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curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/keb_optimizer/keb_problem.cceditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils_core.hppeditssep/maps/ogm.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 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align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.hppeditdata/map/pnc_map/pnc_map_helper.cppeditplan/prepare/prepare_status.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/replayer_hmi.hpphmi/widget/path_curve_detail.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/replayer_hmi.cpphmi/node_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.hppedithmi/replayer_hmi.cppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.hppaddhmi/widget/path_curve_detail.cppedithmi/node_hmi.cppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/plan/path_data.cppeditalgorithm/util/curvature.cppeditalgorithm/util/curvature.hppeditdata/common/guide_path.cppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.hppeditdata/plan_frame.cppedithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/lattice/ogm_crash_data.cppeditplan/prepare/prepare_ogm.cppeditdata/config/cfg_hmi.cppeditdata/lattice/ogm_crash_data.hppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测edithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hppeditdata/plan_frame.cppeditdata/config/cfg_hmi.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 重构障碍物风险评估器，另外添加横路不进行龙门吊风险限速的功能。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 重构障碍物风险评估器，另外添加横路不进行龙门吊风险限速的功能。editdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cppdata/config/cfg_stage.hpptasks/plan/lane_change_path_task_v2.cppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/config/cfg_stage.hppeditdata/plan/switch_data.cppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_stage.cppeditconfig/config_imv/scenario.yamladdtasks/plan/lane_change_path_task_v2.hppeditdata/config/cfg_lat_plan.hppedittasks/task_factory.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editnode/logic.cppeditscenarios/scenario.cppeditcore/plan_runtime_watchdog.hppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥不创建双黄线约束editdata/ssep/bridge_junction_ec.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/truck_multi_segment_parking_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.hppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/out_yard_junction_ec.hppscenarios/stage.cppdata/config/cfg_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editscenarios/stage.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditscenarios/task_condition_evaluator.cppreplayer/replayer_data_process/replayer_data_process.cppdata/plan/guide_line.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppc985b5d139bd58bfced869c12fd281635385d23d1781704635000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线赋值的bug 2026-06-17 21:57:15 +0800c985b5d139bd58bfced869c12fd281635385d23dfix:修复停止线赋值的bugeditdata/map/pnc_map/pnc_map_path.cppCMakeLists.txt7208d3d12ea79d541e5468946bb14f96755e63211781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 2026-06-17 22:44:01 +08007208d3d12ea79d541e5468946bb14f96755e6321fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题editCMakeLists.txtdata/map/envelop/map_envelop.cppae7311500c04fd8ac201a456995c22500151a2b81781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 2026-06-17 22:44:01 +0800ae7311500c04fd8ac201a456995c22500151a2b8fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划editdata/map/envelop/map_envelop.cppdata/map/reference/reference_road_section.hppdata/map/reference/reference_road_section.cppc9307e98a239504f9c8b930abc637985f93443541781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 2026-06-17 22:44:01 +0800c9307e98a239504f9c8b930abc637985f9344354refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性editdata/map/reference/reference_road_section.hppeditdata/map/reference/reference_road_section.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.cce65ecba034e9ae68666f2a036d3ac12d4ef5c7d21782115296000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 2026-06-22 16:01:36 +0800e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作editssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域 (IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大, 解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。 2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpptasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。 2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppdata/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败 GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis 直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer), 避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。 2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败editdata/ssep/into_yard_junction_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。 2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题editalgorithm/plan/keb_optimizer.cppeditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_utils.ccdata/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理 - piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退 - pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激 - 补充 pjpo 曲率约束相关测试 - 清理 PJPO 调试 trace 日志 2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hppreplayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理 2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理editreplayer/replayer_data_process/replayer_data_process.cpptasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cppdata/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 - CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判 - 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定 - 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值 2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/plan/switch_data.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化 CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化), DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。 upper/underlying 两层都判断, 下层碰撞时短路跳过上层。 2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/plan/switch_data.hppedithmi/draw/draw_area.hppedithmi/draw/draw_area.cppeditdata/obstacle/ogm.hppeditdata/plan/switch_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项, 锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0; 修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。 2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值editdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.cpptasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑editdata/plan/smooth_data.cppedittasks/plan/pjpo_task.cppedittasks/plan/pjpo_task.hppalgorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cppdata/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppsink/ros_sink_pnc_status.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离 2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离editdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.hppdata/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/online_region_contour_creator.hpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域 - 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框 - open_space_ec 起点框内联逻辑改为调用该函数 - into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底 2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/online_region_contour_creator.hppscenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group 2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 groupeditscenarios/stage.cpptasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cppdata/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 - U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE) - 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽 2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cppdata/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner 2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题 2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/scenario_planner_factory.halgorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug 2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash bugeditalgorithm/wbca/path_optimization/imv_path_optimization.cppgithttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing419http://159.27.114.184:8080/jenkins/user/yangjun/my-views/view/all/job/orin-slave32/419/