c1b5c369cde9c6051551df5f90c0cf4318c09feat: 对准受阻检测功能增加开关 增加静止防抖editreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_func_sw.cppeditplan/prepare/prepare_status.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditproto/config.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/step_align_distance_source_test.cppeditdata/config/cfg_func_sw.hpp
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2026-11-09 03:03:38 +0000bc9b0f718136a05395a6908683064a53bbea5c78Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
git- sink/ros_sink_ads_target_state.cppdata/map/heliostat_environment.cppdata/other/heliostat_flow_control.cppdata/map/heliostat_mirror_map.hppssep/scenarios/truck_multi_seg_general_planner.halgorithm/wbca/wbca_manager.hppdata/common/guide_path.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/long_decider/heliostat_constrain_decider.cppdata/map/heliostat_cleaning_contact.cppssep/keb_optimizer/keb_problem.ccreplayer/scene_data/compact_custom_field_proto_codec.cppdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cpptasks/plan/heliostat_path_optimization.cpptasks/other_tasks/create_reference_line.cppsource/ros_source_ads_target.cppreplayer/scene_data/generated/compact_scene_descriptor.pbalgorithm/wbca/path_optimization/minco/minco.hppdata/config/heliostat_config.hpptasks/plan/heliostat_path_reuse.cpptasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/compact_numeric_policy.yamltasks/plan/heliostat_optimization_targets.cpptasks/deciders/search_decider/open_space_search_decider.cppdata/common/guide_path.cppssep/keb_optimizer/tractor_trailer_continuous_model.hdata/plan/heliostat_connection.hppssep/keb_optimizer/keb_problem.hdata/app/app_data.cpptasks/plan/heliostat_path_solver.cppdata/app/heliostat_target_receiver.cppalgorithm/wbca/path_optimization/car_path_optimization.cppalgorithm/wbca/wbca_manager.cppssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.hreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/full_custom_codec_exclusions.yamlalgorithm/wbca/heliostat_wbca_manager.cppdata/plan/guide_line.cppalgorithm/wbca/path_optimization/path_optimization.hppdata/map/heliostat_environment.hppdata/app/cmd/cmd_set_target.hppdata/boundary/heliostat_driving_corridor.cppdata/ssep/heliostat_open_space_ec.cpptasks/plan/heliostat_path_optimization.hppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppproto/scenario.protoproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/keb_optimizer/rigid_truck_keb_optimizer.ccscenarios/heliostat_task_chain.cppssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccdata/config/heliostat_config.cppdata/app/reaction/app_reaction.cppmath/curve1d/quintic_polynomial_curve1d_rt.cppdata/dp_poly_path/dp_road_graph.cpptasks/plan/heliostat_optimization_validation.cppreplayer/scene_data/generated/plan_frame_member_inputs.jsonalgorithm/wbca/path_optimization/car_path_optimization.hppreplayer/scene_data/heliostat_proto_codec.cppdata/map/heliostat_cleaning_contact.hppssep/keb_optimizer/cost_features/truck_kinematic_constraint.hdata/map/heliostat_mirror_map.cppdata/app/app_data.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan/heliostat_connection.cppreplayer/scene_data/generated/plan_frame_descriptor.pbe39703defa77d505bd6c4a42a7857238b908daec1794289175000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(heliostat): 修复镜场连接规划与换向执行连续性
优化连接搜索及回退，优先保持换向点航向
修正接点验收、几何约束与路径复用
补齐半径准入、拒绝原因回传及对应 Full/Compact 合同
2026-11-10 13:39:35 +0800e39703defa77d505bd6c4a42a7857238b908daecfix(heliostat): 修复镜场连接规划与换向执行连续性edittasks/plan/heliostat_path_reuse.cppeditsink/ros_sink_ads_target_state.cppedittasks/plan/heliostat_optimization_validation.cppeditdata/config/heliostat_config.hppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/heliostat_transition.cppedittasks/plan/heliostat_path_optimization.cppeditreplayer/scene_data/full_custom_codec_exclusions.yamleditssep/keb_optimizer/cost_features/truck_kinematic_constraint.heditdata/config/heliostat_config.cppedittasks/plan/heliostat_optimization_targets.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/map/heliostat_environment.cppeditdata/dp_poly_path/dp_road_graph.cppeditdata/ssep/heliostat_open_space_ec.cppeditdata/map/heliostat_mirror_map.cppeditproto/config.protoedittasks/other_tasks/create_reference_line.cppeditssep/scenarios/truck_multi_seg_general_planner.heditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/search_decider/open_space_search_decider.cppeditsource/ros_source_ads_target.cppeditdata/boundary/heliostat_driving_corridor.cppeditdata/app/reaction/app_reaction.cppeditdata/other/heliostat_flow_control.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbedittasks/plan/heliostat_path_optimization.hppeditdata/common/guide_path.hppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditdata/app/app_data.cppeditalgorithm/wbca/path_optimization/minco/minco.hppeditalgorithm/wbca/path_optimization/path_optimization.hppeditmath/curve1d/quintic_polynomial_curve1d_rt.cppeditalgorithm/wbca/path_optimization/car_path_optimization.hppeditdata/common/guide_path.cppeditproto/scenario.protoeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/app/cmd/cmd_set_target.hppedittasks/deciders/long_decider/constrain_decider.cppedittasks/plan/heliostat_path_solver.cppeditreplayer/scene_data/heliostat_proto_codec.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/map/heliostat_cleaning_contact.cppeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cppeditssep/keb_optimizer/tractor_trailer_continuous_model.heditdata/map/heliostat_mirror_map.hppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/map/heliostat_cleaning_contact.hppedittasks/deciders/long_decider/heliostat_constrain_decider.cppeditssep/keb_optimizer/keb_problem.heditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditscenarios/heliostat_task_chain.cppeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditdata/plan/guide_line.cppeditdata/app/heliostat_target_receiver.cppeditdata/map/heliostat_environment.hppeditalgorithm/wbca/path_optimization/car_path_optimization.cppeditdata/plan/heliostat_connection.cppeditalgorithm/wbca/wbca_manager.hppeditdata/app/app_data.hppeditssep/keb_optimizer/cost_features/parking_geometric_curvature_constraint.heditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditalgorithm/wbca/wbca_manager.cppeditdata/plan/heliostat_connection.hppeditreplayer/scene_data/full_proto_custom_encoder.cppeditssep/keb_optimizer/keb_problem.cceditreplayer/scene_data/generated/plan_frame_encoder.cppeditalgorithm/wbca/heliostat_wbca_manager.cppeditreplayer/scene_data/compact_numeric_policy.yaml
git- math/util/math_utils.hppnode/process/prepare/prepare_traj.cppab6c1b0b70b2c2c8441e5e0f04b626a53d8269661794289175000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix(control): 修正定日镜单车倒车转向方向
2026-11-10 13:39:35 +0800ab6c1b0b70b2c2c8441e5e0f04b626a53d826966fix(control): 修正定日镜单车倒车转向方向editnode/process/prepare/prepare_traj.cppeditmath/util/math_utils.hpp
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